Wireless power supply type 3D scanning radar

Abstract

The utility model discloses a wireless power supply type 3D scanning radar. The wireless power supply type 3D scanning radar at least comprises a sealed housing, a scanning main body and a wireless power transmission WPT module. The sealing shell is fixedly connected with the container, and a closed space is formed in the sealing shell; the scanning main body is arranged in the closed space and is at least used for performing multi-angle scanning on the surface of the material in the container; the WPT module at least comprises a common power supply end and at least one power utilization end, the common power supply end is arranged in the sealed shell, the power utilization end is installed in the closed space, and the common power supply end is wirelessly connected with each power utilization end through a corresponding hinge field circuit so as to at least provide working electric energy for the 3D scanning radar. According to the utility model, wireless power supply of the 3D scanning radar can be realized by arranging the WPT module, the technical problems of low radar reliability, short service life and the like caused by the fact that an antenna and functional circuits of an existing 3D scanning radar are mutually independent and are connected through cables are solved, the reliability of the radar can be improved, and the service life of the radar can be prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of material monitoring, in particular to a wireless power supply type 3D scanning radar. Background Art

[0002] 3D scanning radar has many advantages such as safety, high efficiency and environmental protection, and has therefore been widely promoted and applied in the three-dimensional scanning and monitoring process of materials.

[0003] At present, the antenna and each functional circuit in the existing 3D scanning radar are independent of each other and connected by cables. When the 3D scanning radar performs mechanical movement to detect the shape of the material in the silo, the cables between the antenna and the specific functional circuit and between different functional circuits are in a swinging state for a long time, which is prone to aging and failure, which not only reduces the reliability of the 3D scanning radar, but also shortens the service life of the 3D scanning radar. Utility Model Content

[0004] The purpose of the present utility model is at least to overcome the defects in the above-mentioned background technology and provide a wireless powered 3D scanning radar.

[0005] A wireless power supply type 3D scanning radar, comprising at least a sealed housing, a scanning body and a wireless power transmission WPT module;

[0006] The sealed shell is fixedly connected to the container, and a closed space is provided inside the sealed shell;

[0007] The scanning body is installed in the confined space and is at least configured to perform multi-angle scanning on the surface of the material in the container;

[0008] The WPT module includes at least a common power supply end and at least one power consumption end, wherein the common power supply end is arranged in the sealed housing, the power consumption end is installed in the enclosed space and is electrically connected to the scanning body through a wired cable, the common power supply end is independent of each of the power consumption ends, and is wirelessly connected through a corresponding hinge field circuit to at least provide working power for the 3D scanning radar.

[0009] Optionally, the sealed housing comprises at least a shell and a cover;

[0010] One end of the shell is fixedly connected to the container, and the other end of the shell is fixedly connected to the cover body. The shell and the cover body enclose the enclosed space.

[0011] Optionally, the scanning body includes at least a mechanical motion structure and at least one scanning probe, and the mechanical motion structure drives the scanning probe to rotate, so that at least a single scanning probe has wave emission points in multiple directions and correspondingly forms output beams in multiple directions.

[0012] Optionally, the scanning probe is an antenna array that can be used for digital beamforming.

[0013] Optionally, the common power supply end at least includes a first rectifier module, a first correction module, an inverter module, a first compensation module and a power supply coupling mechanism connected in sequence;

[0014] The first rectifier module is at least configured to convert the introduced external alternating current into a first direct current;

[0015] The first correction module and the first compensation module are at least configured to improve the power factor of the WPT module;

[0016] The inverter module is at least configured to convert the first direct current corrected by the first correction module into a first alternating current;

[0017] The power supply coupling mechanism is wirelessly connected to each of the power-consuming ends through the corresponding hinge field circuit, so as to provide power to each of the power-consuming ends based on the first alternating current compensated by the first compensation module.

[0018] Optionally, the WPT module includes a first power terminal electrically connected to the scanning body;

[0019] The first power-consuming end at least comprises a first power-consuming coupling mechanism, a second compensation module and a second rectification module connected in sequence;

[0020] The first power-using coupling mechanism is wirelessly connected to the power supply coupling mechanism via a first hinge field circuit, and is used to obtain the electric energy provided by the power supply coupling mechanism and convert it into a second alternating current;

[0021] The second compensation module and the second rectifier module are at least used to convert the second alternating current into a second direct current and realize a constant voltage or constant current output at the first power end;

[0022] The second rectifier module is electrically connected to the scanning body through a cable and provides power to the scanning body.

