Bamboo forest vertical rod climbing trimming robot

Abstract

The invention discloses a bamboo forest pole climbing trimming robot which comprises a shell which is approximately of a U-shaped structure and is provided with first mounting parts located on the two sides and a second mounting part located in the middle. The driving assembly comprises a left arm driven wheel module and a right arm driven wheel module which are respectively arranged on the two first mounting parts, and a main driving wheel module positioned on the second mounting part; the holder module is arranged on the upper surface of the shell and is provided with a first driving motor and a second driving motor; the electric saw module is arranged on the holder module; the first driving motor drives the electric saw module to longitudinally turn over, and the second driving motor drives the electric saw module to horizontally rotate; the robot can automatically climb bamboos, detect side branches in the climbing process in real time, automatically trim the side branches, saw bamboo branches and bamboo tips at the top after climbing to a specific height, and perform air positioning and segmentation cutting on bamboos.

Description

Technical Field

[0001] This invention relates to the field of bamboo processing technology, specifically to a bamboo pole climbing and trimming robot. Background Technology

[0002] Bamboo pruning and tip trimming require manual labor using long-handled, curved blades. When working under bamboo, people are easily injured by falling sharp tips or branches. Furthermore, traditional bamboo cutting is not only time-consuming and labor-intensive, but also involves the high labor costs of manually transporting whole bamboo sections to the foot of the mountain, making it difficult to meet market demand. Since bamboo forests in China are mainly located in mountainous and hilly areas, the dense bamboo forest environment is not suitable for large machinery and drones. Therefore, developing a robot suitable for bamboo pruning, with features such as simple operation, high automation, and convenient maintenance, is of significant practical importance. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides a bamboo pole climbing and pruning robot, which can autonomously climb bamboo, detect side branches in real time during the climbing process, automatically prune side branches, and saw off the top bamboo branches and bamboo tips after climbing to a certain height. It can also perform aerial positioning and segmented cutting of bamboo.

[0004] The present invention adopts the following technical solution: A bamboo stalk climbing and pruning robot includes: a shell, approximately U-shaped, with first mounting portions on both sides and a second mounting portion in the middle; a drive assembly, including a left arm passive wheel module, a right arm passive wheel module respectively disposed on the two first mounting portions, and a main drive wheel module located on the second mounting portion; a gimbal module disposed on the upper surface of the shell, having a first drive motor and a second drive motor; and an electric saw module disposed on the gimbal module; the first drive motor drives the electric saw module to rotate longitudinally, and the second drive motor drives the electric saw module to rotate horizontally; the U-shaped shell design allows the robot to surround the bamboo stalk, providing a stable mounting base and facilitating operation in narrow bamboo forests; the drive assembly uses the left and right arm passive wheels and the main drive wheel module to form a three-point support, ensuring that the robot maintains balance and grip when climbing the bamboo stalk; the gimbal module uses two drive motors to realize the longitudinal rotation and horizontal rotation of the electric saw module, allowing the pruning action to flexibly cover the side branches and top of the bamboo stalk, improving pruning accuracy and efficiency.

[0005] Preferably, the gimbal module further includes a base, a mounting housing disposed on the base, and a rotating disk disposed on the mounting housing. The first drive motor is disposed on the rotating disk, and the second drive motor is located inside the mounting housing with its output end connected to the rotating disk for driving the rotating disk to rotate. The combination of the base, mounting housing, and rotating disk provides a stable support platform, ensuring that the gimbal maintains rigidity under load. The second drive motor drives the rotating disk to rotate horizontally, enabling the chainsaw to adjust its direction at a large angle and cover all side branches around the bamboo pole. The first drive motor is mounted on the rotating disk to realize the longitudinal rotation of the chainsaw, adapting to different angle cutting needs, such as horizontal pruning or vertical tip hooking.

[0006] Preferably, the chainsaw module includes a chainsaw, a motor housing that drives the chainsaw, and a rotating connector located at the lower end of the motor housing. The rotating connector is connected to the first drive motor, which facilitates the adjustment of the chainsaw module.

[0007] Preferably, the upper surface of the housing is also provided with a slide rail, and the base is provided with a slide groove that matches the slide rail. The slide rail and slide groove allow the gimbal module to move on the housing, adjust the position of the electric saw relative to the bamboo pole, adapt to bamboo of different diameters, improve the robot's adaptability, ensure that the trimming tool is always aligned with the target area, and reduce empty cuts or accidental cuts.

