A clutch motor temperature calculation system, method, and vehicle equipped with the system.

Abstract

This invention discloses a clutch motor temperature calculation system, method, and vehicle equipped with the system, relating to the field of automatic transmission control in light trucks. The system includes: an ambient temperature calculation module for calculating the ambient temperature around the motor in its initial state based on transmission oil temperature, atmospheric temperature, and engine coolant temperature; a heat generation calculation module for calculating the heat generation of the motor based on motor feedback current, transient motor temperature, and motor operating state; a heat dissipation calculation module for calculating the heat dissipation of the motor based on transmission oil temperature, transient motor temperature, vehicle speed, and motor characteristics; a heat conversion module for calculating the current temperature of the motor based on the relative heat difference of the motor and the initial motor temperature; and a PWM limiting module for limiting the target PWM based on the current motor temperature. According to the technical solution of this application, the motor temperature can be calculated in real time during vehicle operation, avoiding safety problems caused by excessively high motor temperatures.

Description

Technical Field

[0001] This invention relates to the field of automatic transmission control for light trucks, and particularly to a clutch motor temperature calculation system, method, and vehicle equipped with the system. Background Technology

[0002] With the rapid development of modern industry and transportation, the automotive industry has increasingly higher requirements for the performance of transmission systems, especially in terms of clutch reliability and stability. As a key component of the transmission system, the performance of the clutch directly affects the efficiency and safety of the entire system. Temperature control is a crucial aspect of ensuring the normal operation of the clutch and extending its service life.

[0003] In current technologies, clutch temperature is affected by various nonlinear factors, such as clutch parameters, external torque and speed, coolant heat dissipation, and radiant heat from the hybrid transmission and motor, making accurate prediction difficult in most cases. Inaccurate clutch temperature prediction can lead to clutch damage or failure to transmit torque, resulting in a poor driving experience. For example, temperature calculation methods based on the finite volume method can provide high-precision temperature and coolant flow field distributions, suitable for complex geometries and boundary conditions, but the computational load is high, making it unsuitable for real-time control. Temperature calculation methods based on a one-dimensional temperature field assumption have low computational complexity, are suitable for real-time control, and have relatively small errors, but the calculation steps are overly simplified, potentially ignoring important physical phenomena and leading to inaccurate predictions. Therefore, to address this challenge, this application proposes a clutch motor temperature calculation system, method, and a vehicle equipped with this system. Summary of the Invention

[0004] Technical Purpose

[0005] To address the aforementioned problems, the present invention aims to provide a clutch motor temperature calculation system, method, and vehicle equipped with the system. By calculating the motor temperature in real time to limit the motor output duty cycle and control the return-to-neutral action, the system solves the problem of overheating damage that may occur when the clutch motor is working for a long time or under stall conditions. The system, method, and vehicle equipped with the system have a wide range of applications and can effectively avoid safety hazards caused by excessive motor temperature.

[0006] Technical solution

[0007] To achieve the above objectives, the present invention provides a clutch motor temperature calculation system, method, and vehicle equipped with the system. The system calculates the heat generated by the motor based on the motor feedback current, transient motor temperature, and motor operating state; calculates the heat dissipation of the motor based on the transmission oil temperature, transient motor temperature, vehicle speed, and motor characteristics; and calculates the current temperature of the motor based on the relative heat difference and initial motor temperature, thereby enabling real-time calculation of the motor temperature during vehicle operation.

[0008] In a first aspect, the present invention provides a clutch motor temperature calculation system, comprising:

[0009] The ambient temperature calculation module is used to calculate the ambient temperature around the motor in the initial state based on the transmission oil temperature, atmospheric temperature and engine coolant temperature.

[0010] The heat generation calculation module is used to calculate the heat generation of the motor based on the motor feedback current, transient motor temperature and motor operating status.

[0011] The heat dissipation calculation module is used to calculate the heat dissipation of the motor based on the transmission oil temperature, transient motor temperature, vehicle speed, and motor characteristics.

[0012] The heat conversion module is used to calculate the current temperature of the motor based on the relative heat difference of the motor and the initial motor temperature;

[0013] The PWM limiting module is used to limit the target PWM based on the current temperature of the motor.

