Loading control method, system, device and storage medium for mobile robot

Abstract

The application provides a loading control method, system and device of a mobile robot and a storage medium, and comprises the following steps: obtaining commodity inventory unit information, wherein the commodity inventory unit information comprises a commodity barcode, a commodity name, a commodity size, a commodity weight and barcode orientation information; obtaining carriage information; generating a target pallet type according to pallet type planning based on the commodity inventory unit information and the carriage information; detecting the mobile robot; and performing loading work according to the target pallet type after the mobile robot passes the detection. In the application, the commodity inventory unit information and the carriage information are obtained first, the target pallet type is generated according to pallet type planning based on the commodity inventory unit information and the carriage information, the mobile robot is detected, and the loading work is performed according to the target pallet type after the mobile robot passes the detection. Therefore, the application not only facilitates the convenient control of the loading of the mobile robot, but also realizes the safety protection during the work of the mobile robot.

Description

Technical Field

[0001] This invention relates to intelligent manufacturing and high-end manufacturing, specifically to a method, system, device, and storage medium for controlling the loading of a mobile robot. Background Technology

[0002] A robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and move goods.

[0003] More and more visual and force sensors will be used in robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] In order to expand the application scenarios and scope of robots, existing technologies have created mobile robots by installing them on mobile bases, thereby enabling the robots to move and perform functions such as mobile depalletizing and mobile picking.

[0005] Mobile robots need to perceive their environment while moving, and information from a single sensor is often insufficient for this purpose. Mobile robots typically utilize all installed sensors to perceive and understand their surroundings, enabling them to accurately identify the types and locations of objects, classify the environment, and thus precisely acquire real-time environmental information. However, how to effectively and quickly control the operation of mobile robots remains a pressing problem to be solved. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the purpose of this invention is to provide a method, system, device and storage medium for loading control of a mobile robot.

[0007] The vehicle loading control method for a mobile robot provided by the present invention includes the following steps:

[0008] Step S1: Obtain product inventory unit information, which includes product barcode, product name, product size, product weight, and barcode orientation information;

[0009] Step S2: Obtain carriage information, and generate target carriage type by performing carriage type planning based on the commodity inventory unit information and the carriage information;

[0010] Step S3: Inspect the mobile robot, and after the mobile robot passes the inspection, perform the loading operation according to the target model.

[0011] Preferably, step S1 includes the following steps:

[0012] Step S101: Display the product inventory unit information input interface according to the received instruction to create new product inventory unit information;

[0013] Step S102: Receive the input product information through the product inventory unit information input interface. The product information includes the product barcode, product name, product size, product weight, and barcode orientation information.

[0014] Step S103: Upon receiving the confirmation instruction, generate the product inventory unit information based on the input product information.

[0015] Preferably, step S1 includes the following steps:

[0016] Step S101: Based on the received download template instruction, display the information of the released product inventory units and input the template;

[0017] Step S102: Receive the input product information through the product inventory unit information input template. The product information includes the product barcode, product name, product size, product weight, and barcode orientation information.

[0018] Step S103: Based on the received import instruction, input the information of the commodity inventory unit into the template to generate the commodity inventory unit information.

[0019] Preferably, step S2 includes the following steps:

[0020] Step S201: Display the stack type information input interface according to the received new stack type instruction;

[0021] Step S202: Receive the input car information and box type list through the stacking information input interface. The car information includes the car dimensions, beam dimensions, and ramp dimensions. The box type list includes the product inventory unit information and placement posture.

[0022] Step S203: Obtain the carriage information and box type list, and generate the target carriage type based on the carriage information and box type list.

[0023] Preferably, step S3 includes the following steps:

[0024] Step S301: Perform state detection on the mobile robot, including the connection status of the robotic arm, the connection status of the mobile chassis, and the battery level of the mobile chassis;

[0025] Step S302: Perform safety verification on the mobile robot, and sequentially obtain user confirmation input for multiple safety information items;

[0026] Step S303: After the mobile robot passes the inspection, the loading operation is carried out according to the target model.

[0027] Preferably, the multiple security information includes any one or more of the following:

[0028] - Whether the carriage doors are fully open, and the conditions for grabbing the goods;

[0029] -The location of the slope;

[0030] - The placement of safety fences;

[0031] - The working position of the mobile robot.

[0032] Preferably, the barcode orientation information includes:

[0033] - No barcode;

[0034] - The barcode is on one long side;

[0035] - The barcode is on one of the short sides;

[0036] - The barcode is on both long sides.

[0037] The vehicle loading control system for a mobile robot provided by the present invention includes the following modules:

[0038] The product information acquisition module is used to acquire product inventory unit information, which includes product barcode, product name, product size, product weight, and barcode orientation information.

