Vehicle machine remote controller, vehicle machine remote control system and vehicle

Abstract

The utility model relates to an in-vehicle machine remote controller, an in-vehicle machine remote control system and a vehicle, relates to the field of automobiles, and aims to solve the problem that the in-vehicle machine remote controller cannot quickly and accurately control an in-vehicle machine. The vehicle machine remote controller comprises a position module, a speed module, a control module and a communication module. The position module is used for determining position information of the vehicle remote controller. The speed module is used for determining speed information in the moving process of the vehicle remote controller. The control module is electrically connected with the position module and the speed module. The control module is used for receiving information of the position module and the speed module and converting the received information into a control signal. The communication module is electrically connected with the control module and used for being in wireless connection with a vehicle machine and transmitting the control signals to the vehicle machine. The vehicle-mounted machine remote controller is used for controlling the vehicle-mounted machine.

Description

Technical Field

[0001] The present application relates to the automotive field, and in particular to a vehicle remote controller, a vehicle remote control system and a vehicle. Background Art

[0002] With the increasing popularity of cars, more and more people are paying attention to the diversification and convenience of the functions in the car. Most cars are equipped with a car computer, which allows passengers to easily operate various functions in the car.

[0003] The car computer is used to provide multimedia playback, navigation services, driving assistance information display, telephone communication, Internet access, and wireless connection with external devices. Among them, some car computers are equipped with a car computer remote control that can control the car computer system, which allows passengers to control the car computer system more conveniently.

[0004] However, most of the car remote controls on the market currently use buttons for operation. Using buttons to operate the car computer to achieve functions is inefficient. Some car remote controls are also equipped with gravity sensors, which enable the car remote control to send corresponding signals according to the speed changes of the passenger's remote control to control the car computer. However, the accuracy of controlling the car computer using this method is low, it is easy to have large errors, and it is not easy to achieve the functions that the passengers want to express. Utility Model Content

[0005] One of the purposes of the utility model is to provide a vehicle remote controller to solve the problem that the vehicle remote controller cannot quickly and accurately control the vehicle. The second purpose is to provide a vehicle remote control system. The third purpose is to provide a vehicle.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0007] In a first aspect, an embodiment of the present application provides a vehicle remote control, including a position module, a speed module, a control module and a communication module. The position module is used to determine the position information of the vehicle remote control. The speed module is used to determine the speed information of the vehicle remote control during movement. The control module is electrically connected to the position module and the speed module. The control module is used to receive information from the position module and the speed module, and convert the received information into a control signal. The communication module is electrically connected to the control module, and is used to wirelessly connect to the vehicle and transmit the control signal to the vehicle.

[0008] According to the above technical means, the vehicle remote control provided in the embodiment of the present application allows the passenger to move the vehicle remote control in three-dimensional space, so that the position and speed state of the vehicle remote control changes. The position module and the speed module can transmit the position information and speed information of the vehicle remote control determined by them to the control module electrically connected thereto. The control module can integrate and process this information and convert it into a control signal that can be received by the vehicle. The control signal can be wirelessly transmitted to the vehicle through a communication module wirelessly connected to the vehicle to control the vehicle. In this way, the function that the passenger who controls the vehicle remote control wants to achieve is realized.

[0009] In some embodiments, the location module includes a UWB module. The UWB module is electrically connected to the control module and is used to wirelessly connect to the positioning anchor point. The UWB module and the positioning anchor point perform data transmission to determine the location information of the vehicle remote control.

[0010] According to the above technical means, the location of the vehicle remote control can be determined.

[0011] In some embodiments, the location module includes an ultrasonic module. The ultrasonic module is electrically connected to the control module and is used to wirelessly connect to the positioning anchor point. The ultrasonic module and the positioning anchor point perform data transmission to determine the location information of the vehicle remote control.

[0012] According to the above technical means, the location of the vehicle remote control can be determined.

[0013] In some embodiments, the speed module includes an inertial measurement unit. The inertial measurement unit is electrically connected to the control module and is used to obtain the posture of the vehicle remote control and movement information such as acceleration and angular velocity during its movement.