[0014] Furthermore, the initial temperature of the motor in the vehicle is replaced by the ambient temperature around the motor;

[0015] The ambient temperature around the motor is calculated using the following formula:

[0016]

[0017] In the formula, The ambient temperature around the motor; Transmission oil temperature; Atmospheric temperature; Engine coolant temperature; Let be the weighting coefficient, satisfying .

[0018] Furthermore, the ideal heat generation of the motor is calculated based on the motor speed, current, and initial temperature, and the final heat generation of the motor is determined based on the estimated heat generation of the motor under different operating conditions.

[0019] The final heat generation of the motor is calculated using the following formula:

[0020]

[0021] In the formula, This is the final heat generated by the motor; This is the motor feedback current; The motor resistance; Estimated heat generation of the motor under different operating conditions; This is a correction term for heat generation determined based on the transient motor temperature.

[0022] Furthermore, the motor current consists of the current calculated based on the average effective voltage of the motor drive PWM and the resistance provided by the transient motor temperature, and the actual feedback current of the motor drive chip.

[0023] Furthermore, under ideal conditions, the heat generated by the motor is determined by looking up a table based on the motor's temperature rating and current rating under the initial conditions of the vehicle.

[0024] Furthermore, the ambient temperature around the motor during vehicle operation is calculated based on the transmission oil temperature, transient motor temperature, and vehicle speed. The heat dissipation of the motor is then calculated based on the transient motor temperature, the motor's heat dissipation coefficient, and the heat dissipation area.

[0025] The heat dissipation of the motor is calculated using the following formula:

[0026]

[0027] In the formula, This refers to the heat dissipation of the motor. The heat dissipation coefficient; For heat dissipation area; This refers to the transient motor temperature. The ambient temperature around the motor; This is the coefficient representing the effect of vehicle speed on heat dissipation. For vehicle speed; This is a heat dissipation correction term determined based on the motor characteristics.

[0028] By monitoring and calculating the heat generated and dissipated by the motor in real time, damage caused by overheating can be effectively prevented, thereby extending the service life of the motor.

[0029] Furthermore, the relative temperature difference of the motor is calculated based on the relative heat difference generated by the motor, and the current temperature of the motor is calculated based on the relative temperature difference of the motor.

[0030] The current temperature of the motor is calculated using the following formula:

[0031]

[0032] In the formula, The current temperature of the motor; This is the initial motor temperature; For the heat generated by the motor; This refers to the heat dissipation of the motor. The heat capacity of the motor; and To simulate the thermal response parameters of a motor under different operating conditions, this is used to adjust the effect of the heat generation and dissipation ratio on the final temperature.

[0033] The heat conversion module can calculate the temperature of the clutch motor in real time throughout the vehicle's life cycle, which helps prevent motor overheating and protect the motor.

[0034] Furthermore, the relative heat difference generated by the motor is determined according to the heat-to-temperature formula.

[0035] Furthermore, the motor's power limit at the current temperature is calculated based on the motor's current temperature, and the magnitude of the limited PWM is determined based on the target PWM of the CC / CG module;

[0036] The limited PWM is calculated using the following formula:

[0037]

[0038] In the formula, The PWM after limitation; For target PWM; The current temperature of the motor; This refers to the maximum allowable temperature of the motor. This refers to the limiting range of temperature difference; The safe operating temperature of the motor; To control the rate parameter of PWM reduction; Parameters to control the nonlinearity of the effect of temperature on PWM.

[0039] When the motor temperature is detected to be too high, the PWM limiting module can perform effective post-processing actions, which helps to ensure the safety of the vehicle during driving.

[0040] Furthermore, the system also includes a finite element analysis module, which performs numerical simulations based on Fourier's law of heat conduction to predict the temperature field distribution and thermal stress during clutch engagement. By predicting the thermal behavior of the clutch under different operating conditions, it determines the estimated heat generation of the motor. This helps optimize the motor's thermal performance, reduce heat loss, and improve the motor's efficiency and output power; by simulating the motor's performance under different environmental conditions, it ensures the motor's reliability in various environments; and by providing more accurate estimated heat generation of the motor, it improves the accuracy of motor temperature calculations.

