Underwater emergency rescue device

Abstract

The invention relates to an underwater emergency rescue device, and belongs to the technical field of unmanned underwater vehicles, and the underwater emergency rescue device comprises a base which is provided with a module arrangement area; the emergency rescue module is integrated in the module arrangement area, and the emergency rescue module is used for generating buoyancy to drive the unmanned underwater vehicle to float upwards; one end of the connecting seat is fixed to the base, the other end of the connecting seat is used for being fixed to the unmanned underwater vehicle, and a plurality of mounting holes are formed in the base. The base serves as a basic carrier and is provided with a module arrangement area and a plurality of installation holes, the emergency rescue module is allowed to be flexibly installed according to the model, modification requirements or task scenes of the unmanned underwater vehicle, one end of the connecting base is fixed to the base, and the other end of the connecting base is fixed to the unmanned underwater vehicle. And the emergency rescue module is also allowed to be flexibly installed on the unmanned underwater vehicle according to the model modification requirement or task scene of the unmanned underwater vehicle.

Description

Technical Field

[0001] This application relates to the field of unmanned underwater vehicle technology, and in particular to an underwater emergency rescue device. Background Technology

[0002] As core equipment in fields such as underwater exploration, resource exploration, and national defense reconnaissance, unmanned underwater vehicles operate in complex underwater environments and are prone to accidents due to power failures, communication failures, pipeline damage, and other reasons.

[0003] When an unmanned underwater vehicle (UUV) malfunctions underwater and cannot surface in time, or when it crashes and cannot be rescued promptly, it not only results in the scrapping of expensive equipment but also leads to the loss of important data. Current UUV self-rescue devices are mostly single, integrated structures, meaning that buoyancy-aiding airbags or jettisonable ballast are fixedly installed at the factory.

[0004] First, the integrated structure cannot be flexibly configured to meet the later modification needs of the unmanned underwater vehicle, such as spatial layout adjustments, functional module upgrades, or model iterations, resulting in high modification costs, long cycles, and even the need to return it to the factory for remanufacturing. Second, when the unmanned underwater vehicle malfunctions and cannot surface autonomously, and external rescue is required, the underwater remotely operated robot or diver must manually operate the docking rescue device to connect. When docking the underwater remotely operated robot or diver on site, multiple components need to be manually disassembled, aligned, and tightened, which is time-consuming and may delay the best rescue opportunity due to the complexity of the operation. Summary of the Invention

[0005] This application provides an emergency rescue device to address the problem that most self-rescue devices for unmanned underwater vehicles in the related technology are single, integrated structures that are inflexible in assembly and disassembly, thus limiting their practical application.

[0006] In a first aspect, an underwater emergency rescue device is provided, comprising: a base having a module arrangement area thereon; an emergency rescue module integrated into the module arrangement area, the emergency rescue module being used to generate buoyancy to propel an unmanned underwater vehicle to the surface; a connecting seat having one end fixed to the base and the other end for fixing to the unmanned underwater vehicle, and the base having a plurality of mounting holes.

[0007] In some embodiments, a plug is provided on the side of the base opposite to the connecting seat, and a fixing mechanism is provided on the connecting seat. When two underwater emergency rescue devices are connected, the plug on one of the underwater emergency rescue devices is used to connect with the fixing mechanism on the other underwater emergency rescue device.

[0008] In some embodiments, the connector is provided with a socket, the fixing mechanism is connected to the side wall of the socket, and the plug is inserted into the socket and fixed to the fixing mechanism.

[0009] In some embodiments, the plug includes a plug rod and a stop head. One end of the plug rod is connected to the base, and the other end is connected to the stop head. The diameter of the end of the stop head connected to the plug rod is larger than the diameter of the plug rod, so that a stop surface is formed on the end face of the stop head. The fixing mechanism is engaged with the stop surface in the socket.