[0023] Optionally, the 3D scanning radar further includes other circuit modules;

[0024] The other circuit modules are at least electrically connected to the scanning body, and are at least used to adjust the angle at which the scanning body transmits the outgoing beam and receives the echo beam; and calculate material parameters based on the outgoing beam and the echo beam; and realize the control and / or communication functions between components in the 3D scanning radar.

[0025] Optionally, the WPT module further includes a second power-using terminal electrically connected to the other circuit module;

[0026] The second power-consuming end at least comprises a second power-consuming coupling mechanism, a third compensation module and a third rectification module connected in sequence;

[0027] The second power-using coupling mechanism is wirelessly connected to the power supply coupling mechanism via a second hinge field circuit, and is used to obtain the electric energy provided by the power supply coupling mechanism and convert it into a third alternating current;

[0028] The third compensation module and the third rectification module are at least used to convert the third alternating current into a third direct current and realize a constant voltage or constant current output at the second power consumption end;

[0029] The third rectifier module is electrically connected to the other circuit modules and provides power to the other circuit modules.

[0030] The technical solution provided by the embodiment of the utility model is fixedly connected to the container through a sealed shell with a closed space inside; the scanning body is installed in the closed space and is configured to perform multi-angle scanning on the surface of the material in the container; the common power supply end in the WPT module is arranged in the sealed shell, and each power consumption end in the WPT module is installed in the closed space; the common power supply end is wirelessly connected to each power consumption end through a corresponding hinge field circuit to at least provide working power for the 3D scanning radar. It can be seen that the embodiment of the utility model can realize wireless power supply of the 3D scanning radar by setting the WPT module, and solves the technical problems of low radar reliability and short service life caused by the independence of the antenna and each functional circuit and the connection through cables of the existing 3D scanning radar; in this way, even if the 3D scanning radar needs to perform mechanical movement in certain dimensions to detect parameters such as the shape of the material in the container, there is no problem that the cables between the antenna and the specific circuit and between different functional circuits are in a swinging state for a long time and are prone to aging and failure, which is conducive to improving the reliability of the radar and extending the service life of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a wireless power supply type 3D scanning radar provided by an embodiment of the utility model;

[0032] Figure 2 It is a structural schematic diagram of a common power supply terminal provided by an embodiment of the utility model;

[0033] Figure 3 This is a structural schematic diagram of a first power-consuming end provided by an embodiment of the utility model;

[0034] Figure 4 It is a structural schematic diagram of another wireless power supply type 3D scanning radar provided by an embodiment of the utility model;

[0035] Figure 5 It is a structural schematic diagram of a second power-consuming end provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments.

[0037] Figure 1 This is a schematic diagram of the structure of a wireless power supply 3D scanning radar provided by an embodiment of the utility model, see Figure 1 The wireless power supply 3D scanning radar at least includes a sealed shell 100, a scanning body 200 and a wireless power transmission WPT module 300.

[0038] The sealed housing 100 and the container ( Figure 1 The sealed housing 100 is fixedly connected with the sealed housing 100 (not shown), and a closed space is provided inside the sealed housing 100; the scanning body 200 is installed in the closed space, and is at least configured to perform multi-angle scanning on the surface of the material in the container; the WPT module 300 includes at least a common power supply terminal 310 and at least one power consumption terminal 320, the common power supply terminal 310 is arranged in the sealed housing 100, the power consumption terminal 320 is installed in the closed space and is electrically connected to the scanning body 200 through a wired cable, the common power supply terminal 310 and each power consumption terminal 320 are independent, and are wirelessly connected through corresponding hinge field circuits to at least provide working power for the 3D scanning radar.

[0039] Among them, according to the different types of radar receiving and transmitting signals, the 3D scanning radar can be a 3D microwave scanning radar, a 3D laser scanning radar, etc. The container can be a silo, a storage tank, etc. The form of the material can be, for example, a solid state or a solid-liquid mixed state. In addition, in actual application, there may be obstacles such as pipes and ladders in the container that can block the measurement path of the 3D scanning radar; if the aforementioned obstacles have no effect or little effect on the measurement of the 3D scanning radar, the 3D scanning radar does not need to sink to a certain position inside the container to perform the measurement. At this time, the sealed housing 100 can be fixedly connected to the container through components such as flanges, screws and nuts; however, if the aforementioned obstacles will affect the measurement of the 3D scanning radar, the 3D scanning radar needs to be sunk and installed. At this time, in addition to the flanges, screws, nuts and other components, an additional sinking bracket needs to be installed.