[0041] Furthermore, the system also includes a confidence network module, which extracts features from the input data through a multi-layer nonlinear model and learns the relationship between features and temperature. Based on confidence assessment, it determines the operating state that ensures the motor operates within a safe temperature range. By learning complex nonlinear relationships, it predicts the temperature of the clutch motor, enabling the system to respond promptly to overheating situations, reducing motor damage and safety risks. Through temperature prediction and confidence assessment, it dynamically adjusts the motor's operating parameters to maintain the motor in optimal operating condition.

[0042] In a second aspect, the present invention also provides a method for calculating the temperature of a clutch motor, the method being based on the system described in the first aspect above, comprising:

[0043] The method includes:

[0044] The ambient temperature around the motor under the initial conditions is calculated based on the transmission oil temperature, atmospheric temperature, and engine coolant temperature.

[0045] The heat generated by the motor is calculated based on the motor feedback current, transient motor temperature, and motor operating status.

[0046] The heat dissipation of the motor is calculated based on the transmission oil temperature, transient motor temperature, vehicle speed, and motor characteristics.

[0047] Calculate the current temperature of the motor based on the relative thermal difference of the motor and the initial motor temperature;

[0048] The target PWM is limited based on the current temperature of the motor.

[0049] Thirdly, the vehicle is equipped with the clutch motor temperature calculation system described in the first aspect above, in order to calculate the motor temperature in real time and regulate the vehicle's operating status during vehicle operation.

[0050] Fourthly, the present invention also provides a computer device, including a processor and a memory, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory, so that the computer device performs at least one step in implementing the aforementioned clutch motor temperature calculation method.

[0051] Fifthly, the present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements at least one step in the aforementioned clutch motor temperature calculation method.

[0052] This invention calculates the heat generation of the motor based on the motor feedback current, transient motor temperature, and motor operating state; it calculates the heat dissipation of the motor based on the transmission oil temperature, transient motor temperature, vehicle speed, and motor characteristics; it calculates the current temperature of the motor based on the relative heat difference and initial motor temperature; it performs numerical simulation based on Fourier's law of heat conduction to predict the temperature field distribution and thermal stress during clutch engagement; and it determines the estimated heat generation of the motor by predicting the thermal behavior of the clutch under different operating conditions. Through a multi-layer nonlinear model, it extracts features from the input data and learns the relationship between these features and temperature, determining the operating state that ensures the motor operates within a safe temperature range based on confidence level assessment. This system, method, and vehicles equipped with this system have wide applications and can effectively avoid safety hazards caused by excessively high motor temperatures.

[0053] Beneficial effects

[0054] By implementing the clutch motor temperature calculation system, method, and vehicle equipped with the system provided by the present invention, the following technical effects are achieved:

[0055] (1) This invention calculates the heat generated by the motor based on the motor feedback current, transient motor temperature and motor operating state, and calculates the heat dissipation of the motor based on the gearbox oil temperature, transient motor temperature, vehicle speed and motor characteristics; by real-time monitoring and calculation of the heat generated and dissipated by the motor, it can effectively prevent the motor from being damaged due to overheating, thereby extending the service life of the motor; by accurately controlling the heat generated and dissipated by the motor, it can optimize the working efficiency of the motor, reduce energy loss and improve the energy efficiency of the whole vehicle; considering various environmental factors such as gearbox oil temperature, ambient temperature and engine water temperature, the motor temperature estimation is more accurate and the environmental adaptability of the system is improved.

[0056] (2) The current temperature of the motor is calculated based on the relative heat difference of the motor and the initial motor temperature; the temperature of the clutch motor can be calculated in real time throughout the entire life cycle of the vehicle, which is beneficial to prevent motor overheating and protect the motor; when the motor temperature is detected to be too high, effective post-processing actions can be performed, which helps to ensure the safety of the vehicle during driving.

