Camera monitoring module of helicopter and pest control monitoring system

Abstract

The invention discloses a camera shooting monitoring module of a helicopter, the camera shooting monitoring module comprises a control unit, a variable-focus camera, a positioning information interface, a laser range finder and a memory, and the invention further discloses a pest control monitoring system comprising the camera shooting monitoring module of the helicopter. The beneficial effects of the invention are that the geographic fence data correspond to the park where insect pest monitoring is needed, and in the process that the camera monitoring module of the helicopter moves along with the helicopter, when the zoom camera shoots the position and enters the park where insect pest monitoring is needed, the shooting program can be automatically started when the distance is appropriate. The device can automatically shoot an image of an area needing insect pest detection in the routine operation processes of patrol inspection, pesticide spraying, personnel transportation and the like over a park by a helicopter. Along with the movement of the helicopter, different positions of the park can be shot, and the advantage that large-area forestry insect pests can be rapidly monitored is achieved.

Description

Technical Field

[0001] This invention relates to the technical field of a camera monitoring module for helicopters and a pest control monitoring system, specifically to a camera monitoring module for helicopters and a pest control monitoring system. Background Technology

[0002] my country is the world's largest fruit producer, with fruit tree planting area exceeding 190 million mu (approximately 12 million hectares) and an annual output value of about 1 trillion yuan. The main fruit varieties planted are citrus, apples, pears, peaches, grapes, and bananas, with citrus covering 37.3 million mu (approximately 2.8 million hectares). Due to the large planting area of ​​fruit orchards, traditional pest monitoring methods rely on manual inspections, which are inefficient, time-consuming, and labor-intensive.

[0003] Chinese utility model patent CN222264118U discloses a detachable insect trap for pest monitoring, comprising a base plate, a support rod fixedly connected to the front upper part of the base plate, an extension rod movably sleeved at the upper end of the support rod, and an insect trap body fixedly mounted at the upper end of the extension rod. The lower front end of the insect trap body has an internally and externally penetrating mounting groove, with mounting rods fixedly connected to the left and right inner walls of the mounting groove. Each of the two mounting rods has a locking rod engaged, and a mounting box is fixedly connected between the two locking rods. A handle is fixedly connected to the front end of the mounting box. However, because this insect trap is in a fixed position, the range of pest monitoring is very limited.

[0004] Chinese invention patent CN107560666B discloses a field pest monitoring vehicle and its monitoring method. This field pest monitoring vehicle includes a main vehicle, an auxiliary vehicle, a monitoring device, a first steel wire rope, a second steel wire rope, a third steel wire rope, and a fourth steel wire rope. The main vehicle includes a first reel motor, a second reel motor, a third reel motor, a first reel, a second reel, a third reel, a main support plate, a main lifting device, a main balancing device, a main vehicle traveling mechanism, and a first T-shaped bracket. The auxiliary vehicle includes an auxiliary vehicle traveling mechanism, an auxiliary balancing device, an auxiliary lifting device, an auxiliary support plate, a second T-shaped bracket, a fourth reel, and a fourth reel motor.

[0005] Currently, crop pest monitoring is conducted using ground-based equipment. While convenient, this method faces significant limitations in large-scale forestry plantations. Complex terrain such as hillsides, gullies, and overlapping trees can severely reduce monitoring effectiveness. Therefore, existing technology lacks equipment capable of rapidly monitoring large-scale forestry pests. Summary of the Invention

[0006] To address the aforementioned technical problems, the present invention aims to provide a camera monitoring module for a helicopter, comprising a control unit, a zoomable camera, a positioning information interface, a laser rangefinder, and a memory. It also discloses a pest control monitoring system, including the aforementioned helicopter camera monitoring module, which has the advantage of being able to quickly monitor large-area forest pests.