[0040] In some embodiments, optionally, the sealed housing 100 includes at least a shell 110 and a cover 120; one end of the shell 110 is fixedly connected to the container, and the other end of the shell 110 is fixedly connected to the cover 120, and the shell 110 and the cover 120 enclose a closed space. The shell 110 may be made of stainless steel, ceramic, etc. The material of the cover 120 may be adaptively selected according to the type of radar transceiver signal; when the type of the 3D scanning radar transceiver signal is a microwave signal, the material of the cover 120 may be a wave-transmitting material such as ceramic and plastic; if the type of the 3D scanning radar transceiver signal is a laser signal, the material of the cover 120 may be a light-transmitting glass, transparent plastic, etc.

[0041] It can be known that the working principles of the wireless power transmission (WPT) module 300 can be various, for example, it can be magnetic field coupling, electric field coupling, ultrasonic, microwave, laser, etc.; adaptively, the type of hinge field circuit can be magnetic field, electric field, ultrasonic field, microwave field, laser field, etc., and the common power supply end 310 and the power consumption end 320 can correspond to include coupling coils, electrode plates, ultrasonic transducers, microwave transducers, laser transducers, etc.

[0042] Based on different working principles, the setting orientation of the common power supply terminal 310 in the WPT module 300 is also different. It can be understood that because the magnetic field is easily affected by the conductor (such as a stainless steel shell) and the laser will be blocked by the shell, the common power supply terminal 310 is preferably set on the sealed shell 100 in the closed space for the magnetic field coupling or laser WPT module; and for the electric field coupling, ultrasonic and microwave WPT modules, since the electric field, ultrasonic field and microwave field can basically ignore obstacles for signal transmission, the common power supply terminal 310 in the above three WPT modules can be set on the sealed shell 100 in the closed space, or can be set on the end face of the sealed shell 100 away from the scanning body 200.

[0043] To summarize, the embodiment of the utility model is fixedly connected to the container through a sealed shell with an enclosed space inside; the scanning body is installed in the enclosed space and is configured to perform multi-angle scanning on the surface of the material in the container; the common power supply end in the WPT module is arranged in the sealed shell, and each power-consuming end in the WPT module is installed in the enclosed space; the common power supply end is wirelessly connected to each power-consuming end through a corresponding hinge field circuit to provide working power for at least the 3D scanning radar.

[0044] It can be seen that the embodiment of the utility model can realize wireless power supply of 3D scanning radar by setting up a WPT module, which solves the technical problems of low radar reliability and short service life caused by the independence of the antenna and various functional circuits and the connection through cables in the existing 3D scanning radar; with this arrangement, even if the 3D scanning radar needs to perform mechanical movement in certain dimensions to detect parameters such as the shape of the material in the container, there is no disadvantage that the cables between the antenna and the specific circuit or between different functional circuits are in a swinging state for a long time and are prone to aging and failure, which is beneficial to improving the reliability of the radar and extending the service life of the radar.

[0045] It should be noted that, according to different measurement principles of 3D scanning radar, the specific structure of the scanning body can be various. In one implementation of the utility model, the 3D scanning radar can be a purely mechanical 3D scanning radar; optionally, the scanning body includes at least a mechanical motion structure and at least one scanning probe, and the mechanical motion structure drives the scanning probe to rotate, so that at least a single scanning probe has wave emission points in multiple directions and forms corresponding outgoing beams in multiple directions. Among them, the mechanical motion structure can have motion dimensions in multiple directions (such as horizontal, pitch, vertical, etc.), the scanning probe can be a microwave sensor, a laser sensor, etc., and the outgoing beam can be a microwave signal, a laser signal, etc.

[0046] In another implementation of the utility model, the 3D scanning radar may be a composite 3D scanning radar (combination of phased array and mechanics). Optionally, the scanning body includes at least a mechanical motion structure and at least one scanning probe, and the mechanical motion structure drives the scanning probe to rotate, so that at least a single scanning probe has a wave-emitting point in multiple directions and forms an outgoing beam in multiple directions accordingly, and the scanning probe is an antenna array that can be used for digital beamforming. Among them, the antenna array may include multiple transmitting elements and / or receiving elements, which may be implemented inside a single antenna or distributed on multiple independent antennas.

[0047] It should also be noted that Figure 1 The example shows that there is one power-using terminal 320 , and the power-using terminal 320 is disposed on a side of the scanning body 200 close to the housing 110 of the sealed housing 100 , which is not intended to limit the embodiments of the utility model.

[0048] Based on the above embodiments, Figure 2 This is a schematic diagram of a common power supply terminal provided by an embodiment of the utility model, see Figure 2 Optionally, the common power supply terminal 310 includes at least a first rectifier module 311, a first correction module 312, an inverter module 313, a first compensation module 314 and a power supply coupling mechanism 315 connected in sequence.