[0057] (3) Numerical simulation based on Fourier's heat conduction law is used to predict the temperature field distribution and thermal stress during clutch engagement. The estimated heat generation of the motor is determined by predicting the thermal behavior of the clutch under different working conditions. This helps to optimize the thermal performance of the motor, reduce heat loss, and improve the working efficiency and output power of the motor. By simulating the performance of the motor under different environmental conditions, the reliability of the motor under various environments is ensured. The accuracy of motor temperature calculation is improved by providing more accurate estimated heat generation of the motor.

[0058] (4) By extracting features from the input data through a multi-layer nonlinear model and learning the relationship between features and temperature, the working state that can ensure the motor operates within a safe temperature range is determined based on confidence assessment; by learning complex nonlinear relationships, the temperature of the clutch motor is predicted, enabling the system to respond to overheating in a timely manner and reduce motor damage and safety risks; by dynamically adjusting the motor's operating parameters through temperature prediction and confidence assessment, the motor is kept in the best working state. Attached Figure Description

[0059] To make the clutch motor temperature calculation system, method, and vehicle equipped with the system of the present invention more apparent and understandable, the accompanying drawings used in the specific embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0060] Figure 1 A schematic diagram illustrating the method for calculating the temperature of a clutch motor;

[0061] Figure 2 A schematic diagram showing the modules for calculating heat generation and heat dissipation;

[0062] Figure 3 This diagram illustrates the heat conversion module.

[0063] Figure 4 This is a schematic diagram of the PWM limiting module. Detailed Implementation

[0064] Example 1:

[0065] A clutch motor temperature calculation system, method, and vehicle equipped with the system are provided. The flowchart of the clutch motor temperature calculation method is shown below. Figure 1 As shown, the clutch motor temperature calculation system includes: an ambient temperature calculation module, a heat generation calculation module, a heat dissipation calculation module, a heat conversion module, and a PWM limiting module. The specific steps of the clutch motor temperature calculation system, method, and vehicle equipped with the system are described below.

[0066] The ambient temperature calculation module is used to calculate the ambient temperature around the motor in the initial state based on the transmission oil temperature, atmospheric temperature, and engine coolant temperature.

[0067] The initial temperature of the motor in the vehicle is determined by the ambient temperature surrounding the motor.

[0068] The ambient temperature around the motor is calculated using the following formula:

[0069]

[0070] In the formula, The ambient temperature around the motor; Transmission oil temperature; Atmospheric temperature; Engine coolant temperature; Let be the weighting coefficient, satisfying .

[0071] The heat generation calculation module is used to calculate the heat generation of the motor based on the motor feedback current, transient motor temperature, and motor operating status. The heat generation calculation and heat dissipation calculation modules are as follows: Figure 2 As shown.

[0072] The ideal heat generation of the motor is calculated based on the motor speed, current, and initial temperature. The final heat generation of the motor is determined based on the estimated heat generation of the motor under different operating conditions.

[0073] The final heat generation of the motor is calculated using the following formula:

[0074]

[0075] In the formula, This is the final heat generated by the motor; This is the motor feedback current; The motor resistance; Estimated heat generation of the motor under different operating conditions; This is a correction term for heat generation determined based on the transient motor temperature.

[0076] The motor current consists of the current calculated based on the average effective voltage of the motor drive PWM and the resistance provided by the transient motor temperature, and the actual feedback current of the motor drive chip.

[0077] Under ideal conditions, the heat generated by the motor is determined by referring to a table based on the motor's temperature rating and current rating under the initial conditions of the vehicle.

[0078] The heat dissipation calculation module is used to calculate the heat dissipation of the motor based on the transmission oil temperature, transient motor temperature, vehicle speed, and motor characteristics.

[0079] The ambient temperature around the motor during vehicle operation is calculated based on the transmission oil temperature, transient motor temperature, and vehicle speed. The heat dissipation of the motor is then calculated based on the transient motor temperature, the motor's heat dissipation coefficient, and the heat dissipation area.