[0008] Preferably, the left arm passive wheel module is provided with a first passive wheel, and the right arm passive wheel module is provided with a second passive wheel. The first and second passive wheels are inclined relative to the horizontal plane and the inclination directions of the two passive wheels are opposite. The left and right passive wheels are inclined in opposite directions, forming a symmetrical layout, which increases the contact area with the bamboo pole surface, improves friction and gripping stability. The inclined design enables the robot to automatically center itself when climbing, prevents side slipping or deviation, and ensures straight climbing.

[0009] Preferably, the main drive wheel module has a main drive wheel, and the trimming robot has a first state in which the main drive wheel, the first passive wheel, and the second passive wheel all abut against the surface of the bamboo. The rotation of the main drive wheel causes the trimming robot to rotate relative to the bamboo, and the friction between the bamboo and the passive wheels causes the two passive wheels with opposite tilt directions to rotate. The drive wheel and the passive wheels simultaneously abut against the surface of the bamboo pole, forming a three-point contact, providing balanced driving force and support force. When the main drive wheel rotates, it drives the passive wheels to rotate through friction, realizing the rotation of the robot around the bamboo pole. This facilitates circular trimming or position adjustment to achieve the overall rising and falling and the overall rotation. The two passive wheels do not require separate motor drive, but rely on friction to rotate passively, simplifying the structure, reducing weight, and lowering cost and power consumption.

[0010] Preferably, both the left and right arm passive wheel modules are equipped with a moving component. The moving component includes an electric telescopic rod cylinder, a telescopic rod located at the drive end of the electric telescopic rod cylinder, and a slider located on the telescopic rod and movable relative to the housing. The passive wheel is mounted on the slider. The electric telescopic rod cylinder and the telescopic rod mechanism allow the slider to move, thereby adjusting the position of the passive wheel to accommodate bamboo of different diameters. Furthermore, the moving component provides precise displacement control, ensuring that the passive wheel is always in close contact with the surface of the bamboo pole, avoiding slippage or excessive tightness.

[0011] Preferably, the first passive wheel includes a first connecting frame and a first passive wheel body; a mounting plate is provided on the slider, and a pressure sensor assembly is rotatably fitted on the mounting plate. One end of the pressure sensor assembly is rotatably fitted with the first connecting frame, and the first passive wheel body is provided on the first connecting frame; the pressure sensor assembly can detect the pressure of the passive wheel on the bamboo pole surface in real time, and the detected pressure signal is fed back to the control system, which can be used to precisely control the adjustment of the moving component, ensuring that the clamping force is large enough to ensure stable climbing and operation, while avoiding excessive pressure that could damage the bamboo pole surface or cause the robot to jam or consume too much energy.

[0012] Preferably, the housing is provided with a mounting bracket, and the mounting bracket is provided with a guide rod, and the slider is slidably engaged with the guide rod; the slider is also provided with a telescopic rod connector that cooperates with the telescopic rod; the guide rod provides the slider with a precise linear motion trajectory, preventing the slider from deviating, shaking or jamming during movement, and ensuring the smooth and accurate adjustment process of the driven wheel.

[0013] Preferably, the housing is also equipped with an intelligent camera device and a power supply; the intelligent camera device transmits real-time images of the bamboo pole environment, supports remote monitoring and decision-making, the camera can be used for side branch detection and assists in automatic pruning, and the power module supplies power to all electronic components, ensuring that the robot can operate in the field for a long time and reducing the frequency of charging.

[0014] Compared with existing technologies, this invention has the following advantages: This application designs a bamboo pole erection robot that integrates autonomous climbing, intelligent detection, and precise trimming. It adopts a unique U-shaped shell and a three-point drive structure. Through the coordinated action of passive wheels with opposite tilt directions and the main drive wheel, it achieves stable climbing and circular motion on bamboo poles, effectively solving the problems of slipping and falling off smooth, irregular bamboo poles.

[0015] Secondly, the chainsaw module equipped with a dual-degree-of-freedom gimbal can rotate horizontally and flip vertically, enabling precise multi-angle cutting of side branches and tops, significantly improving operational flexibility.