[0010] In some embodiments, the connector has a connecting groove on the side wall of the socket, and the fixing mechanism is connected to the connecting groove. The fixing mechanism includes: a stop block, one end of which is rotatably connected to the connecting groove, and the other end of which has an abutment end that engages with the stop head; a release stud, one end of which is connected to the stop block, and the other end of which protrudes from the connecting groove; a stop spring, one end of which is connected to the release stud, and the other end of which is connected to the side wall of the connecting groove; and the stop spring has a first state and a second state. When the stop spring is in the first state, the stop block extends out of the connecting groove; when the stop spring is in the second state, the stop block retracts into the connecting groove.

[0011] In some embodiments, the area where the abutting end abuts the stop surface is sloped.

[0012] In some embodiments, a release nut is connected to one end of the release stud that extends out of the connecting groove.

[0013] In some embodiments, the emergency rescue module includes: an inflation unit disposed on the base, the inflation unit being used to generate buoyancy; a trigger unit connected to the inflation unit, the trigger unit being used to send an inflation command; and a control unit connected to the inflation unit and the trigger unit, the control unit being used to control the inflation unit to inflate according to the inflation command sent by the trigger unit.

[0014] In some embodiments, the inflation unit includes: a high-pressure gas cylinder disposed on the base; an air bag connected to the high-pressure gas cylinder by a high-pressure gas pipeline; a control valve connected to the high-pressure gas pipeline; and a control unit connected to the control valve.

[0015] In some embodiments, the triggering unit includes: a depth gauge for monitoring underwater depth and sending the monitored depth data to the control unit; and an underwater acoustic communication unit for receiving remote control commands and sending signals to the control unit according to the remote control commands.

[0016] The beneficial effects of the technical solution provided in this application include: the embodiments of this application provide an underwater emergency rescue device, with a base serving as the basic carrier, having a module arrangement area and multiple mounting holes, allowing the emergency rescue module to be flexibly installed according to the unmanned underwater vehicle model, modification requirements, or mission scenario; since one end of the connecting seat is fixed to the base and the other end is fixed to the unmanned underwater vehicle, the emergency rescue module can also be flexibly installed on the unmanned underwater vehicle according to the unmanned underwater vehicle model, modification requirements, or mission scenario; the cooperation of the base and the connecting seat provides multiple installation methods for the emergency rescue module, making installation simple and enabling rapid response after a fault is triggered. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure provided for an embodiment of this application; Figure 2 A frontal view schematic diagram provided for an embodiment of this application; Figure 3 A schematic diagram illustrating the plug-in provided for an embodiment of this application; Figure 4 A schematic diagram illustrating the fixing mechanism provided for an embodiment of this application; Figure 5 This is a schematic diagram provided for an embodiment of the present application to illustrate the connection status of multiple underwater emergency rescue devices.

[0019] In the diagram: 1. Base; 10. Module layout area; 2. Emergency rescue module; 20. Inflation unit; 200. High-pressure gas cylinder; 201. Airbag; 202. High-pressure gas pipeline; 203. Control valve; 2030. Solenoid valve; 2031. Manual shut-off valve; 21. Trigger unit; 210. Depth gauge; 211. Underwater acoustic communication unit; 22. Control unit; 3. Connecting seat; 30. Socket; 31. Connecting groove; 4. Insert; 40. Plug rod; 41. Stop head; 42. Stop surface; 43. Base plate; 5. Fixing mechanism; 50. Stop block; 500. Abutment end; 51. Release stud; 52. Stop spring; 53. Release nut. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] This application provides an underwater emergency rescue device that solves the problem that most unmanned underwater vehicle self-rescue devices in related technologies are single, integrated structures that are inflexible to assemble and disassemble, thus limiting their practical application.