[0007] To achieve the above-mentioned objectives, the technical solution adopted by the present invention is as follows:

[0008] A camera monitoring module for a helicopter includes a control unit, a zoom camera, a positioning information interface, a laser rangefinder, and a memory. The zoom camera includes an image sensor and a motorized zoom lens. The image sensor has a lens interface, and the motorized zoom lens is mounted on the lens interface. The laser rangefinder's measurement direction is the same as the shooting direction of the motorized zoom lens. The laser rangefinder is electrically connected to the control unit and is used to measure the distance to the ground and send a ranging signal to the control unit. The positioning information interface is electrically connected to the control unit and is used to send the positioning information of the helicopter's camera monitoring module to the control unit. The control unit calculates the ground position information that the motorized zoom lens is pointing at based on the positioning information. The memory is electrically connected to the control unit and contains geofencing data. The control unit determines whether the ground position information is within the coordinate range of the geofencing data. If so, it controls the motorized zoom lens to zoom based on the ranging signal obtained from the laser rangefinder. The farther the distance to the ground, the larger the focal length of the motorized zoom lens. The image sensor is used to collect image data of the ground, and the control unit stores the image data in the memory.

[0009] Preferably, the control unit is electrically connected to a gyroscope sensor, which is used to send to the control unit the angle information 'a' between the shooting direction of the motorized zoom lens and the horizontal plane. The control unit is electrically connected to a magnetic sensor, which is used to send to the control unit the angle information 'b' between the shooting direction of the motorized zoom lens and the meridian on the horizontal projection plane, and the angle information 'c' between the shooting direction of the motorized zoom lens and the parallel on the horizontal projection plane. The ranging signal includes the distance L between the motorized zoom lens and the ground along the ranging direction of the laser rangefinder. The ground position information includes the target longitude coordinate W1 and the target latitude coordinate N1. The positioning information includes the positioning longitude coordinate W2 and the positioning latitude coordinate N2. The target longitude coordinate W1 = W2 + L * cos(a) * cos(b), and the target latitude coordinate N1 = N2 + L * cos(a) * cos(c).

[0010] Preferably, the memory contains preset effective height data, and the control unit is used to determine whether the ranging signal is within the effective height data range. If it is not within the effective height data range, the laser rangefinder will not be activated to measure the distance.

[0011] Preferably, the focal length of the motorized zoom lens is adjusted to the maximum when the ranging signal reaches the highest value of the effective height data, and to the minimum when the ranging signal reaches the lowest value of the effective height data.

[0012] Preferably, the positioning information interface is electrically connected to the RS-232 serial communication port on the helicopter for transmitting NMEA data.

[0013] Preferably, the positioning information interface is electrically connected to a satellite positioning unit.

[0014] Preferably, the control unit is electrically connected to a communication unit.

[0015] Preferably, the system also includes a housing, which is fixedly connected to a bracket for connection with a helicopter. The bracket is provided with shock-absorbing pads. The lower end of the housing is provided with a shooting window. The housing is fixedly connected to a glass plate that blocks the shooting window. The image sensor is fixedly installed on the inner wall of the housing, and the motorized zoom lens faces the shooting window.

[0016] Preferably, the housing is provided with a positioning hole, the laser rangefinder is fixedly installed inside the housing and inserted into the positioning hole, and the positioning hole extends to the outside of the housing.

[0017] A pest control monitoring system includes the camera monitoring module of the helicopter mentioned above.

[0018] Compared with the prior art, the present invention has achieved beneficial technical effects:

[0019] 1. By correlating geofence data with the areas requiring pest monitoring, the helicopter's camera monitoring module moves with the helicopter. Once the zoom camera enters the area requiring pest monitoring, the distance between the zoom camera and the ground is determined. When the distance is appropriate, the recording program is automatically initiated. Therefore, during routine operations such as helicopter aerial inspections, pesticide spraying, and personnel transport, images of the areas requiring pest monitoring can be automatically captured. The ability to capture images of different locations within the area as the helicopter moves effectively increases the monitoring range, achieving the advantage of rapid monitoring of large-scale forestry pests.

[0020] 2. Forest pests typically progress slowly, so there is no need to monitor the trees 24 hours a day. Therefore, this camera monitoring module can meet the pest monitoring requirements of forest areas by accompanying the regular flight missions of helicopters. Thus, this camera monitoring module is well applicable to the monitoring of forest pests in large-scale parks.

