Spraying control method and system

Abstract

The invention discloses a spraying control method and system. The spraying control method comprises the steps that whether a workpiece to be sprayed enters a spraying area or not is detected; after it is determined that the to-be-sprayed workpiece enters the spraying area, a shot image of the to-be-sprayed workpiece is obtained; the shot image is recognized, and attribute information of the workpiece to be sprayed is determined; the spraying requirement of the workpiece to be sprayed is obtained; generating a spraying instruction according to the attribute information and the spraying requirement; and the spraying equipment performs spraying action on the to-be-sprayed workpiece based on the spraying instruction. The spraying instruction is adjusted in time according to the attribute information of the workpiece to be sprayed and the spraying requirement, and the spraying quality and the spraying working efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of spraying technology, and in particular to a spraying control method and system. Background Art

[0002] Spraying involves using a spray gun or disc atomizer to disperse a uniform, fine mist of liquid, using pressure or centrifugal force, and then applying it to the surface of the object. In industrial production, spraying is necessary for both protective and aesthetic purposes. Existing techniques typically spray workpieces according to pre-set procedures, failing to adjust spray instructions based on the workpiece's properties and spraying requirements, impacting both spray quality and efficiency. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the above-mentioned technologies. To this end, a first object of the present invention is to provide a spray control method that timely adjusts spray instructions based on the property information of the workpiece to be sprayed and the spraying requirements, thereby improving the spraying quality and spraying efficiency.

[0004] The second object of the present invention is to provide a spraying control system.

[0005] To achieve the above objectives, a first embodiment of the present invention provides a spraying control method, comprising:

[0006] Detect whether the workpiece to be sprayed enters the spraying area;

[0007] After determining that the workpiece to be sprayed enters the spraying area, obtaining a photographed image of the workpiece to be sprayed;

[0008] Identify the captured image and determine the attribute information of the workpiece to be sprayed;

[0009] Obtain the spraying requirements of the workpiece to be sprayed;

[0010] generating a spraying instruction according to the attribute information and the spraying requirements;

[0011] The spraying equipment performs a spraying action on the workpiece to be sprayed based on the spraying instruction.

[0012] According to some embodiments of the present invention, generating a spraying instruction according to the attribute information and the spraying requirement includes:

[0013] determining each spraying point when spraying the workpiece to be sprayed according to the attribute information;

[0014] Determine the spraying level of each spraying point according to the spraying requirements; classify the spraying points at the same spraying level to obtain several spraying point classification sets;

[0015] Determine the corresponding spraying trajectory based on each spraying point classification set;

[0016] Sort the spraying levels of the spraying point classification set from high to low to determine the spraying order;

[0017] Based on each spraying trajectory and spraying sequence, a spraying instruction is generated; wherein the spraying instruction includes spraying parameters, spraying coordinates, posture data and spraying mode.

[0018] According to some embodiments of the present invention, the spraying modes include: a straight spraying mode, a curved spraying mode, a first speed spraying mode, a second speed spraying mode, and a third speed spraying mode.

[0019] According to some embodiments of the present invention, the spraying equipment performs a spraying action on the workpiece to be sprayed based on the spraying instruction, including: the spraying equipment determines the corresponding spraying trajectory based on the spraying sequence, runs along the surface of the workpiece to be sprayed based on the spraying trajectory, and controls the size of the spray gun proportional valve through analog voltage output based on the spraying parameters included in the spraying instruction, thereby controlling the spray gun to spray according to the set oil amount.

[0020] According to some embodiments of the present invention, detecting whether the workpiece to be sprayed enters the spraying area includes: providing a photoelectric sensor at the entrance side of the detection area, and detecting whether the workpiece to be sprayed enters the spraying area based on the photoelectric sensor.

[0021] According to some embodiments of the present invention, after the spraying device performs a spraying action on the workpiece to be sprayed based on the spraying instruction, the method further includes:

[0022] Take the finished image of the workpiece to be sprayed;

[0023] Comparing the result image with the preset image, and when it is determined that the result image is inconsistent with the preset image, marking the pixels that are different between the result image and the preset image as abnormal pixels;

[0024] The spraying equipment is controlled to move to the abnormal pixel position, and repair spraying is performed according to the spraying data around the abnormal pixel position.