[0039] The pattern planning module is used to obtain the carriage information and generate the target pattern based on the commodity inventory unit information and the carriage information.

[0040] The information detection module is used to detect the mobile robot and, after the mobile robot passes the detection, to perform loading operations according to the target model.

[0041] The vehicle loading control device for a mobile robot provided according to the present invention includes:

[0042] processor;

[0043] A memory module that stores executable instructions of the processor;

[0044] The processor is configured to execute the steps of the loading control method for the mobile robot by executing the executable instructions.

[0045] According to the computer-readable storage medium provided by the present invention, a program is used to store a program that, when executed, implements the steps of the loading control method for the mobile robot.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] In this invention, the product inventory unit information and the carriage information are first obtained. Based on the product inventory unit information and the carriage information, a target loading pattern is generated through loading pattern planning. The mobile robot is then inspected, and after the mobile robot passes the inspection, the loading operation is carried out according to the target loading pattern. This not only facilitates convenient control of the mobile robot during loading but also achieves safety precautions during the operation of the mobile robot. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0049] Figure 1 This is a flowchart illustrating the steps of the vehicle loading control method for a mobile robot in an embodiment of the present invention.

[0050] Figure 2 This is a flowchart illustrating the steps for obtaining commodity inventory unit information in an embodiment of the present invention;

[0051] Figure 3 This is a flowchart illustrating the steps for obtaining commodity inventory unit information in a modified embodiment of the present invention.

[0052] Figure 4 This is a flowchart illustrating the steps for generating the target shape in an embodiment of the present invention;

[0053] Figure 5 This is a flowchart illustrating the steps for performing state detection on a mobile robot in an embodiment of the present invention.

[0054] Figure 6 This is a schematic diagram of the interface for shape planning in an embodiment of the present invention;

[0055] Figure 7 This is a schematic diagram of the vehicle loading control system for the mobile robot in an embodiment of the present invention;

[0056] Figure 8 This is a schematic diagram of the vehicle loading control device for the mobile robot in an embodiment of the present invention; and

[0057] Figure 9 This is a schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Detailed Implementation

[0058] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0059] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0060] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0061] The technical solutions of the present invention and how they solve the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0062] Figure 1 This is a flowchart illustrating the steps of the loading control method for a mobile robot in an embodiment of the present invention, as shown below. Figure 1 As shown, the mobile robot loading control method provided by the present invention includes the following steps:

[0063] Step S1: Obtain product inventory unit information, which includes product barcode, product name, product size, product weight, and barcode orientation information;

[0064] In this embodiment of the invention, the barcode orientation information includes:

[0065] - No barcode;

[0066] - The barcode is on one long side;

[0067] - The barcode is on one of the short sides;

[0068] - The barcode is on both long sides.

[0069] Figure 2 This is a flowchart illustrating the steps for obtaining commodity inventory unit information in an embodiment of the present invention, as follows: Figure 2 As shown, step S1 includes the following steps:

[0070] Step S101: Display the product inventory unit information input interface according to the received instruction to create new product inventory unit information;

[0071] Step S102: Receive the input product information through the product inventory unit information input interface. The product information includes the product barcode, product name, product size, product weight, and barcode orientation information.

[0072] Step S103: Upon receiving the confirmation instruction, generate the product inventory unit information based on the input product information.

[0073] In this embodiment of the invention, the instruction to create new commodity inventory unit information can be entered by clicking with a mouse or by tapping on a touch screen;

[0074] The product dimensions include the product's length, width, and height.

[0075] Figure 3 This is a flowchart illustrating the steps for obtaining commodity inventory unit information in a variation of the present invention, as shown below. Figure 3 As shown, step S1 includes the following steps:

[0076] Step S101: Based on the received download template instruction, display the information of the released product inventory units and input the template;

[0077] Step S102: Receive the input product information through the product inventory unit information input template. The product information includes the product barcode, product name, product size, product weight, and barcode orientation information.

[0078] Step S103: Based on the received import instruction, input the information of the commodity inventory unit into the template to generate the commodity inventory unit information.

[0079] In this embodiment of the invention, the information input template can be any form of document template.

[0080] Step S2: Obtain carriage information, and generate target carriage type by performing carriage type planning based on the commodity inventory unit information and the carriage information;

[0081] Figure 4 This is a flowchart illustrating the steps for generating the target shape in an embodiment of the present invention, such as... Figure 4 As shown, step S2 includes the following steps:

[0082] Step S201: Display the stack type information input interface according to the received new stack type instruction;

[0083] Step S202: Receive the input car information and box type list through the stacking information input interface. The car information includes the car dimensions, beam dimensions, and ramp dimensions. The box type list includes the product inventory unit information and placement posture.