[0021] 3. After the camera monitoring module of the helicopter is installed on the helicopter, the module can automatically monitor the shooting position and shooting distance. Once the area to be monitored is captured and the shooting distance is appropriate, the module will automatically complete the shooting and data storage. Operators only need to periodically check the data automatically captured by the module to realize the regular monitoring of the forest pest situation in the park. There is no need for personnel to go into the park to collect data, thus achieving the effect of convenient long-term monitoring. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a camera monitoring module for a helicopter according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the outer shell and the support in Embodiment 1 of the present invention.

[0024] The technical features referred to by the various reference numerals in the accompanying drawings are as follows:

[0025] 11. Control unit; 12. Positioning information interface; 13. Laser rangefinder; 14. Gyroscope sensor; 15. Magnetic sensor; 16. Image sensor; 17. Motorized zoom lens; 18. Communication unit; 19. Memory; 21. Housing; 22. Bracket; 23. Shock-absorbing pad; 24. Shooting window; 25. Glass plate; 26. Positioning hole; 27. Receiving cavity. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the embodiments. However, the scope of protection of this invention is not limited to the specific embodiments described below.

[0027] refer to Figure 1A camera monitoring module for a helicopter includes a control unit 11, a zoom camera, a positioning information interface 12, a laser rangefinder 13, a memory 19, and a housing 21. The control unit 11 is a microprocessor. The zoom camera includes an image sensor 16 and a motorized zoom lens 17. The image sensor 16 has a lens interface, and the motorized zoom lens 17 is mounted on the lens interface. The measurement direction of the laser rangefinder 13 is the same as the shooting direction of the motorized zoom lens 17. The laser rangefinder 13 is electrically connected to the control unit 11 and is used to measure the distance to the ground and send a distance measurement signal to the control unit 11. The positioning information interface 12 is electrically connected to the control unit 11. The location information interface 12 is used to send the positioning information of the camera monitoring module of the helicopter to the control unit 11. The control unit 11 calculates the ground position information that the electric zoom lens 17 is pointing at based on the positioning information. The memory 19 is electrically connected to the control unit 11. The memory 19 contains geofence data. The control unit 11 determines whether the ground position information is within the coordinate range of the geofence data. If so, it controls the electric zoom lens 17 to zoom based on the ranging signal measured by the laser rangefinder 13. The farther away from the ground, the larger the focal length of the electric zoom lens 17. The image sensor 16 is used to collect image data of the ground. The control unit 11 stores the image data in the memory 19.

[0028] The memory 19 contains preset effective height data. The control unit 11 determines whether the ranging signal is within the effective height data range. If it is not within the effective height data range, the laser rangefinder 13 will not be activated to measure the distance. When the ranging signal reaches the highest value of the effective height data, the focal length of the motorized zoom lens is adjusted to the maximum; when the ranging signal reaches the lowest value of the effective height data, the focal length of the motorized zoom lens is adjusted to the minimum. The motorized zoom lens changes linearly with the ranging signal. Let the percentage of the ranging signal from the lowest to the highest effective height data be 0%-100%, and let the percentage of the motorized zoom lens's focal length from the minimum to the maximum be 0%-100%. The percentage of the ranging signal from the lowest to the highest effective height data is equal to the percentage of the motorized zoom lens's focal length from the minimum to the maximum.

[0029] The positioning information interface 12 is electrically connected to the RS-232 serial communication port on the helicopter for transmitting NMEA data. The helicopter is a Bell 407, and the Aspen Avionics EFD1000 display on the Bell 407 has an RS-232 serial communication port capable of transmitting NMEA data, including latitude, speed, and time, to the positioning information interface 12. This enables the transmission of positioning information to the control unit 11 via the positioning information interface 12. The control unit 11 is electrically connected to a communication unit 18, which is a Belle Pomegranate R300 with a built-in SIM card. It connects to the internet via a 4G network and can communicate with the control unit 11 via RS232 or RS485 serial ports.