[0014] According to the above technical means, the speed of the vehicle remote control during movement can be determined.

[0015] In some embodiments, the vehicle remote controller further includes a power module which is electrically connected to the control module and is used to provide power to the control module, the position module and the speed module.

[0016] According to the above technical means, the vehicle remote control can be used normally.

[0017] In some embodiments, the vehicle remote controller further includes a switch module which is electrically connected to the control module and is used to power on or off the control module.

[0018] According to the above technical means, the vehicle remote control can be controlled to be turned on and off.

[0019] In a second aspect, the embodiment of the present application further provides a vehicle remote control system. The vehicle remote control system includes any of the above vehicle remote controllers, a vehicle, and a positioning anchor point. The vehicle is wirelessly connected to the communication module. The positioning anchor point is wirelessly connected to the position module, and is used to send a signal to the position module.

[0020] According to the above technical means, the position module can locate the vehicle remote control in cooperation with the positioning anchor point.

[0021] In some embodiments, the vehicle computer includes a first Bluetooth module, the communication module includes a second Bluetooth module, and the first Bluetooth module is wirelessly connected to the second Bluetooth module.

[0022] According to the above technical means, the vehicle remote control can be wirelessly connected to the vehicle.

[0023] In some embodiments, the number of the positioning anchor points is at least three, wherein the three positioning anchor points are not located on the same straight line.

[0024] According to the above technical means, the position of the vehicle remote control in three-dimensional space can be accurately determined.

[0025] In a third aspect, an embodiment of the present application further provides a vehicle, wherein the vehicle includes any of the above-mentioned vehicle remote control systems.

[0026] According to the above technical means, convenient services can be provided to passengers.

[0027] Therefore, the above technical features of the present application have the following beneficial effects:

[0028] (1) The vehicle computer can be controlled accordingly based on the movement trajectory and position of the vehicle computer remote control.

[0029] (2) The location of the vehicle remote control can be determined.

[0030] (3) The location of the vehicle remote control can be determined.

[0031] (4) The speed of the vehicle remote control during movement can be determined.

[0032] (5) The vehicle remote control can be used normally.

[0033] (6) Can control the on and off of the vehicle remote control.

[0034] It should be noted that the technical effects brought about by the second and third aspects can refer to the technical effects brought about by the corresponding implementation methods in the first aspect, and will not be repeated here.

[0035] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application, and do not constitute an improper limitation on the present application.

[0037] Figure 1 A partial structural diagram of a vehicle remote control system provided in an embodiment of the present application;

[0038] Figure 2 A partial structural diagram of a vehicle remote control provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the structure of a vehicle remote control provided in an embodiment of the present application.

[0040] Reference numerals

[0041] 10-vehicle remote control; 20-positioning anchor point; 11-position module; 111-UWB module; 112-ultrasonic module; 12-communication module; 13-speed module; 131-inertial measurement unit; 14-control module; 15-power module; 16-switch module; 17-indicator light. DETAILED DESCRIPTION

[0042] In order to enable ordinary persons in the art to better understand the technical solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0043] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0044] With the development of automobile manufacturing technology, the usage rate of automobiles in people's lives is getting higher and higher. At the same time, with the improvement of people's living standards, more and more people will pay attention to the experience effects of various aspects of automobiles.

[0045] A car can mainly include an engine, chassis, body and electrical equipment. Among them, electrical equipment can include batteries and car entertainment systems. Specifically, car entertainment refers to the abbreviation of the in-vehicle infotainment product installed in the car. The car entertainment system should be able to realize information communication between people and cars, and between cars and the outside world. The car entertainment system can include a screen, which includes a video interface, a music interface, a navigation interface, etc.

[0046] In addition, the car computer integrates the vehicle's multimedia entertainment functions and information systems, and has gradually developed into a multifunctional comprehensive interactive platform including navigation, voice recognition, Internet of Vehicles services, and driver assistance function display.

[0047] In order to facilitate passengers to control the car computer to realize various functions, some cars will be equipped with corresponding car computer remote controls. Passengers can control the car computer to realize various functions by operating the car computer remote control.