[0016] Furthermore, it innovatively integrates a moving component and a pressure sensor, which can adapt to bamboo poles of different diameters and adjust the clamping force in real time, ensuring the reliability and safety of the grip.

[0017] Finally, by integrating detection modules such as intelligent cameras, laser rangefinders, and photoelectric switches, the robot has the functions of height positioning, side branch recognition, and remote monitoring, realizing full automation and intelligence of the process from climbing and detection to pruning, fundamentally changing the high-risk and low-efficiency status quo of traditional manual high-altitude operations. Attached Figure Description

[0018] Figure 1 A schematic diagram of the structure of a bamboo pole climbing and trimming robot.

[0019] Figure 2 A schematic diagram of the working components of a robot for climbing and trimming bamboo poles in a bamboo forest.

[0020] Figure 3 A schematic diagram of the internal structure of a bamboo pole climbing and trimming robot.

[0021] Figure 4 Another perspective structural diagram of the bamboo pole climbing and trimming robot.

[0022] Figure 5 A schematic diagram of the gimbal module of a bamboo pole climbing and trimming robot.

[0023] Figure 6 A schematic diagram of the vertical use of the bamboo pole climbing and trimming robot.

[0024] Figure 7 A schematic diagram of the lateral use of the bamboo pole climbing and trimming robot.

[0025] In the figure, the components are: housing 1, first mounting part 1-1, second mounting part 1-2, slide rail 1-3, drive assembly 2, left arm passive wheel module 2-1, first passive wheel 2-1-1, first connecting frame 2-1-1-1, first passive wheel body 2-1-1-2, right arm passive wheel module 2-2, second passive wheel 2-2-1, main drive wheel module 2-3, main drive wheel 2-3-1, gimbal module 3, first drive motor 3-1, second drive motor 3-2, base 3-3, slide groove 3-3-1, mounting housing 3-4, rotating disk 3-5, chainsaw module 4, chainsaw 4-1, motor box 4-2, rotating connector 4-3, moving assembly 5, electric telescopic rod cylinder 5-1, telescopic rod 5-2, slider 5-3, mounting plate 5-4, mounting frame 5-5, guide rod 5-6, pressure sensor assembly 6, and intelligent camera device 7. Detailed Implementation

[0026] To facilitate understanding of the technical solution of the present invention, the following detailed description is provided in conjunction with the accompanying drawings and specific embodiments.

[0027] Example 1 like Figure 1-7 As shown, a bamboo pole climbing and pruning robot includes: The shell 1, which is approximately U-shaped, has a first mounting part 1-1 located on both sides and a second mounting part 1-2 located in the middle; the U-shaped shell design allows the robot to surround the bamboo pole, providing a stable mounting base and facilitating operation in narrow bamboo forests; The drive assembly 2 includes a left arm passive wheel module 2-1, a right arm passive wheel module 2-2 respectively disposed on the two first mounting parts 1-1, and a main drive wheel module 2-3 located on the second mounting part 1-2; the drive assembly uses the left and right arm passive wheels and the main drive wheel module to form a three-point support, ensuring that the robot maintains balance and grip when climbing on the bamboo pole; The gimbal module 3 is located on the upper surface of the housing 1 and has a first drive motor 3-1 and a second drive motor 3-2. The chainsaw module 4 is mounted on the pan-tilt module 3; the first drive motor 3-1 drives the chainsaw module 4 to rotate vertically, and the second drive motor 3-2 drives the chainsaw module 4 to rotate horizontally. The gimbal module 3 uses two drive motors to enable the vertical flipping and horizontal rotation of the chainsaw module 4, allowing the trimming action to flexibly cover the side branches and top of the bamboo pole, improving trimming accuracy and efficiency.

[0028] In this embodiment, the gimbal module 3 further includes a base 3-3, a mounting housing 3-4 disposed on the base 3-3, and a rotating disk 3-5 disposed on the mounting housing 3-4. The first drive motor 3-1 is disposed on the rotating disk 3-5, and the second drive motor 3-2 is located inside the mounting housing 3-4 and its output end is connected to the rotating disk 3-5 for driving the rotating disk 3-5 to rotate. The combination of the base, the mounting housing, and the rotating disk provides a stable support platform to ensure that the gimbal remains rigid under load. The second drive motor drives the rotating disk to rotate horizontally, enabling the chainsaw to adjust its direction at a large angle and cover all side branches around the bamboo pole. The first drive motor is mounted on the rotating disk to realize the longitudinal rotation of the chainsaw, adapting to different angle cutting needs, such as horizontal pruning or vertical tip hooking.