[0025] According to some embodiments of the present invention, during the process of spraying a workpiece based on a spraying instruction, the spraying device further includes:

[0026] Set the preset posture of the workpiece to be sprayed during the spraying action;

[0027] Collect the actual posture of the workpiece to be sprayed during the spraying action;

[0028] Calculate the height offset and rotation angle offset between the actual posture and the preset posture;

[0029] The height of the spraying device is adjusted according to the height offset, the relative angle between the spraying device and the workpiece to be sprayed is adjusted according to the rotation angle offset, and the workpiece to be sprayed is sprayed based on the adjusted spraying device.

[0030] According to some embodiments of the present invention, running along the surface of a workpiece to be sprayed based on a spraying trajectory includes:

[0031] Determine the curve area included in the spraying trajectory, calibrate the inflection point of each curve area, and obtain a number of inflection points;

[0032] Set the initial moving speed of the spraying equipment at the first inflection point and the second inflection point;

[0033] Starting from the third inflection point, calculate the speed change reference value of each inflection point;

[0034]

[0035] C=|W1-W2|

[0036] Where W1 is the approximate value between the current inflection point and the next inflection point; θ i is the angle value of the current inflection point; θ i+1 is the angle value of the next inflection point; Z i is the coordinate of the current inflection point; Z i+1 is the coordinate of the next inflection point; W2 is the approximate value between the current inflection point and the previous inflection point; θ i-1 is the angle value of the previous inflection point; Z i-1 is the coordinate of the previous inflection point; C is the speed change reference value; i = 3, 4...m, m is the number of inflection points;

[0037] Comparing the speed change reference value with a preset threshold value, and determining a speed change coefficient of the spraying equipment according to the comparison result;

[0038]

[0039] Wherein, G is the speed conversion coefficient of the spraying equipment; R is the preset threshold;

[0040] According to the speed conversion coefficient of the spraying equipment, the speed of the spraying equipment at each inflection point is determined, and then the speed of the spraying equipment is operated on the surface of the workpiece to be sprayed.

[0041] According to some embodiments of the present invention, the attribute information includes the size, shape and type of the workpiece to be sprayed.

[0042] To achieve the above objectives, a second embodiment of the present invention provides a spray control system, comprising:

[0043] A detection module is used to detect whether the workpiece to be sprayed has entered the spraying area;

[0044] A first acquisition module is used to acquire a photographed image of the workpiece to be sprayed after determining that the workpiece to be sprayed enters the spraying area;

[0045] A determination module is used to identify the captured image and determine the attribute information of the workpiece to be sprayed;

[0046] The second acquisition module is used to obtain the spraying requirements of the workpiece to be sprayed;

[0047] A generation module, configured to generate a spraying instruction according to the attribute information and the spraying requirements;

[0048] The spraying module is used for the spraying equipment to spray the workpiece based on the spraying instruction.

[0049] The present invention proposes a spraying control method and system, which timely adjusts the spraying instructions according to the property information of the workpiece to be sprayed and the spraying requirements, thereby improving the spraying quality and spraying work efficiency.

[0050] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0051] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0053] Figure 1 is a flow chart of a spraying control method according to one embodiment of the present invention;

[0054] Figure 2 is a flow chart of generating spraying instructions according to one embodiment of the present invention;

[0055] Figure 3 is a block diagram of a spray control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0057] like Figure 1As shown, the first embodiment of the present invention proposes a spraying control method, including steps S1-S6:

[0058] S1, detect whether the workpiece to be sprayed enters the spraying area;

[0059] S2. After determining that the workpiece to be sprayed enters the spraying area, obtaining a photographed image of the workpiece to be sprayed;

[0060] S3, identifying the captured image and determining the attribute information of the workpiece to be sprayed;

[0061] S4. Obtaining the spraying requirements of the workpiece to be sprayed;

[0062] S5. Generate a spraying instruction according to the attribute information and spraying requirements;

[0063] S6. The spraying equipment performs a spraying action on the workpiece to be sprayed based on the spraying instruction.