[0022] Reference Figure 1-5 An underwater emergency rescue device includes: a base 1, an emergency rescue module 2, and a connecting seat 3. The base 1 is rectangular and has a module arrangement area 10. The emergency rescue module 2 is integrated into the module arrangement area 10 and is used to generate buoyancy to help the unmanned underwater vehicle (UUV) float. One end of the connecting seat 3 is fixed to the base 1, and the other end is used to fix it to the UUV. The fixing position is preferably on the load-bearing structure on the upper surface of the UUV and close to the center of gravity of the UUV. The base 1 has multiple mounting holes, which are standardized holes and prefabricated on the base 1 in advance, but are not shown in the figure.

[0023] The base 1 serves as the basic carrier integrating the module layout area 10 and multiple standardized mounting holes, enabling the emergency rescue module 2 to be quickly disassembled and reconfigured according to the model differences of the unmanned underwater vehicle, subsequent spatial layout adjustments, functional module upgrades, or changes in mission scenarios. This solves the problems of traditional integrated structures requiring factory remanufacturing, high modification costs, and long cycles. Moreover, the mounting base is preferably located inside the unmanned underwater vehicle's shell in a non-watertight area, serving as a self-rescue device for the unmanned underwater vehicle in emergency situations. At the same time, the connecting seat 3 is rigidly fixed at one end to the base 1 and at the other end to the unmanned underwater vehicle, achieving rapid docking. This avoids the cumbersome process of disassembly, alignment, and tightening that requires remote-controlled robots or divers during underwater rescue, shortening the docking time.

[0024] In this application, at least one underwater emergency rescue device can be selected for installation and use according to the emergency situation. If two or more underwater emergency rescue devices are required, in order to avoid the cumbersome underwater on-site connection, a plug-in 4 is provided on the side of the base 1 away from the connecting seat 3, and a fixing mechanism 5 is provided on the connecting seat 3. When two underwater emergency rescue devices are connected, the plug-in 4 on one underwater emergency rescue device is used to connect with the fixing mechanism 5 on the other underwater emergency rescue device.

[0025] The mechanical locking mechanism between the plug-in 4 and the fixing mechanism 5 enables quick plug-and-play connection of two or more underwater emergency rescue devices. This eliminates the need for manual disassembly, alignment, or tightening by external personnel; simply inserting the plug-in 4 of one device into the fixing mechanism 5 of another completes the physical connection via a self-locking mechanism, ensuring a stable and reliable connection in complex underwater environments. This solves the pain point of traditional multi-device docking relying on manual operation, shortening docking time and significantly improving rescue efficiency. Simultaneously, it supports flexible deployment of multiple devices as needed, forming a collaborative buoyancy system to avoid single-point failures leading to rescue failures. This effectively ensures the rapid ascent of the unmanned underwater vehicle in deep malfunctions or complex water conditions, reducing equipment scrap rates. In detail: The connector 3 has a socket 30, and the fixing mechanism 5 is connected to the side wall of the socket 30. The plug 4 is inserted into the socket 30 and fixed to the fixing mechanism 5. Specifically: The plug 4 includes a plug rod 40 and a stop head 41. One end of the plug rod 40 is connected to the base 1, and the other end is connected to the stop head 41. The diameter of the end of the stop head 41 connected to the plug rod 40 is larger than the diameter of the plug rod 40, so that a stop surface 42 is formed on the end face of the stop head 41. The fixing mechanism 5 is engaged with the stop surface 42 in the socket 30. The connector 3 has a connecting groove 31 on the side wall of the socket 30. The fixing mechanism 5 is connected to the connecting groove 31. The fixing mechanism 5 includes a stop block 50, a release stud 51, and a stop spring 52. One end of the stop block 50 is rotatably connected to the connecting groove 31, and the other end is provided with an abutment end 500 that engages with the stop head 41; one end of the release stud 51 is connected to the stop block 50, and the other end protrudes from the connecting groove 31; one end of the stop spring 52 is connected to the release stud 51, and the other end is connected to the side wall of the connecting groove 31; the stop spring 52 has a first state and a second state; when the stop spring 52 is in the first state, the stop block 50 extends out of the connecting groove 31; when the stop spring 52 is in the second state, the stop block 50 retracts into the connecting groove.