[0029] The chainsaw module 4 includes a chainsaw 4-1, a motor housing 4-2 that drives the chainsaw 4-1, and a rotating connector 4-3 located at the lower end of the motor housing 4-2. The rotating connector 4-3 is connected to the first drive motor 3-1, which facilitates the adjustment of the chainsaw module 4.

[0030] The upper surface of the housing 1 is also provided with a slide rail 1-3, and the base 3-3 is provided with a slide groove 3-3-1 that matches the slide rail 1-3. The slide rail and slide groove allow the gimbal module to move on the housing, adjust the position of the electric saw relative to the bamboo pole, adapt to bamboo of different diameters, improve the robot's adaptive ability, ensure that the trimming tool is always aligned with the target area, and reduce empty cuts or accidental cuts.

[0031] The left arm passive wheel module 2-1 is equipped with a first passive wheel 2-1-1, and the right arm passive wheel module 2-2 is equipped with a second passive wheel 2-2-1. The first passive wheel 2-1-1 and the second passive wheel 2-2-1 are inclined relative to the horizontal plane and the inclination directions of the two passive wheels are opposite. The left and right passive wheels are inclined in opposite directions, forming a symmetrical layout, which increases the contact area with the bamboo pole surface, improves friction and gripping stability. The inclined design enables the robot to automatically center itself when climbing, prevents side slip or deviation, and ensures straight climbing.

[0032] The main drive wheel module 2-3 includes a main drive wheel 2-3-1 and a main drive wheel motor 2-3-2 that drives the main drive wheel 2-3-1 to rotate. The trimming robot has a first state in which the main drive wheel 2-3-1, the first passive wheel 2-1-1, and the second passive wheel 2-2-1 all abut against the surface of the bamboo. The rotation of the main drive wheel 2-3-1 causes the trimming robot to rotate relative to the bamboo, and the friction between the bamboo and the passive wheels causes the two passive wheels with opposite tilt directions to rotate. The main drive wheel and the passive wheels abut against the surface of the bamboo pole at the same time, forming a three-point contact, providing balanced driving force and support force. When the main drive wheel rotates, the passive wheels are driven to rotate through friction, realizing the rotation of the robot around the bamboo pole, which is convenient for circular trimming or position adjustment to achieve the overall rise and fall. The two passive wheels do not need to be driven by separate motors, but rely on friction to rotate passively, which simplifies the structure, reduces weight, and lowers cost and power consumption.

[0033] Both the left arm passive wheel module 2-1 and the right arm passive wheel module 2-2 are equipped with a moving component 5. The moving component 5 includes an electric telescopic rod cylinder 5-1, a telescopic rod 5-2 located at the drive end of the electric telescopic rod cylinder 5-1, and a slider 5-3 located on the telescopic rod 5-2 and movable relative to the housing 1. The passive wheel is disposed on the slider 5-3. The electric telescopic rod cylinder and the telescopic rod mechanism allow the slider to move, thereby adjusting the position of the passive wheel to adapt to bamboo of different diameters. The moving component provides precise displacement control to ensure that the passive wheel is always in close contact with the surface of the bamboo pole, avoiding slippage or excessive tightness.

[0034] The first passive wheel 2-1-1 includes a first connecting frame 2-1-1-1 and a first passive wheel body 2-1-1-2; the slider 5-3 is provided with a mounting plate 5-4, and a pressure sensor assembly 6 is rotatably fitted on the mounting plate 5-4. One end of the pressure sensor assembly 6 is rotatably fitted with the first connecting frame 2-1-1-1, and the first passive wheel body 2-1-1-2 is provided on the first connecting frame 2-1-1-1; the pressure sensor assembly can detect the pressure of the passive wheel on the surface of the bamboo pole in real time, and the detected pressure signal is fed back to the control system, which can be used to precisely control the adjustment of the moving component to ensure that the clamping force is large enough to ensure stable climbing and operation, while avoiding excessive pressure that could damage the surface of the bamboo pole or cause the robot to jam or consume too much energy.