[0064] The working principle of the above technical solution: In this embodiment, it is detected whether the workpiece to be sprayed enters the spraying area. After determining that the workpiece to be sprayed enters the spraying area, a photographed image of the workpiece to be sprayed is obtained to facilitate the startup of the corresponding equipment and realize the identification of the workpiece to be sprayed.

[0065] In this embodiment, the attribute information includes the size, shape and type of the workpiece to be sprayed.

[0066] In this embodiment, the spraying requirements include spraying accuracy, thickness, spraying materials, spraying color, etc.

[0067] In this embodiment, the spraying instructions are generated according to the attribute information and the spraying requirements, so as to generate a corresponding spraying scheme and determine the spraying instructions according to the attribute information of the workpiece to be sprayed and the given spraying requirements.

[0068] The beneficial effects of the above technical solution are: timely adjustment of the spraying instructions according to the property information of the workpiece to be sprayed and the spraying requirements, thereby improving the spraying quality and spraying work efficiency.

[0069] like Figure 2 As shown, according to some embodiments of the present invention, generating a spraying instruction according to the attribute information and the spraying requirement includes steps S51-S55:

[0070] S51, determining each spraying point when spraying the workpiece to be sprayed according to the attribute information;

[0071] S52, determining the spraying level of each spraying point according to the spraying requirements; classifying the spraying points at the same spraying level to obtain a plurality of spraying point classification sets;

[0072] S53, determining a corresponding spraying trajectory based on each spraying point classification set;

[0073] S54, sorting the spraying levels of the spraying point classification set from high to low to determine the spraying order;

[0074] S55. Generate a spraying instruction based on each spraying trajectory and spraying sequence; wherein the spraying instruction includes spraying parameters, spraying coordinates, posture data and spraying mode.

[0075] The working principle of the above technical solution: In this embodiment, the various spraying points when spraying the workpiece to be sprayed are determined according to the attribute information, including determining some key spraying points based on the shape of the workpiece, such as determining key inflection points in the curved area of ​​the workpiece to be sprayed, and determining corresponding key points equidistantly in the straight area, to facilitate the continuity of the spraying operation.

[0076] In this embodiment, the spraying level of each spraying point is determined based on the spraying requirements; the spraying levels include level 1, level 2, level 3, level 4, and so on, with the levels decreasing in order. Based on the spraying process requirements, which areas require priority spraying due to spraying factors (position, color) are determined, and the spraying level of each spraying point is determined. Spraying points at the same spraying level are classified to obtain a plurality of spraying point classification sets. This facilitates the classification of spraying points at the same spraying level and the generation of corresponding spraying trajectories.

[0077] In this embodiment, a spraying instruction is generated based on each spraying trajectory and spraying sequence, so as to facilitate accurate determination of the spraying scheme for the workpiece to be sprayed.

[0078] The beneficial effects of the above technical solution are: determining each spraying point when spraying the workpiece to be sprayed based on the attribute information; determining the spraying level of each spraying point according to the spraying requirements, determining the corresponding spraying trajectory based on each spraying point classification set, sorting the spraying levels of the spraying point classification set from high to low, determining the spraying order, and accurately determining the spraying instructions.

[0079] According to some embodiments of the present invention, the spraying modes include: a straight spraying mode, a curved spraying mode, a first speed spraying mode, a second speed spraying mode, and a third speed spraying mode.

[0080] The beneficial effects of the above technical solution include: the straight spray mode operates the spray module in a straight line, the curved spray mode operates the spray module in a curved line, and the first, second, and third speed spray modes are spray modes of different speeds, with the first speed being the highest, the second speed being the second, and the third speed being the lowest. Based on these different spray modes, the accuracy of spray instructions is achieved, thereby improving spray quality and work efficiency.

[0081] According to some embodiments of the present invention, the spraying equipment performs a spraying action on the workpiece to be sprayed based on the spraying instruction, including: the spraying equipment determines the corresponding spraying trajectory based on the spraying sequence, runs along the surface of the workpiece to be sprayed based on the spraying trajectory, and controls the size of the spray gun proportional valve through analog voltage output based on the spraying parameters included in the spraying instruction, thereby controlling the spray gun to spray according to the set oil amount.