[0048] At present, most of the car remote controllers are in the form of buttons, and passengers can control the car by pressing different buttons. This setting method may cause passengers to press many buttons to achieve a function, and the efficiency of controlling the car is low.

[0049] In the related technology, some car remote controllers will add gravity sensors to them. The gravity sensors can obtain information such as the speed of the car remote controller during movement, and then obtain the activity trajectory of the car remote controller in three-dimensional space. The different activity trajectories of the car remote controller are used to control the car to achieve different functions. However, relying solely on the gravity sensor is prone to errors when controlling the car remote controller, and it is difficult to achieve the desired functions.

[0050] Based on this, an embodiment of the present application provides a vehicle, which may include a vehicle remote control system.

[0051] The vehicle remote control system can realize a variety of functions in the vehicle. Passengers can interact with some functions of the vehicle through the vehicle remote control system and adjust some settings in the vehicle to meet the needs of passengers.

[0052] In some embodiments, the present application also provides a vehicle remote control system, such as Figure 1 As shown, Figure 1 The schematic diagram of a part of the structure of a vehicle remote control system provided in an embodiment of the present application is as follows. The vehicle remote control system may include a vehicle remote controller 10, a vehicle and a positioning anchor point 20.

[0053] The vehicle remote controller 10 may include a location module 11 and a communication module 12. The location module 11 is used to determine the location information of the vehicle remote controller 10 in the vehicle. The vehicle is wirelessly connected to the communication module 12. The positioning anchor point 20 is wirelessly connected to the location module 11 and is used to send a signal to the location module 11.

[0054] The vehicle remote controller 10 transmits signals with the positioning anchor point 20 to realize the position positioning of the vehicle remote controller 10 , thereby realizing the positioning of the vehicle remote controller 10 .

[0055] In some embodiments, Figure 1 As shown, there are at least three positioning anchor points 20. The three positioning anchor points 20 are not located on the same straight line.

[0056] In three-dimensional space, the base formed by three non-collinear points is sufficient to define all positions and orientations of an object. Therefore, three positioning anchor points 20 that are not located on the same straight line can determine the exact position of the vehicle remote control 10 through the position module 11.

[0057] For example, the number of the positioning anchor points 20 may be more than three, but at least three of the positioning anchor points 20 are not located on the same straight line. This ensures that the positioning anchor points 20 can determine the position of the vehicle remote controller 10, and the position determined by the position module 11 is more accurate under the action of more positioning anchor points 20.

[0058] In some embodiments, Figure 2 As shown, Figure 2 This is a partial structural diagram of a vehicle remote control 10 provided in an embodiment of the present application. The embodiment of the present application also provides a vehicle remote control 10, which may include a position module 11, a speed module 13, a control module 14 and a communication module 12.

[0059] The position module 11 is used to determine the position information of the vehicle remote control 10. The speed module 13 is used to determine the speed information of the vehicle remote control 10 during movement. The control module 14 is electrically connected to the position module 11 and the speed module 13. The control module 14 is used to receive information from the position module 11 and the speed module 13, and convert the received information into a control signal. The communication module 12 is electrically connected to the control module 14, and is used to wirelessly connect to the vehicle and transmit the control signal to the vehicle.

[0060] The vehicle remote control 10 provided in the embodiment of the present application allows the passenger to move the vehicle remote control 10 in three-dimensional space, thereby changing the position and speed state of the vehicle remote control 10. The position module 11 and the speed module 13 can transmit the position information and speed information of the vehicle remote control 10 determined by them to the control module 14 electrically connected thereto. The control module 14 can integrate and process this information and convert it into a control signal that can be received by the vehicle. The control signal can be wirelessly transmitted to the vehicle through the communication module 12 wirelessly connected to the vehicle to control the vehicle. In this way, the function that the passenger who controls the vehicle remote control 10 wants to achieve is realized.