[0030] The control unit 11 is electrically connected to a gyroscope sensor 14, which is an MPU6050 motion sensor that integrates a three-axis MEMS gyroscope and a three-axis digital accelerometer. The gyroscope sensor 14 is a digital closed-loop three-axis fiber optic gyroscope sensor used to send the angle α between the shooting direction of the motorized zoom lens 17 and the horizontal plane to the control unit 11. The control unit 11 is also electrically connected to a magnetic sensor 15, which uses a Kuntai Microelectronics KTH5642 chip. The magnetic sensor 15 is used to send the angle α between the shooting direction of the motorized zoom lens 17 and the horizontal plane to the control unit 11. The angle information b between the shooting direction and the meridian on the horizontal projection plane, the angle information c between the shooting direction of the motorized zoom lens 17 and the parallel on the horizontal projection plane, the ranging signal includes the distance L between the motorized zoom lens 17 and the ground along the ranging direction of the laser rangefinder 13, the ground position information includes the target longitude coordinate W1 and the target latitude coordinate N1, the positioning information includes the positioning longitude coordinate W2 and the positioning latitude coordinate N2, the target longitude coordinate W1=W2+L*cos(a)*cos(b), the target latitude coordinate N1=N2+L*cos(a)*cos(c).

[0031] When a helicopter veers during flight, the zoom camera may miss capturing the area directly beneath it. If the helicopter is relatively far from the ground, the captured image will have a significant discrepancy with the helicopter's actual location. Therefore, this application incorporates ground position information, calculating the distance based on satellite positioning information and the helicopter's veer angle. The positioning information refers to the location directly beneath the helicopter; therefore, the formula for calculating the horizontal projection distance *d* from directly beneath the helicopter to the zoom camera's position is:

[0032] d = L * cos(a)

[0033] The formula for calculating the difference 'e' between the longitude directly below the helicopter and the longitude of the zoom camera's shooting position is:

[0034] e = d * cos(b) = L * cos(a) * cos(b)

[0035] Therefore, the longitude data of the zoom camera's shooting position can be calculated as follows:

[0036] Target longitude coordinates W1 = W2 + e = W2 + L * cos(a) * cos(b)

[0037] The formula for calculating the difference f between the latitude directly below the helicopter and the latitude of the zoom camera's shooting position is:

[0038] f = d * cos(c) = L * cos(a) * cos(c)

[0039] Therefore, the latitude data of the zoom camera's shooting position can be calculated as follows:

[0040] Target latitude coordinates N1 = N2 + f = N2 + L * cos(a) * cos(c)

[0041] It realizes the calculation of longitude and latitude data of the shooting position of the zoom camera.

[0042] refer to Figure 2 The outer casing 21 is fixedly connected to a bracket 22 for connection with a helicopter. The bracket 22 is equipped with shock-absorbing pads 23. A shooting window 24 is provided at the lower end of the outer casing 21. A glass plate 25 is fixedly connected to the outer casing 21 to block the shooting window 24. An image sensor 16 is fixedly installed on the inner wall of the outer casing 21, and an electric zoom lens 17 faces the shooting window 24. The outer casing 21 is provided with a positioning hole 26. A laser rangefinder 13 is fixedly installed inside the outer casing 21 and inserted into the positioning hole 26. The positioning hole 26 extends to the outside of the outer casing 21. The outer casing 21 is provided with a receiving cavity 27. The control unit 11, gyroscope sensor 14, magnetic sensor 15, communication unit 18, and memory 19 are all located in the receiving cavity 27, and the control unit 11, gyroscope sensor 14, magnetic sensor 15, communication unit 18, and memory 19 are all fixedly connected to the casing.

[0043] The helicopter's camera monitoring module is installed on the helicopter and powered by the helicopter's 12V power supply interface or battery.

[0044] The control unit 11 continuously receives positioning information transmitted via positioning information. This positioning information changes as the helicopter moves, and the position captured by the zoom camera also changes with the helicopter's movement. This application uses ground location information to determine the position captured by the zoom camera. When the ground location information is within the geofence data during helicopter movement, the distance between the zoom camera and the ground is determined using the ranging signal measured by the laser rangefinder 13. If the distance is too close, a comprehensive and effective image cannot be captured; if the distance is too far, a clear and detailed image cannot be captured. Therefore, effective altitude data is introduced. The zoom camera is only activated to capture images when the distance between the zoom camera and the ground is within the effective altitude data range, effectively reducing invalid image data. After simultaneously meeting the conditions for geofencing data and effective height data, the camera program is started. First, the focal length of the motorized zoom lens 17 is adjusted according to the ranging signal to ensure that the image range projected onto the image sensor 16 is reasonable, avoiding the captured area being too large or too small. Then, the image sensor 16 captures image data, and the control unit 11 transmits the image data to the memory 19 for data storage. The control unit 11 then transmits the image data in the memory 19 to the cloud server through the communication unit 18. Operators can read the image data in the memory 19 or download the image data through the cloud server. The image data can be used to determine whether the trees are infested with pests (when trees are infested with pests, the branches and leaves turn yellow and the leaves become sparse, so the image can be used to determine whether the trees are infested with pests), thus realizing the function of monitoring pests in the forest area.