[0082] The working principle and beneficial effects of the above technical solution: the spraying equipment determines the corresponding spraying trajectory based on the spraying sequence, runs along the surface of the workpiece to be sprayed based on the spraying trajectory, and controls the size of the spray gun proportional valve through analog voltage output based on the spraying parameters included in the spraying instruction, thereby controlling the spray gun to spray according to the set oil amount, determining the spraying sequence, trajectory and oil amount for spraying, and improving the accuracy of spraying.

[0083] According to some embodiments of the present invention, detecting whether the workpiece to be sprayed enters the spraying area includes: providing a photoelectric sensor at the entrance side of the detection area, and detecting whether the workpiece to be sprayed enters the spraying area based on the photoelectric sensor.

[0084] The beneficial effects of the above technical solution are as follows: based on setting a photoelectric sensor at the entrance side of the detection area, it is convenient to accurately judge whether the workpiece to be sprayed enters the spraying area, and then realize whether to identify the workpiece to be sprayed.

[0085] According to some embodiments of the present invention, after the spraying device performs a spraying action on the workpiece to be sprayed based on the spraying instruction, the method further includes:

[0086] Take the finished image of the workpiece to be sprayed;

[0087] Comparing the result image with the preset image, and when it is determined that the result image is inconsistent with the preset image, marking the pixels that are different between the result image and the preset image as abnormal pixels;

[0088] The spraying equipment is controlled to move to the abnormal pixel position, and repair spraying is performed according to the spraying data around the abnormal pixel position.

[0089] The working principle and beneficial effects of the above technical solution are as follows: In this embodiment, the preset image is a preset standard spraying image. The result image is compared with the preset image. If the result image is determined to be inconsistent with the preset image, the pixels in the result image that are different from the preset image are marked as abnormal pixels. The spraying equipment is controlled to move to the location of the abnormal pixel, and repair spraying is performed based on the spraying data around the abnormal pixel location. This enables the spraying work of the workpiece to be sprayed to be inspected. If an abnormality is determined, the spraying repair is performed again, thereby improving the quality of the spraying.

[0090] According to some embodiments of the present invention, during the process of spraying a workpiece based on a spraying instruction, the spraying device further includes:

[0091] Set the preset posture of the workpiece to be sprayed during the spraying action;

[0092] Collect the actual posture of the workpiece to be sprayed during the spraying action;

[0093] Calculate the height offset and rotation angle offset between the actual posture and the preset posture;

[0094] The height of the spraying device is adjusted according to the height offset, the relative angle between the spraying device and the workpiece to be sprayed is adjusted according to the rotation angle offset, and the workpiece to be sprayed is sprayed based on the adjusted spraying device.

[0095] The working principle and beneficial effects of the above technical solution: In this embodiment, the preset posture serves as the base posture of the workpiece to be sprayed during the spraying operation, also known as the standard posture. In this embodiment, the height offset and rotation angle offset between the actual posture and the preset posture are calculated; the height of the spraying equipment is adjusted based on the height offset, and the relative angle between the spraying equipment and the workpiece to be sprayed is adjusted based on the rotation angle offset. The workpiece to be sprayed is then sprayed based on the adjusted spraying equipment. This facilitates real-time adjustment of the spraying equipment's posture, improving spraying quality.

[0096] According to some embodiments of the present invention, running along the surface of a workpiece to be sprayed based on a spraying trajectory includes:

[0097] Determine the curve area included in the spraying trajectory, calibrate the inflection point of each curve area, and obtain a number of inflection points;

[0098] Set the initial moving speed of the spraying equipment at the first inflection point and the second inflection point;

[0099] Starting from the third inflection point, calculate the speed change reference value of each inflection point;

[0100]