[0080] The heat dissipation of the motor is calculated using the following formula:

[0081]

[0082] In the formula, This refers to the heat dissipation of the motor. The heat dissipation coefficient; For heat dissipation area; This refers to the transient motor temperature. The ambient temperature around the motor; This is the coefficient representing the effect of vehicle speed on heat dissipation. For vehicle speed; This is a heat dissipation correction term determined based on the motor characteristics.

[0083] The heat conversion module is used to calculate the current temperature of the motor based on the relative heat difference and the initial motor temperature. The heat conversion module is as follows: Figure 3 As shown.

[0084] The relative temperature difference of the motor is calculated based on the relative heat difference generated by the motor, and the current temperature of the motor is calculated based on the relative temperature difference of the motor.

[0085] The current temperature of the motor is calculated using the following formula:

[0086]

[0087] In the formula, The current temperature of the motor; This is the initial motor temperature; For the heat generated by the motor; This refers to the heat dissipation of the motor. The heat capacity of the motor; and To simulate the thermal response parameters of a motor under different operating conditions, this is used to adjust the effect of the heat generation and dissipation ratio on the final temperature.

[0088] The relative heat difference generated by the motor is determined according to the heat-to-temperature formula.

[0089] The PWM limiting module is used to limit the target PWM based on the current temperature of the motor. The PWM limiting module is as follows: Figure 4 As shown.

[0090] Calculate the motor's power limit at the current temperature based on the motor's current temperature, and determine the magnitude of the limited PWM based on the target PWM of the CC / CG module;

[0091] The limited PWM is calculated using the following formula:

[0092]

[0093] In the formula, The PWM after limitation; For target PWM; The current temperature of the motor; This refers to the maximum allowable temperature of the motor. This refers to the limiting range of temperature difference; The safe operating temperature of the motor; To control the rate parameter of PWM reduction; Parameters to control the nonlinearity of the effect of temperature on PWM.

[0094] The system also includes a finite element analysis module, which performs numerical simulations based on Fourier's law of heat conduction to predict the temperature field distribution and thermal stress during clutch engagement. By predicting the thermal behavior of the clutch under different operating conditions, it determines the estimated heat generation of the motor. Specifically, this includes: determining the accuracy and response time of the clutch motor temperature calculation system, and collecting the physical parameters of the clutch motor; simulating the heat distribution of the motor under different operating conditions through thermal analysis; determining the stress and deformation of the motor at different temperatures through structural analysis; and calculating the natural frequency of the motor through modal analysis. The estimated heat generation of the motor calculated by the finite element analysis module is reduced by approximately 15% to 20%.

[0095] Example 2:

[0096] Based on the aforementioned embodiments, the system adds a confidence network module, which extracts features from the input data through a multi-layer nonlinear model and learns the relationship between features and temperature. Based on the confidence level assessment, it determines the working state that can ensure the motor operates within a safe temperature range.

[0097] First, temperature data of the clutch motor under different operating conditions are collected or calculated, including current, speed, ambient temperature, oil temperature, etc., and the obtained data are cleaned and normalized.

[0098] The collected data is used to train a confidence network model, which monitors the working status and temperature of the clutch motor in real time, and the temperature is calculated using the confidence network model.

[0099] The activation function formula, which reflects the nonlinear characteristics of temperature change, is as follows:

[0100]

[0101] In the formula, The activation value of the hidden layer; This is an activation function used to introduce nonlinearity; Here, is the weight matrix, representing the connection strength from the input to the hidden layer; The input vector is such as current, rotational speed, etc. The bias vector is used to add a constant bias to each neuron in the hidden layer; These are the adjustment parameters determined based on the characteristics of the clutch motor.

[0102] The temperature prediction error is weighted using a weighted loss function to increase the attention paid to high errors that may lead to motor overheating. The formula for the weighted loss function is as follows:

[0103]

[0104] In the formula, The loss function; For the first The weights of each sample; For the first The actual temperature of each sample; For the first Predicted temperature for each sample; This represents the number of samples.

[0105] For example, suppose there are input features Current And speed R; actual temperature y: the actual temperature of the clutch motor; the goal is to predict the motor temperature. .

[0106] Assumption

[0107]

[0108] Assuming actual temperature

[0109]

[0110] The performance of the confidence network module is shown in Table 1.