[0084] Step S203: Obtain the carriage information and box type list, and generate the target carriage type based on the carriage information and box type list.

[0085] In embodiments of the present invention, such as Figure 6 As shown, the new stack type command can be entered by clicking with a mouse or by tapping on the touch screen.

[0086] The stack type information input interface can also name the stack type; the dimensions of the carriage include the length, width and height of the carriage; the dimensions of the crossbeam are the length and width of the carriage entrance; and the dimensions of the ramp are the height and length of the ramp.

[0087] The list of box types allows you to select the product inventory unit information and placement orientation to link the product inventory unit information and placement orientation.

[0088] The placement posture includes 6 types, specifically 3 sets of opposite sides facing outwards, and each side facing outwards can be further divided into horizontal and vertical placement.

[0089] When planning the layout, the goal is to maximize the loading capacity of the carriages.

[0090] Step S3: Inspect the mobile robot, and after the mobile robot passes the inspection, perform the loading operation according to the target model.

[0091] Figure 5 This is a flowchart illustrating the steps for state detection of a mobile robot in an embodiment of the present invention, as follows: Figure 5 As shown, step S3 includes the following steps:

[0092] Step S301: Perform state detection on the mobile robot, including the connection status of the robotic arm, the connection status of the mobile chassis, and the battery level of the mobile chassis;

[0093] Step S302: Perform safety verification on the mobile robot, and sequentially obtain user confirmation input for multiple safety information items;

[0094] Step S303: After the mobile robot passes the inspection, the loading operation is carried out according to the target model.

[0095] In this embodiment of the invention, when the detection fails, a corresponding pop-up window will appear to provide a prompt, such as a pop-up window indicating that the robot is not connected.

[0096] In embodiments of the present invention, the multiple security information includes any one or more of the following:

[0097] - Whether the carriage doors are fully open, and the conditions for grabbing the goods;

[0098] -The location of the slope;

[0099] - The placement of safety fences;

[0100] - The working position of the mobile robot.

[0101] The ramp is used to move the robot into the carriage.

[0102] In this embodiment of the invention, task information also needs to be verified. Upon first startup, task information needs to be filled in, stack type file needs to be selected, license plate number needs to be entered, etc. Upon subsequent startup, it is necessary to choose whether to change the task based on the actual situation.

[0103] Figure 7 This is a schematic diagram of the vehicle loading control system for the mobile robot in an embodiment of the present invention, as shown below. Figure 7 As shown, the vehicle loading control system for the mobile robot provided by the present invention includes the following modules:

[0104] The product information acquisition module is used to acquire product inventory unit information, which includes product barcode, product name, product size, product weight, and barcode orientation information.

[0105] The pattern planning module is used to obtain the carriage information and generate the target pattern based on the commodity inventory unit information and the carriage information.

[0106] The information detection module is used to detect the mobile robot and, after the mobile robot passes the detection, to perform loading operations according to the target model.

[0107] This invention also provides a vehicle loading control device for a mobile robot, including a processor and a memory. The memory stores executable instructions for the processor. The processor is configured to execute vehicle loading control method steps for the mobile robot by executing the executable instructions.

[0108] As described above, in this embodiment, the product inventory unit information and the carriage information are first obtained. Based on the product inventory unit information and the carriage information, a target loading pattern is generated through loading pattern planning. The mobile robot is then inspected, and after the mobile robot passes the inspection, the loading operation is carried out according to the target loading pattern. This not only facilitates convenient control of the mobile robot during loading but also achieves safety precautions during the operation of the mobile robot.

[0109] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "platform."

[0110] Figure 8 This is a schematic diagram of the loading control device for the mobile robot in an embodiment of the present invention. See below for reference. Figure 8 To describe an electronic device 600 according to this embodiment of the present invention. Figure 8 The electronic device 600 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0111] like Figure 8 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0112] The storage unit stores program code, which can be executed by the processing unit 610 to perform the steps described in the section on the loading control method for the mobile robot described above, based on various exemplary embodiments of the present invention. For example, the processing unit 610 can perform actions such as... Figure 1 The steps are shown in the figure.

[0113] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0114] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0115] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0116] Electronic device 600 can also communicate with one or more external devices 700 (e.g., keyboard, pointing device, Bluetooth device, camera, depth camera, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in 8, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0117] This invention also provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of a mobile robot loading control method. In some possible implementations, various aspects of the invention can also be implemented as a program product comprising program code, which, when run on a terminal device, causes the terminal device to execute the steps described in the above-described section on the mobile robot loading control method according to various exemplary embodiments of the invention.