[0101] C=|W1-W2|

[0102] Where W1 is the approximate value between the current inflection point and the next inflection point; θ i is the angle value of the current inflection point; θ i+1 is the angle value of the next inflection point; Z i is the coordinate of the current inflection point; Z i+1 is the coordinate of the next inflection point; W2 is the approximate value between the current inflection point and the previous inflection point; θ i-1 is the angle value of the previous inflection point; Z i-1is the coordinate of the previous inflection point; C is the speed change reference value; i = 3, 4...m, m is the number of inflection points;

[0103] Comparing the speed change reference value with a preset threshold value, and determining a speed change coefficient of the spraying equipment according to the comparison result;

[0104]

[0105] Wherein, G is the speed conversion coefficient of the spraying equipment; R is the preset threshold;

[0106] According to the speed conversion coefficient of the spraying equipment, the speed of the spraying equipment at each inflection point is determined, and then the speed of the spraying equipment is operated on the surface of the workpiece to be sprayed.

[0107] The working principle and beneficial effects of the above technical solution: In this embodiment, the spraying trajectory includes a curved area and a straight area. To ensure the spraying quality, different spraying speeds need to be set for the straight area and the curved area. The spraying speed of the curved area is lower than that of the straight area. Due to the different properties of different curved areas, the speed of each curved area also needs to be adjusted and optimized to improve the spraying quality. The inflection points of each curved area are calibrated to obtain several inflection points; the initial movement speed of the spraying equipment is set at the first and second inflection points; starting from the third inflection point, a speed change reference value is calculated for each inflection point; the speed change reference value is compared with a preset threshold, and the speed change coefficient of the spraying equipment is determined based on the comparison result; if the speed change reference value is determined to be less than the preset threshold, the speed is not changed and the speed of the previous inflection point is referenced. If the speed change reference value is determined to be greater than or equal to the preset threshold, a corresponding speed change coefficient is determined, and the speed is increased or decreased based on the speed of the previous inflection point. For example, the current inflection point speed is: V = V0*(1+G), where V0 is the speed of the previous inflection point. According to the speed conversion coefficient of the spraying equipment, the speed of the spraying equipment at each inflection point is determined, and then the equipment is operated on the surface of the workpiece to be sprayed, so as to improve the quality of spraying and work efficiency.

[0108] like Figure 3 As shown, the second embodiment of the present invention provides a spray control system, comprising:

[0109] A detection module is used to detect whether the workpiece to be sprayed has entered the spraying area;

[0110] A first acquisition module is used to acquire a photographed image of the workpiece to be sprayed after determining that the workpiece to be sprayed enters the spraying area;

[0111] A determination module is used to identify the captured image and determine the attribute information of the workpiece to be sprayed;

[0112] The second acquisition module is used to obtain the spraying requirements of the workpiece to be sprayed;

[0113] A generation module, configured to generate a spraying instruction according to the attribute information and the spraying requirements;

[0114] The spraying module is used for the spraying equipment to spray the workpiece based on the spraying instruction.

[0115] The beneficial effects of the above technical solution are: timely adjustment of the spraying instructions according to the property information of the workpiece to be sprayed and the spraying requirements, thereby improving the spraying quality and spraying work efficiency.

[0116] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A spraying control method, characterized in that: include: Detect whether the workpiece to be sprayed enters the spraying area; After determining that the workpiece to be sprayed enters the spraying area, obtaining a photographed image of the workpiece to be sprayed; Identify the captured image and determine the attribute information of the workpiece to be sprayed; Obtain the spraying requirements of the workpiece to be sprayed; generating a spraying instruction according to the attribute information and the spraying requirements; The spraying equipment performs a spraying action on the workpiece to be sprayed based on the spraying instruction.

2. The spraying control method according to claim 1, wherein: Generate spraying instructions according to the attribute information and spraying requirements, including: determining each spraying point when spraying the workpiece to be sprayed according to the attribute information; Determine the spraying level of each spraying point according to the spraying requirements; classify the spraying points at the same spraying level to obtain several spraying point classification sets; Determine the corresponding spraying trajectory based on each spraying point classification set; Sort the spraying levels of the spraying point classification set from high to low to determine the spraying order; Based on each spraying trajectory and spraying sequence, a spraying instruction is generated; wherein the spraying instruction includes spraying parameters, spraying coordinates, posture data and spraying mode.