[0045] When the zoom camera completes a shooting task, the control module records the latitude and longitude data of the ground position information at the time of shooting. The memory also presets the interval shooting distance information s2. As the helicopter moves, the latitude and longitude data in the ground position information changes continuously. The new ground position information has longitude coordinates W1a and latitude coordinates N1a. If the new ground position information is within the coordinate range of the geofence data, the interval distance s1 between the new ground position information and the ground position information at the time of the previous shooting task is calculated. On the horizontal plane, the distance between the coordinate point at the time of the previous shooting task and the new coordinate point after the helicopter's movement conforms to the following formula:

[0046]

[0047] Therefore, the distance between the coordinate point during the last shooting mission and the new coordinate point after the helicopter's movement is:

[0048]

[0049] The control module compares s1 and s2. If s1 is greater than s2, the shooting task is restarted. If s1 is less than s2, a new s1 is calculated after a certain interval, which can be 0.1 to 5 seconds. In this embodiment, the interval is set to 0.5 seconds. This achieves automatic re-execution of the shooting task after a certain distance within the coordinate range of the geofence data.

[0050] This embodiment has the following advantages:

[0051] By mapping geofence data to areas requiring pest monitoring, the helicopter's camera monitoring module moves with the helicopter. Once the zoom camera enters the area requiring pest monitoring, the distance between the camera and the ground is determined. When the distance is appropriate, the recording process is automatically initiated. Therefore, during routine operations such as helicopter aerial inspections, pesticide spraying, and personnel transport, images of the areas requiring pest monitoring can be automatically captured. The ability to capture images of different locations within the area as the helicopter moves effectively increases the monitoring range and achieves the advantage of rapid monitoring of large-scale forestry pests.

[0052] Forest pests typically progress slowly, so there is no need to monitor the trees 24 hours a day. Therefore, this camera monitoring module can meet the pest monitoring requirements of forest areas by accompanying the regular flight missions of helicopters. Thus, this camera monitoring module is well applicable to the monitoring of forest pests in large-scale parks.

[0053] Once the camera monitoring module is installed on the helicopter, it can automatically monitor the shooting position and shooting distance. After the camera can capture the area to be monitored and the shooting distance is appropriate, it will automatically complete the shooting and data storage. Operators only need to periodically check the data automatically captured by the module to achieve regular monitoring of the forest pest situation in the park. There is no need for personnel to go into the park to collect data, thus achieving the effect of convenient long-term monitoring.

[0054] The zoom camera, carried by helicopter, takes pictures of the trees from above the park, effectively avoiding the problem of trees blocking each other when shooting from the ground. This significantly increases the shooting range and enables rapid monitoring of large-scale forest pests.

[0055] By placing the zoom camera inside the housing 21, the housing 21 can protect the zoom camera from collisions with objects, thus protecting the zoom camera.

[0056] The laser rangefinder 13 is positioned using the positioning hole 26 to ensure that the ranging direction of the laser rangefinder 13 is the same as the shooting direction of the zoom camera.

[0057] Example 2:

[0058] A camera monitoring module for a helicopter, which differs from Embodiment 1 in that: the positioning information interface is electrically connected to a satellite positioning unit.

[0059] This embodiment has the following advantages:

[0060] By installing an independent satellite positioning unit at the positioning information interface, it is also possible to transmit positioning information to the control unit through the positioning information interface.

[0061] Example 3:

[0062] A pest control monitoring system includes a helicopter camera monitoring module and a cloud server, as described in Example 1. The helicopter camera monitoring module uploads image data to the cloud server, which is used to store the image data.

[0063] Based on the disclosure and teachings of the foregoing specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the invention should also fall within the protection scope of the claims of the present invention. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on the invention.