[0061] Exemplarily, the control module 14 may be an ARM Cortex-A series processor, and the specific model of the processor may be ARM Cortex-A76. ARM Cortex-A76 is a high-performance processor core designed for mobile devices, laptops, and some entry-level server application scenarios, with a high cost-performance ratio, and is more suitable as a processor for the control module 14.

[0062] In some embodiments, Figure 2 As shown, the location module 11 may include an ultra-wideband (UWB) module 111. The UWB module 111 is electrically connected to the control module 14 and is used to communicate with the positioning anchor point 20 ( Figure 1 The UWB module 111 transmits data to the positioning anchor point 20 to determine the location information of the vehicle remote controller 10.

[0063] After data is transmitted between the UWB module 111 and the positioning anchor point 20 , the position of the UWB module 111 can be determined, thereby determining the position of the vehicle remote controller 10 .

[0064] The UWB module 111 is a wireless communication technology module that can transmit data using very short and low-energy pulses. It can provide high-speed, high-precision data transmission and positioning capabilities under low power consumption conditions. The UWB module 111 and the positioning anchor point 20 can transmit and receive ultra-wideband pulse signals to each other.

[0065] For example, the positioning anchor point 20 can be used to transmit pulse signals, and the UWB module 111 can be used to receive pulse signals. The UWB module 111 determines its position relative to the three positioning anchor points 20 by the time of receiving the signal, so as to determine its own position and the position of the vehicle remote controller 10.

[0066] For example, the model of the UWB module 111 may be the NXP Semiconductors SR100T chip. The NXP Semiconductors SR100T chip is a UWB secure precision ranging chipset, which is mainly designed for mobile devices and other IoT applications, and provides high-precision indoor positioning and real-time distance measurement functions. It is more suitable for use in the location module 11.

[0067] In some embodiments, Figure 2 As shown, the location module 11 may include an ultrasonic module 112. The ultrasonic module 112 is electrically connected to the control module 14 and is used to communicate with the positioning anchor point 20 ( Figure 1 The ultrasonic module 112 and the positioning anchor point 20 perform data transmission to determine the location information of the vehicle remote controller 10.

[0068] After data is transmitted between the ultrasonic module 112 and the positioning anchor point 20 , the position of the ultrasonic module 112 can be determined, thereby determining the position of the vehicle remote controller 10 .

[0069] Ultrasonic positioning is a technology that uses ultrasonic waves for spatial positioning and ranging. Ultrasonic transmitters can emit or receive ultrasonic pulses, and ultrasonic positioning has the advantages of low cost and mature technology, and is more suitable for positioning the vehicle remote control 10. In addition, the ultrasonic module 112 can also be positioned by cooperating with the positioning anchor point 20.

[0070] For example, the positioning anchor point 20 can be used to transmit ultrasonic pulse signals, and the ultrasonic module 112 can be used to receive ultrasonic pulse signals. The ultrasonic module 112 determines its position relative to the three positioning anchor points 20 by the time of receiving the signal, so as to determine its own position, thereby determining the position of the vehicle remote controller 10.

[0071] Exemplarily, the model of the ultrasonic module 112 may be a Texas Instruments TDC1000 chip. The Texas Instruments TDC1000 chip is a high-performance analog front-end chip. It is specially designed for ultrasonic ranging and proximity sensing applications. When used in conjunction with an external pulse generator, this chip can accurately measure the time interval from the emission to the reception of an ultrasonic pulse and convert it into a digital signal. It is more suitable for use in the position module 11.

[0072] Exemplarily, the location module 11 may include only the UWB module 111 , may include only the ultrasonic module 112 , or may include both the UWB module 111 and the ultrasonic module 112 .

[0073] Only one UWB module 111 or ultrasonic module 112 is required to be provided in the location module 11 to achieve the positioning effect. Of course, the location module 11 may also include both the UWB module 111 and the ultrasonic module 112. In this case, the positioning anchor point 20 may send a pulse signal to the UWB module 111 and an ultrasonic pulse signal to the ultrasonic module 112, thereby enhancing the positioning capability of the location module 11.