3. The spraying control method according to claim 1, wherein: The spraying modes include: straight spraying mode, curved spraying mode, first speed spraying mode, second speed spraying mode and third speed spraying mode.

4. The spraying control method according to claim 1, wherein: The spraying equipment performs a spraying action on the workpiece to be sprayed based on the spraying instruction, including: the spraying equipment determines the corresponding spraying trajectory based on the spraying sequence, runs along the surface of the workpiece to be sprayed based on the spraying trajectory, and controls the size of the spray gun proportional valve through analog voltage output based on the spraying parameters included in the spraying instruction, thereby controlling the spray gun to spray according to the set oil amount.

5. The spraying control method according to claim 1, wherein: Detecting whether the workpiece to be sprayed enters the spraying area includes: setting a photoelectric sensor on the entrance side of the detection area, and detecting whether the workpiece to be sprayed enters the spraying area according to the photoelectric sensor.

6. The spraying control method according to claim 1, wherein: After the spraying equipment performs the spraying action on the workpiece based on the spraying instruction, it also includes: Take the finished image of the workpiece to be sprayed; Comparing the result image with the preset image, and when it is determined that the result image is inconsistent with the preset image, marking the pixels that are different between the result image and the preset image as abnormal pixels; The spraying equipment is controlled to move to the abnormal pixel position, and repair spraying is performed according to the spraying data around the abnormal pixel position.

7. The spraying control method according to claim 1, wherein: In the process of spraying the workpiece based on the spraying instruction, the spraying equipment also includes: Set the preset posture of the workpiece to be sprayed during the spraying action; Collect the actual posture of the workpiece to be sprayed during the spraying action; Calculate the height offset and rotation angle offset between the actual posture and the preset posture; The height of the spraying device is adjusted according to the height offset, the relative angle between the spraying device and the workpiece to be sprayed is adjusted according to the rotation angle offset, and the workpiece to be sprayed is sprayed based on the adjusted spraying device.

8. The spraying control method according to claim 1, wherein: Based on the spraying trajectory, it runs along the surface of the workpiece to be sprayed, including: Determine the curve area included in the spraying trajectory, calibrate the inflection point of each curve area, and obtain a number of inflection points; Set the initial moving speed of the spraying equipment at the first inflection point and the second inflection point; Starting from the third inflection point, calculate the speed change reference value of each inflection point; C=|W1-W2| Where W1 is the approximate value between the current inflection point and the next inflection point; θ i is the angle value of the current inflection point; θ i+1 is the angle value of the next inflection point; Z i is the coordinate of the current inflection point; Z i+1 is the coordinate of the next inflection point; W2 is the approximate value between the current inflection point and the previous inflection point; θ i-1 is the angle value of the previous inflection point; Z i-1 is the coordinate of the previous inflection point; C is the speed change reference value; i = 3, 4...m, m is the number of inflection points; Comparing the speed change reference value with a preset threshold value, and determining a speed change coefficient of the spraying equipment according to the comparison result; Wherein, G is the speed conversion coefficient of the spraying equipment; R is the preset threshold; According to the speed conversion coefficient of the spraying equipment, the speed of the spraying equipment at each inflection point is determined, and then the speed of the spraying equipment is operated on the surface of the workpiece to be sprayed.

9. The spraying control method according to claim 1, wherein: The attribute information includes the size, shape and type of the workpiece to be sprayed.

10. A spraying system using the spraying control method according to any one of claims 1 to 9, characterized in that: include: A detection module is used to detect whether the workpiece to be sprayed has entered the spraying area; A first acquisition module is used to acquire a photographed image of the workpiece to be sprayed after determining that the workpiece to be sprayed enters the spraying area; A determination module is used to identify the captured image and determine the attribute information of the workpiece to be sprayed; The second acquisition module is used to obtain the spraying requirements of the workpiece to be sprayed; A generation module, configured to generate a spraying instruction according to the attribute information and the spraying requirements; The spraying module is used for the spraying equipment to spray the workpiece based on the spraying instruction.

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