[0026] During connection, the operator simply inserts the plug rod 40 straight into the socket 30. The stop head 41 continuously pushes the stop block 50 to overcome the resistance of the stop spring 52 and retract into the connecting groove 31. When the stop head 41 has completely passed the stop block 50, the stop spring 52 releases its elastic potential energy, driving the stop block 50 to pop out and precisely engage with the stop surface 42 of the stop head 41. During separation, by pulling the release stud 51 to compress the stop spring 52, the stop block 50 is completely pulled back into the connecting groove 31, achieving unresisted release between the stop block 50 and the stop head 41. The plug rod 40 can then be easily pulled out.

[0027] In this application, to ensure a better fit between the abutting end 500 and the stop surface 42, the area where the abutting end 500 and the stop surface 42 abut is also set at an angle. The angles of inclination are strictly consistent, ensuring that the contact surfaces form a surface contact rather than a point contact, significantly enhancing the resistance to vibration and water flow impact under high-pressure underwater environments, and preventing accidental detachment due to minor displacement. Furthermore, a base plate 43 is connected to the top of the plug rod 40. When the plug rod 40 is fully inserted into the socket 30, the base plate 43 covers the top of the socket 30, maintaining the seal of the socket 30 and reducing the impact of external water ingress on the components.

[0028] In this application, a release nut 53 is further connected to one end of the release stud 51 that protrudes from the connecting groove 31. The release nut 53 is added to the outer end of the release stud 51, forming a standardized operating interface through a threaded connection, so that the underwater operator only needs to rotate the release nut 53 to drive the release stud 51 to compress the stop spring 52, thereby achieving precise retraction of the stop block 50.

[0029] In this application, the emergency rescue module 2 includes an inflation unit 20, a triggering unit 21, and a control unit 22. The inflation unit 20 is mounted on the base 1 and is used to generate buoyancy. The triggering unit 21 is connected to the inflation unit 20 and is used to send inflation commands. The control unit 22 is connected to both the inflation unit 20 and the triggering unit 21 and is used to control the inflation unit 20 to inflate according to the inflation commands sent by the triggering unit 21. The triggering unit 21 automatically sends inflation commands when it detects preset fault thresholds such as power failure, communication loss, or abnormal depth by collecting underwater environmental data in real time. The control unit 22, acting as a central processor, accurately activates the inflation unit 20 after receiving the command, completing the rapid inflation of the buoyancy-aiding airbag 201 in a very short time, generating stable buoyancy to drive upward movement. The inflation unit 20 ensures efficient and controllable buoyancy output through a standardized gas release mechanism.

[0030] In this application, the inflation unit 20 includes: a high-pressure gas cylinder 200, an air bag 201, and a control valve 203. The high-pressure gas cylinder 200 is mounted on the base 1; a high-pressure gas pipeline 202 connects the air bag 201 and the high-pressure gas cylinder 200; the control valve 203 is connected to the high-pressure gas pipeline 202, and the control valve 203 includes a manual shut-off valve 2031 and a solenoid valve 2030, wherein the control unit 22 is connected to the solenoid valve 2030, and the manual shut-off valve 2031 is used for gas on / off control during the factory commissioning and maintenance phases of the device, and can also serve as an emergency manual venting component in case of failure of the solenoid valve 2030.

[0031] After the control unit 22 detects power failure or communication loss signals in real time, it automatically activates the solenoid valve 2030 to open the high-pressure gas pipeline 202, so that the compressed gas in the high-pressure gas cylinder 200 is rapidly filled into the airbag 201 in a very short time, generating stable buoyancy to drive the unmanned underwater vehicle to float. At the same time, the manual shut-off valve 2031 is designed as a redundancy and is dedicated to gas on / off testing during the factory commissioning phase and daily maintenance. It also provides an emergency manual operation interface in case of electronic failure of the solenoid valve 2030, so as to avoid rescue interruption due to electronic system failure.