[0074] In some embodiments, Figure 2 As shown, the speed module 13 may include an inertial measurement unit 131. The inertial measurement unit 131 is electrically connected to the control module 14, and is used to obtain the posture of the vehicle remote controller 10 and the motion information such as acceleration and angular velocity during its movement.

[0075] The inertial measurement unit 131 is an integrated sensor component used to measure the motion parameters of an object in three-dimensional space, mainly including linear acceleration and angular velocity. The inertial measurement unit 131 may include an accelerometer and a gyroscope.

[0076] By continuously collecting data from the accelerometer and gyroscope and performing appropriate mathematical operations, the inertial measurement unit 131 can calculate the attitude, speed and position of the object in real time. Because the inertial measurement unit 131 measures based on its own motion, it provides an autonomous navigation method that is not interfered by the outside world. It can obtain its own attitude, speed and position information more accurately.

[0077] For example, the model of the inertial measurement unit 131 can be: Bosch BNO055 9-axis absolute positioning sensor chip is a highly integrated 9-axis absolute positioning sensor chip, which integrates a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, and embeds a 32-bit ARM Cortex M0+ microcontroller. This sensor module can provide accurate motion tracking and direction data, and is suitable for a variety of applications.

[0078] After combining the information provided by the position module 11 and the speed module 13, the posture change and accurate position information of the vehicle remote controller 10 at that time can be determined more accurately, so that it can accurately restore the actions made by the passenger holding the vehicle controller at that time. The control module 14 determines the control signal from the trajectory displacement made by the vehicle remote controller 10, and sends the control signal to the vehicle through the communication module 12, and the vehicle performs corresponding operations according to the signal.

[0079] For example, taking the interface of the car machine playing a video as an example, the passenger can manipulate the car machine remote control 10 to wave a corresponding distance in the opposite direction of the progress bar, and the corresponding control instruction is to rewind the video by ten seconds. Conversely, the passenger can manipulate the car machine remote control 10 to wave a corresponding distance in the same direction as the progress bar, and the corresponding control instruction is to fast forward the video by ten seconds.

[0080] For example, taking the fruit-cutting game played by the vehicle computer as an example, the passenger can control the vehicle computer remote control 10 to move, so that the fruit knife in the vehicle computer game interface moves with the vehicle computer remote control 10. Compared with the traditional screen touch operation method, this method allows passengers to experience a more realistic game effect.

[0081] In some embodiments, Figure 3 As shown, Figure 3 The schematic diagram of the structure of a vehicle remote controller 10 provided in an embodiment of the present application is shown in FIG. 1 . The vehicle remote controller 10 may further include a power module 15 . The power module 15 is electrically connected to the control module 14 and is used to provide power to the control module 14 , the position module 11 and the speed module 13 .

[0082] The power module 15 can maintain the operation of the control module 14 , the position module 11 and the speed module 13 , so that they can work normally, ensuring that the vehicle remote controller 10 can continue to be used normally.

[0083] In some embodiments, Figure 3 As shown, the vehicle remote controller 10 may further include a switch module 16. The switch module 16 is electrically connected to the control module 14 and is used to power on or off the control module 14.

[0084] When the control module 14 is powered on, the position module 11 and the speed module 13 can work normally, so that the vehicle remote control 10 can be used normally. When the control module 14 is powered off, the position module 11 and the speed module 13 are also powered off, so that the vehicle remote control 10 cannot be used normally. Therefore, the passenger can control the opening and closing of the vehicle remote control 10 by controlling the switch module 16.

[0085] For example, Figure 3 As shown, the vehicle remote controller 10 may further include an indicator light 17. The indicator light 17 is connected to the control module 14 and is used to light up or turn off under the control of the control module 14.

[0086] The indicator light 17 can be used to show the passenger what state the remote controller 10 is in when leaving the vehicle, so that the passenger can perform subsequent operations according to the instructions of the indicator light 17 .

[0087] Exemplarily, the indicator light 17 may include a power indicator light 17 , a switch indicator light 17 , a communication indicator light 17 , an operation indicator light 17 and a fault indicator light 17 .