[0118] As shown above, when the program of the computer-readable storage medium of this embodiment is executed, it first obtains the commodity inventory unit information and the carriage information, performs a loading pattern planning to generate a target loading pattern based on the commodity inventory unit information and the carriage information, detects the mobile robot, and performs loading operations according to the target loading pattern after the mobile robot passes the detection. This not only facilitates convenient control of the mobile robot for loading, but also realizes safety precautions during the operation of the mobile robot.

[0119] Figure 9 This is a schematic diagram of the structure of a computer-readable storage medium according to an embodiment of the present invention. (Reference) Figure 9 As shown, a program product 800 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0120] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0121] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0122] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0123] In this embodiment of the invention, the product inventory unit information and the carriage information are first obtained. Based on the product inventory unit information and the carriage information, a target loading pattern is generated by loading pattern planning. The mobile robot is then inspected. After the mobile robot passes the inspection, the loading operation is carried out according to the target loading pattern. This not only facilitates convenient control of the mobile robot during loading but also achieves safety precautions during the operation of the mobile robot.

[0124] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. 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 the invention. Therefore, the invention 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 disclosed herein.

[0125] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A loading control method for a mobile robot, characterized in that, Includes the following steps: Step S1: Obtain product inventory unit information, which includes product barcode, product name, product size, product weight, and barcode orientation information; Step S2: Obtain carriage information, and generate target carriage type by performing carriage type planning based on the commodity inventory unit information and the carriage information; Step S3: Inspect the mobile robot, and after the mobile robot passes the inspection, perform the loading operation according to the target model.

2. The loading control method for a mobile robot according to claim 1, characterized in that, Step S1 includes the following steps: Step S101: Display the product inventory unit information input interface according to the received instruction to create new product inventory unit information; Step S102: Receive the input product information through the product inventory unit information input interface. The product information includes the product barcode, product name, product size, product weight, and barcode orientation information. Step S103: Upon receiving the confirmation instruction, generate the product inventory unit information based on the input product information.

3. The loading control method for a mobile robot according to claim 1, characterized in that, Step S1 includes the following steps: Step S101: Based on the received download template instruction, display the information of the released product inventory units and input the template; Step S102: Receive the input product information through the product inventory unit information input template. The product information includes the product barcode, product name, product size, product weight, and barcode orientation information. Step S103: Based on the received import instruction, input the information of the commodity inventory unit into the template to generate the commodity inventory unit information.

4. The loading control method for a mobile robot according to claim 1, characterized in that, Step S2 includes the following steps: Step S201: Display the stack type information input interface according to the received new stack type instruction; Step S202: Receive the input car information and box type list through the stacking information input interface. The car information includes the car dimensions, beam dimensions, and ramp dimensions. The box type list includes the product inventory unit information and placement posture. Step S203: Obtain the carriage information and box type list, and generate the target carriage type based on the carriage information and box type list.

5. The loading control method for a mobile robot according to claim 1, characterized in that, Step S3 includes the following steps: Step S301: Perform state detection on the mobile robot, including the connection status of the robotic arm, the connection status of the mobile chassis, and the battery level of the mobile chassis; Step S302: Perform safety verification on the mobile robot, and sequentially obtain user confirmation input for multiple safety information items; Step S303: After the mobile robot passes the inspection, the loading operation is carried out according to the target model.

6. The loading control method for a mobile robot according to claim 5, characterized in that, Multiple security information includes any one or more of the following: - Whether the carriage doors are fully open, and the conditions for grabbing the goods; -The location of the slope; - The placement of safety fences; - The working position of the mobile robot.

7. The loading control method for a mobile robot according to claim 1, characterized in that, The barcode orientation information includes: - No barcode; - The barcode is on one long side; - The barcode is on one of the short sides; - The barcode is on both long sides.

8. A loading control system for a mobile robot, characterized in that, Includes the following modules: The product information acquisition module is used to acquire product inventory unit information, which includes product barcode, product name, product size, product weight, and barcode orientation information. The pattern planning module is used to obtain the carriage information and generate the target pattern based on the commodity inventory unit information and the carriage information. The information detection module is used to detect the mobile robot and, after the mobile robot passes the detection, to perform loading operations according to the target model.

9. A loading control device for a mobile robot, characterized in that, include: processor; A memory module that stores executable instructions of the processor; The processor is configured to perform the steps of the loading control method for the mobile robot according to any one of claims 1 to 7 by executing the executable instructions.

10. A computer-readable storage medium for storing a program, characterized in that, When the program is executed, it implements the steps of the loading control method for the mobile robot according to any one of claims 1 to 7.

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