[0111] Table 1. Summary of the effects of the confidence network module

[0112]

[0113] As shown in Table 1, the clutch motor temperature calculation system optimized by the confidence network module can produce more accurate temperature calculation results in most cases, and has higher accuracy. This indicates that the confidence network module can effectively improve the accuracy of the clutch motor temperature calculation system for calculating motor temperature.

[0114] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media containing computer-usable program code.

[0115] The present invention can provide computer program instructions to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which are executed by the processor of the computer or other programmable data processing device, produce means for implementing the system.

[0116] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that perform the functions of the system.

[0117] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions of the system.

Claims

1. A temperature calculation system for a clutch motor, characterized by comprising: Comprising: an ambient temperature calculation module for calculating the ambient temperature around the motor in the initial state according to the gearbox oil temperature, atmospheric temperature and engine water temperature; a heat production calculation module for calculating the heat production of the motor according to the motor feedback current, transient motor temperature and motor working state; a heat dissipation calculation module for calculating the heat dissipation of the motor according to the gearbox oil temperature, transient motor temperature, vehicle speed and motor characteristics; a heat conversion module for calculating the relative temperature difference of the motor according to the relative heat difference generated by the motor, calculating the current temperature of the motor according to the relative temperature difference of the motor and the initial motor temperature, calculating the limiting power of the motor at the current temperature according to the current temperature of the motor, and calculating the size of the limited PWM according to the target PWM of the CC / CG module, as follows: wherein, is the limited PWM; is the target PWM; is the current temperature of the motor; is the maximum allowed temperature of the motor; is the limit range of the temperature difference; is the safe working temperature of the motor; is the rate parameter of the control PWM reduction; is the non-linear degree parameter of the control temperature influence on the PWM; a PWM limiting module for limiting the target PWM according to the current temperature of the motor.

2. The system of claim 1, wherein: the temperature of the motor in the initial state of the vehicle is replaced by the ambient temperature around the motor.

3. The system of claim 2, wherein: the heat production of the motor in the ideal state is calculated according to the speed of the motor, the size of the current and the temperature of the motor in the initial state, and the final heat production of the motor is determined according to the estimated heat production of the motor in different working states.

4. The system of claim 1, wherein: the ambient temperature around the motor during vehicle operation is calculated according to the gearbox oil temperature, transient motor temperature and vehicle speed, and the heat dissipation of the motor is calculated according to the heat dissipation coefficient and heat dissipation area of the motor based on the transient motor temperature.

5. The system of claim 1, wherein: the system further comprises a finite element analysis module which performs numerical simulation according to the Fourier heat conduction law to predict the temperature field distribution and thermal stress during the engagement of the clutch, and determines the estimated heat production of the motor by predicting the thermal behavior of the clutch under different working conditions.

6. The system of claim 1, wherein: the system further comprises a belief network module which extracts features from input data through multiple layers of nonlinear models and learns the relationship between features and temperature, and determines the working state that can ensure the motor to operate within a safe temperature range according to the confidence evaluation.

7. A method for calculating the temperature of a clutch motor, comprising: the implementation of the method is based on the system of any one of claims 1-6: the method comprises: calculating the ambient temperature around the motor in the initial state according to the gearbox oil temperature, atmospheric temperature and engine water temperature; calculating the heat production of the motor according to the motor feedback current, transient motor temperature and motor working state; calculating the heat dissipation of the motor according to the gearbox oil temperature, transient motor temperature, vehicle speed and motor characteristics; calculating the current temperature of the motor according to the relative heat difference of the motor and the initial motor temperature; limiting the target PWM according to the current temperature of the motor.

8. A vehicle, comprising: the vehicle is equipped with the system of any one of claims 1-6 to calculate the motor temperature in real time during vehicle operation and regulate the vehicle operating state.

9. A computer device comprising a processor and a memory, the processor being connected with the memory, the memory being configured to store a computer program, characterized in that: The processor is configured to execute a computer program stored in the memory, so that the computer device executes the method of claim 7. The processor is configured to execute a computer program stored in the memory, so that the computer device executes the method of claim 7.

Images