Claims

1. A camera monitoring module for a helicopter, characterized in that: The system includes a control unit (11), a zoom camera, a positioning information interface (12), a laser rangefinder (13), and a memory (19). The zoom camera includes an image sensor (16) and a motorized zoom lens (17). The image sensor (16) has a lens interface, and the motorized zoom lens (17) is mounted on the lens interface. The measurement direction of the laser rangefinder (13) is the same as the shooting direction of the motorized zoom lens (17). The laser rangefinder (13) is electrically connected to the control unit (11) and is used to measure the distance to the ground and send a distance measurement signal to the control unit (11). The positioning information interface (12) is electrically connected to the control unit (11) and is used to send a distance measurement signal to the control unit (11). The control unit (11) sends the positioning information of the camera monitoring module of the helicopter. The control unit (11) calculates the ground position information that the electric zoom lens (17) is pointing at based on the positioning information. The memory (19) is electrically connected to the control unit (11). The memory (19) contains geofence data. The control unit (11) determines whether the ground position information is within the coordinate range of the geofence data. If so, it controls the electric zoom lens (17) to zoom based on the ranging signal measured by the laser rangefinder (13). The farther away from the ground, the larger the focal length of the electric zoom lens (17). The image sensor (16) is used to collect image data of the ground. The control unit (11) stores the image data in the memory (19).

2. The helicopter camera monitoring module according to claim 1, characterized in that: The control unit (11) is electrically connected to a gyroscope sensor (14), which is used to send information a about the angle between the shooting direction of the electric zoom lens (17) and the horizontal plane to the control unit (11). The control unit (11) is also electrically connected to a magnetic sensor (15), which is used to send information b about the angle between the shooting direction of the electric zoom lens (17) on the horizontal projection plane and the meridian to the control unit (11). The angle information c between the plane projection surface and the parallel of latitude, the ranging signal includes the distance L between the electric zoom lens (17) and the ground along the ranging direction of the laser rangefinder (13), the ground position information includes the target longitude coordinate W1 and the target latitude coordinate N1, the positioning information includes the positioning longitude coordinate W2 and the positioning latitude coordinate N2, the target longitude coordinate W1=W2+L*cos(a)*cos(b), and the target latitude coordinate N1=N2+L*cos(a)*cos(c).

3. The helicopter camera monitoring module according to claim 2, characterized in that: The memory (19) contains preset effective height data. The control unit (11) is used to determine whether the ranging signal is within the effective height data range. If it is not within the effective height data range, the laser rangefinder (13) will not be started to measure the distance.

4. The helicopter camera monitoring module according to claim 3, characterized in that: When the ranging signal reaches the highest value of the effective height data, the focal length of the motorized zoom lens is adjusted to the maximum; when the ranging signal reaches the lowest value of the effective height data, the focal length of the motorized zoom lens is adjusted to the minimum.

5. The helicopter camera monitoring module according to claim 1, characterized in that: The positioning information interface (12) is electrically connected to the RS-232 serial communication port on the helicopter for transmitting NMEA data.

6. The helicopter camera monitoring module according to claim 1, characterized in that: The positioning information interface (12) is electrically connected to a satellite positioning unit.

7. The helicopter camera monitoring module according to claim 1, characterized in that: The control unit (11) is electrically connected to a communication unit (18).

8. The helicopter camera monitoring module according to claim 1, characterized in that: It also includes a housing (21), which is fixedly connected to a bracket (22) for connecting to a helicopter. The bracket (22) is provided with shock-absorbing pads (23). The lower end of the housing (21) is provided with a shooting window (24). The housing (21) is fixedly connected to a glass plate (25) that blocks the shooting window (24). The image sensor (16) is fixedly installed on the inner wall of the housing (21). The motorized zoom lens (17) faces the shooting window (24).

9. The helicopter camera monitoring module according to claim 8, characterized in that: The outer casing (21) is provided with a positioning hole (26), and the laser rangefinder (13) is fixedly installed inside the outer casing (21) and inserted into the positioning hole (26). The positioning hole (26) extends to the outside of the outer casing (21).

10. A pest control monitoring system, characterized in that: The camera monitoring module of the helicopter included in any one of claims 1-9.

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