[0032] In this application, the triggering unit 21 includes a depth gauge 210 and an underwater acoustic communication unit 211. The depth gauge 210 monitors underwater depth and sends the monitored depth data to the control unit 22. The underwater acoustic communication unit 211 receives remote control commands and sends signals to the control unit 22 according to the remote control commands. The depth gauge 210 monitors underwater depth data in real time, and automatically transmits the data to the control unit 22 when an abnormal depth is detected. The underwater acoustic communication unit 211 acts as an external command receiver, continuously receiving remote control commands and accurately transmitting the command signals to the control unit 22. After comprehensively analyzing the depth data and remote commands, the control unit 22 immediately activates the inflation unit 20 to initiate the self-rescue procedure.

[0033] In this application, the main control unit of the unmanned underwater vehicle (UUV) can also issue an emergency ascent command to the rescue device. The rescue device controller responds to the command from the UUV main control unit by driving the solenoid valve 2030 to open and inflate the airbag 201. When the UUV main control unit detects a depth anomaly, power failure, or communication interruption, it directly sends the emergency ascent command to the rescue device controller in real time through an internal high-speed communication protocol. After receiving the command, the rescue device controller does not need to rely on external underwater acoustic communication or the signal from the trigger unit 21, and directly drives the solenoid valve 2030 to open the high-pressure air pipeline 202, activating the inflation unit 20 to quickly inflate the airbag 201.

[0034] The implementation principle of this application is as follows: The base 1 integrates a standardized modular layout area 10 and multiple mounting holes, enabling the emergency rescue module 2 to be quickly disassembled and configured according to the model iteration, spatial layout adjustment, or mission scenario requirements of the unmanned underwater vehicle, without the need for remanufacturing at the factory, thus shortening the modification cycle. One end of the connecting seat 3 is rigidly fixed to the base 1, and the other end achieves rapid docking with the unmanned underwater vehicle through a preset interface, eliminating the cumbersome processes of disassembly, alignment, and fastening required by underwater remotely operated robots or divers. In multi-device collaborative scenarios, a plug-in 4 is added to the side of the base 1 away from the connecting seat 3, and a fixing mechanism 5 is set on the connecting seat 3. A self-locking connection is achieved through precise tilt matching: the tilt angle of the stop surface 42 is completely consistent with the tilt angle of the bottom surface of the stop block 50, ensuring that surface contact rather than point contact is formed during engagement, greatly enhancing the vibration resistance and water flow impact resistance under the high pressure environment of the deep sea; when separating, rotating the release nut 53 compresses the stop spring 52, causing the stop block 50 to fully retract into the connecting groove 31. The inflation unit 20, triggering unit 21, and control unit 22 work in concert. The depth gauge 210 monitors underwater depth data in real time, the underwater acoustic communication unit 211 receives remote control commands, and the unmanned underwater vehicle's main control unit directly issues emergency commands when a power failure or communication loss is detected. The control unit 22, acting as the central processor, comprehensively analyzes all input signals and instantly activates the solenoid valve 2030 to open the high-pressure air pipeline 202, driving the airbag 201 to inflate and generate stable buoyancy to propel it upwards. The inflation unit 20 innovatively employs a dual control mechanism: the solenoid valve 2030 handles automatic inflation, while the manual shut-off valve 2031 serves as a redundancy design for factory testing, routine maintenance, and emergency manual operation in case of solenoid valve 2030 failure.

[0035] This application upgrades underwater emergency rescue from passive waiting that relies on external human intervention to autonomous and immediate proactive self-rescue through deep coupling of mechanical structure and electronic control. This not only significantly improves the survival rate of unmanned underwater vehicles in complex underwater accidents, but also reduces the total life cycle maintenance cost through modular design.