[0035] The housing 1 is provided with a mounting bracket 5-5, and the mounting bracket 5-5 is provided with a guide rod 5-6. The slider 5-3 is slidably engaged with the guide rod 5-6. The slider 5-3 is also provided with a telescopic rod connector that cooperates with the telescopic rod 5-2. The guide rod provides the slider with a precise linear motion trajectory, preventing the slider from deviating, shaking or jamming during movement, and ensuring the smooth and accurate adjustment process of the driven wheel.

[0036] The housing 1 is also equipped with an intelligent camera device 7 and a power supply; the intelligent camera device transmits real-time images of the bamboo pole environment, supports remote monitoring and decision-making, the camera can be used for side branch detection and assists in automatic pruning, and the power module supplies power to all electronic components, ensuring that the robot can operate in the field for a long time and reducing the frequency of charging.

[0037] In this embodiment, the bamboo pole climbing and pruning robot includes core components such as a remote control module, power supply circuit, motor drive, automatic gripping detection, height detection, and side branch detection. The main program, interrupt program, and communication program were developed based on an STM32 embedded microcontroller. This control system enables the robot to autonomously climb bamboo, detect side branches in real time during the climb, automatically prune side branches, and saw off the top bamboo branches and tips after reaching a specific height. It can also perform aerial positioning and segmented cutting of the bamboo. Furthermore, the robot has image monitoring capabilities. Through image monitoring technology, remote control of the robot's workflow can be achieved. The prototype was successfully tested, and the test results showed that the controller and sensor selection were reasonable, the remote control circuit, motor drive circuit, and detection circuit design were scientific, and the program architecture and algorithm design were reasonable. The development of this prototype lays the foundation for the widespread adoption of bamboo pole plucking, pruning, and positioning cutting robots in the rapidly developing field.

[0038] Specifically, according to the control requirements, the bamboo pole climbing and pruning robot has 12 controlled objects. Operators need to control these objects using a dedicated handheld device to complete the climbing and pruning tasks. Therefore, the entire control system is divided into two main parts: a remote mobile terminal control module and a controlled object control module. The host computer, responsible for controlling the handheld device, acts as the remote control terminal, while the control unit of the controlled object acts as the slave computer. The host computer issues commands to the slave computer through the remote control terminal.

[0039] Host computer control circuit design: The host computer needs to realize remote control operation, image transmission, and image display functions. The Siyi Technology MK15 remote controller is selected. The remote controller consists of an antenna end and a ground end; the functions of each button and the image recognition accuracy are all set via software. Lower-level computer control circuit design: The lower-level computer mainly completes the control of climbing, grasping, chainsaw, camera pan-tilt rotation, height detection, side branch detection, bamboo pole diameter detection, etc.

[0040] Detection Device Design: The robot's main detection modules include height detection, side branch detection, bamboo pole diameter detection, pressure detection, and current detection. Height detection and bamboo pole diameter detection are primarily used for automatic control. When the robot climbs to a specific height or the bamboo pole diameter is less than a set value, the device can automatically stop climbing. A laser rangefinder sensor is selected as the height detection sensor. Side branch detection is mainly used to determine the presence of side branches. If side branches are present, a side branch electric saw is activated to prune them. The side branch detection sensor uses a diffuse reflection photoelectric switch.

[0041] The climbing mechanism uses a tension sensor to detect whether it is being gripped tightly.

[0042] Hardware Design of the Control System for a Bamboo Pole Climbing and Pruning Robot: According to control requirements, the bamboo pole climbing and pruning robot has 12 controlled objects. Operators need to manipulate these objects using a dedicated handheld device to complete the climbing and pruning tasks. Therefore, the entire control system is divided into two main parts: a remote mobile terminal control module and a controlled object control module. The host computer, responsible for controlling the handheld device, acts as the remote control terminal, while the control unit of the controlled object acts as the slave computer. The host computer issues commands to the slave computer through the remote control terminal.

[0043] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention shall be determined by the scope defined in the claims. Any improvements and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall also be considered as within the scope of protection of the present invention.