[0088] The power indicator light 17 is used to indicate the current power-on status of the control module 14. The switch indicator light 17 is used to indicate the operating status of the switch module 16. The communication indicator light 17 is used to indicate the current power-on status of the communication module 12. The operation indicator light 17 is used to indicate the current power-on status of the position module 11 and the speed module 13. The fault indicator light 17 is used to indicate whether the current vehicle remote controller 10 has a fault.

[0089] When the vehicle remote controller 10 fails, maintenance personnel can determine which module of the vehicle remote controller is damaged according to the on or off state of the indicator light 17, and then repair the corresponding module, which improves the maintenance efficiency of the maintenance personnel.

[0090] In some embodiments, the vehicle computer may include a first Bluetooth module. The communication module 12 may include a second Bluetooth module. The first Bluetooth module is wirelessly connected to the second Bluetooth module.

[0091] In this way, the communication module 12 can be wirelessly connected to the vehicle computer, so that the vehicle computer remote controller 10 can be wirelessly connected to the vehicle computer, which increases the convenience for passengers to operate the vehicle computer remote controller 10.

[0092] Exemplarily, the chip model of the Bluetooth module may be HC-06.

[0093] In some other embodiments, the vehicle computer may include a first WIFI module. The communication module 12 may include a second WIFI module. The first WIFI module and the second WIFI module may be wirelessly connected.

[0094] Exemplarily, the chip model of the WIFI module may be ESP8266.

[0095] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle remote controller (10), characterized in that: include: A location module (11), used to determine location information of the vehicle remote controller (10); A speed module (13), used to determine speed information of the vehicle remote controller (10) during movement; A control module (14) is electrically connected to the position module (11) and the speed module (13); the control module (14) is used to receive information from the position module (11) and the speed module (13), and convert the received information into a control signal; as well as, The communication module (12) is electrically connected to the control module (14) and is used to wirelessly connect to the vehicle computer and transmit the control signal to the vehicle computer.

2. The vehicle remote controller (10) according to claim 1, characterized in that: The position module (11) comprises: A UWB module (111) is electrically connected to the control module (14) and is used for wireless connection to a positioning anchor point (20); data is transmitted between the UWB module (111) and the positioning anchor point (20) to determine the position information of the vehicle remote controller (10).

3. The vehicle remote controller (10) according to claim 1 or 2, characterized in that: The position module (11) comprises: An ultrasonic module (112) is electrically connected to the control module (14) and is used to wirelessly connect to a positioning anchor point (20); data is transmitted between the ultrasonic module (112) and the positioning anchor point (20) to determine the position information of the vehicle remote controller (10).

4. The vehicle remote controller (10) according to claim 3, characterized in that: The speed module (13) comprises: An inertial measurement unit (131) is electrically connected to the control module (14) and is used to obtain the posture of the vehicle remote controller (10) and the movement information of its acceleration and angular velocity during movement.

5. The vehicle remote controller (10) according to claim 1, characterized in that: The vehicle remote controller (10) further includes: A power module (15) is electrically connected to the control module (14) and is used to provide power to the control module (14), the position module (11) and the speed module (13).

6. The vehicle remote controller (10) according to claim 5, characterized in that: The vehicle remote controller (10) further includes: A switch module (16) is electrically connected to the control module (14) and is used to power on or off the control module (14).

7. A vehicle remote control system, characterized in that: include: The vehicle remote controller (10) according to any one of claims 1 to 6; A vehicle computer, wirelessly connected to the communication module (12); as well as, A positioning anchor point (20) is wirelessly connected to the positioning module (11) and is used to send a signal to the positioning module (11).

8. The vehicle remote control system according to claim 7, characterized in that: The vehicle computer comprises a first Bluetooth module; the communication module (12) comprises a second Bluetooth module; and the first Bluetooth module is wirelessly connected to the second Bluetooth module.

9. The vehicle remote control system according to claim 8, characterized in that: The number of the positioning anchor points (20) is at least three; wherein the three positioning anchor points (20) are not located on the same straight line.

10. A vehicle, characterized in that: The vehicle comprises the vehicle remote control system according to any one of claims 7 to 9.

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