[0036] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0037] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An underwater emergency rescue device, characterized in that, It includes: Base (1), on which a module arrangement area (10) is provided; An emergency rescue module (2) is integrated in the module layout area (10). The emergency rescue module (2) is used to generate buoyancy to drive the unmanned underwater vehicle to float. The connecting seat (3) has one end fixed to the base (1) and the other end used to fix to the unmanned underwater vehicle, and the base (1) is provided with multiple mounting holes.

2. The underwater emergency rescue device as described in claim 1, characterized in that: The base (1) has a plug (4) on the side opposite to the connecting seat (3), and the connecting seat (3) has a fixing mechanism (5). When two underwater emergency rescue devices are connected, the plug (4) on one of the underwater emergency rescue devices is used to connect with the fixing mechanism (5) on the other underwater emergency rescue device.

3. The underwater emergency rescue device as described in claim 2, characterized in that: The connector (3) is provided with a socket (30), the fixing mechanism (5) is connected to the side wall of the socket (30), and the plug (4) is inserted into the socket (30) and fixed to the fixing mechanism (5).

4. The underwater emergency rescue device as described in claim 3, characterized in that: The plug (4) includes a plug rod (40) and a stop head (41). One end of the plug rod (40) is connected to the base (1), and the other end is connected to the stop head (41). The diameter of the end of the stop head (41) connected to the plug rod (40) is larger than the diameter of the plug rod (40), so that a stop surface (42) is formed on the end face of the stop head (41). The fixing mechanism (5) is engaged with the stop surface (42) in the socket (30).

5. The underwater emergency rescue device as described in claim 4, characterized in that: The connector (3) has a connecting groove (31) on the side wall of the insertion hole (30), and the fixing mechanism (5) is connected to the connecting groove (31), which includes: The stop block (50) has one end rotatably connected in the connecting groove (31) and the other end is provided with an abutment end (500) that engages with the stop head (41). The release stud (51) has one end connected to the stop block (50) and the other end protruding from the connecting groove (31); The stop spring (52) has one end connected to the release stud (51) and the other end connected to the side wall of the connecting groove (31), and the stop spring (52) has a first state and a second state; When the stop spring (52) is in the first state, the stop block (50) extends out of the connecting groove (31), and when the stop spring (52) is in the second state, the stop block (50) retracts into the connection.

6. The underwater emergency rescue device as described in claim 5, characterized in that: The area where the abutting end (500) abuts against the stop surface (42) is set at an angle.

7. The underwater emergency rescue device as described in claim 5, characterized in that: The release stud (51) is connected to a release nut (53) at one end that protrudes from the connecting groove (31).

8. The underwater emergency rescue device as described in claim 1, characterized in that: The emergency rescue module (2) includes: An inflation unit (20) is disposed on the base (1) and the inflation unit (20) is used to generate buoyancy; A trigger unit (21) is connected to the inflation unit (20), and the trigger unit (21) is used to send an inflation command; A control unit (22) is connected to the inflation unit (20) and the trigger unit (21). The control unit (22) is used to control the inflation unit (20) to inflate according to the inflation command sent by the trigger unit (21).

9. The underwater emergency rescue device as described in claim 8, characterized in that: The inflation unit (20) includes: A high-pressure gas cylinder (200) is mounted on the base (1); An airbag (201) is connected to a high-pressure gas pipeline (202) between itself and the high-pressure gas cylinder (200). A control valve (203) is connected to the high-pressure gas line (202), and the control unit (22) is connected to the control valve (203).

10. An underwater emergency rescue device as described in claim 8, characterized in that: The triggering unit (21) includes: A depth gauge (210) is used to monitor underwater depth and send the monitored depth data to the control unit (22). The underwater acoustic communication unit (211) is used to receive remote control commands and send signals to the control unit (22) according to the remote control commands.

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