Claims

1. A bamboo forest pole climbing and pruning robot, characterized in that, include: The housing (1) is approximately U-shaped and has a first mounting portion (1-1) on both sides and a second mounting portion (1-2) in the middle. The drive assembly (2) includes a left arm passive wheel module (2-1), a right arm passive wheel module (2-2) respectively disposed in two first mounting parts (1-1), and a main drive wheel module (2-3) located in the second mounting part (1-2). The gimbal module (3) is located on the upper surface of the housing (1) and has a first drive motor (3-1) and a second drive motor (3-2). The chainsaw module (4) is mounted on the pan-tilt module (3); The first drive motor (3-1) drives the chainsaw module (4) to rotate longitudinally, and the second drive motor (3-2) drives the chainsaw module (4) to rotate horizontally.

2. The bamboo forest pole climbing and pruning robot according to claim 1, characterized in that, The gimbal module (3) further includes a base (3-3), a mounting housing (3-4) disposed on the base (3-3), and a rotating disk (3-5) disposed on the mounting housing (3-4). The first drive motor (3-1) is disposed on the rotating disk (3-5), and the second drive motor (3-2) is located inside the mounting housing (3-4) and its output end is connected to the rotating disk (3-5) for driving the rotating disk (3-5) to rotate.

3. The bamboo forest pole climbing and pruning robot according to claim 2, characterized in that, The chainsaw module (4) includes a chainsaw (4-1), a motor housing (4-2) that drives the chainsaw (4-1) to work, and a rotating connector (4-3) located at the lower end of the motor housing (4-2). The rotating connector (4-3) is connected to the first drive motor (3-1).

4. The bamboo forest pole climbing and pruning robot according to claim 2, characterized in that, The upper surface of the housing (1) is also provided with a slide rail (1-3), and the base (3-3) is provided with a slide groove (3-3-1) that matches the slide rail (1-3).

5. The bamboo forest pole climbing and pruning robot according to claim 1, characterized in that, The left arm passive wheel module (2-1) is provided with a first passive wheel (2-1-1), and the right arm passive wheel module (2-2) is provided with a second passive wheel (2-2-1). The first passive wheel (2-1-1) and the second passive wheel (2-2-1) are inclined relative to the horizontal plane and the inclination directions of the two passive wheels are opposite.

6. The bamboo forest pole climbing and pruning robot according to claim 5, characterized in that, The main drive wheel module (2-3) has a main drive wheel (2-3-1). The trimming robot has a first state. In the first state, the main drive wheel (2-3-1), the first passive wheel (2-1-1), and the second passive wheel (2-2-1) all abut against the surface of the bamboo. The rotation of the main drive wheel (2-3-1) causes the trimming robot to rotate relative to the bamboo and the friction between the bamboo and the passive wheel causes the two passive wheels with opposite tilt directions to rotate.

7. The bamboo forest pole climbing and pruning robot according to claim 5, characterized in that, Both the left arm passive wheel module (2-1) and the right arm passive wheel module (2-2) are provided with a moving component (5). The moving component (5) includes an electric telescopic rod cylinder (5-1), a telescopic rod (5-2) located at the drive end of the electric telescopic rod cylinder (5-1), and a slider (5-3) located on the telescopic rod (5-2) and capable of moving relative to the housing (1). The passive wheel is disposed on the slider (5-3).

8. The bamboo forest pole climbing and pruning robot according to claim 7, characterized in that, The first passive wheel (2-1-1) includes a first connecting frame (2-1-1-1) and a first passive wheel body (2-1-1-2); the slider (5-3) is provided with a mounting plate (5-4), and a pressure sensor assembly (6) is rotatably fitted on the mounting plate (5-4). One end of the pressure sensor assembly (6) is rotatably fitted with the first connecting frame (2-1-1-1), and the first passive wheel body (2-1-1-2) is provided on the first connecting frame (2-1-1-1).

9. The bamboo forest pole climbing and pruning robot according to claim 7, characterized in that, The housing (1) is provided with a mounting bracket (5-5), the mounting bracket (5-5) is provided with a guide rod (5-6), and the slider (5-3) is slidably engaged with the guide rod (5-6); the slider (5-3) is also provided with a telescopic rod connector that engages with the telescopic rod (5-2).

10. The bamboo forest pole climbing and pruning robot according to claim 1, characterized in that, The housing (1) is also equipped with an intelligent camera device (7) and a power supply.

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