[0049] The first rectifier module 311 is at least configured to convert the introduced external alternating current A into a first direct current; the first correction module 312 and the first compensation module 314 are at least configured to improve the power factor of the WPT module; the inverter module 313 is at least configured to convert the first direct current corrected by the first correction module 312 into a first alternating current; the power supply coupling mechanism 315 is wirelessly connected to each power-consuming end through a corresponding hinge field path to provide power to each power-consuming end based on the first alternating current compensated by the first compensation module 314.

[0050] Among them, the first rectifier module 311 can be any rectifier circuit, such as a half-wave rectifier circuit, a full-wave rectifier circuit, a bridge rectifier circuit, etc. The external AC power A can be mains power, an external AC power supply, etc. The first correction module 312 can be any power factor correction circuit, such as an active power factor correction circuit and a passive power factor correction circuit. The inverter module 313 can use any inverter circuit, such as a voltage-type inverter circuit, a current-type inverter circuit, a multiple inverter circuit or a multi-level inverter circuit. According to the different working principles of the WPT module, the power supply coupling mechanism 315 can be a coupling coil, an electrode plate, an ultrasonic transducer, a microwave transducer, a laser transducer, etc.

[0051] The first compensation module 314 can be in various forms, for example, it can be a series-series (SS) compensation network, a series-parallel (SP) compensation network, a parallel-series (PS) compensation network, a parallel-parallel (PP) compensation network, or it can be a compensation network with an LCC-S type composite topology structure, an LCC-LCC type composite topology structure, an LCL-S type composite topology structure, an LCL-P type composite topology structure, an LCL-LCL type composite topology structure, or an SPS type composite topology structure; the utility model sets the first compensation module 314, which is not only used to reduce the radar system's dependence on reactive power and reduce the reactive power loss of the radar system, but also can balance the leakage inductance of the common power supply end 310 and the mapped inductance of the power consumption end, thereby reducing the power consumption of the power supply and improving the power factor.

[0052] Based on the above embodiments, Figure 3 This is a schematic diagram of the structure of a first power-using end provided by an embodiment of the utility model, see Figure 1 and Figure 3 Optionally, the WPT module 300 includes a first power terminal (ie, Figure 1 The first power-consuming end at least includes a first power-consuming coupling mechanism 321, a second compensation module 322 and a second rectification module 323 connected in sequence.

[0053] The first power coupling mechanism 321 is wirelessly connected to the power supply coupling mechanism 310 through the first hinge field circuit, and is used to obtain the electric energy provided by the power supply coupling mechanism 310 and convert it into a second alternating current; the second compensation module 322 and the second rectifier module 323 are at least used to convert the second alternating current into a second direct current and realize a constant voltage or constant current output at the first power end; the second rectifier module 323 is electrically connected to the scanning body 200 through a cable and supplies power to the scanning body 200.

[0054] The second rectifier module 323 may be any rectifier circuit, such as a half-wave rectifier circuit, a full-wave rectifier circuit, a bridge rectifier circuit, etc. Corresponding to the type of the power supply coupling mechanism 310, the first power coupling mechanism may be a coupling coil, an electrode plate, an ultrasonic transducer, a microwave transducer, a laser transducer, etc.

[0055] The second compensation module 322 can be in various forms, for example, it can be an SS compensation network, an SP compensation network, a PS compensation network, a PP compensation network, or it can be a compensation network with an LCC-S type composite topology structure, an LCC-LCC type composite topology structure, an LCL-S type composite topology structure, an LCL-P type composite topology structure, an LCL-LCL type composite topology structure, or an SPS type composite topology structure.

[0056] Based on the above embodiments, Figure 4 is a schematic diagram of the structure of another wireless power supply type 3D scanning radar provided by an embodiment of the utility model, Figure 5 This is a schematic diagram of the structure of a second power-using end provided by an embodiment of the utility model, see Figure 4 and Figure 5 Optionally, the 3D scanning radar also includes other circuit modules 400; the other circuit modules 400 are at least electrically connected to the scanning body 200, and are at least used to adjust the angle of the scanning body 200 to emit an outgoing beam and receive an echo beam; and calculate material parameters based on the outgoing beam and the echo beam; and realize the control and / or communication functions between components in the 3D scanning radar.

[0057] Optionally, the WPT module 300 further includes a second power terminal ( Figure 4 and Figure 5The second power-consuming end at least includes a second power-consuming coupling mechanism 331, a third compensation module 332 and a third rectifier module 333 connected in sequence; the second power-consuming coupling mechanism 331 is wirelessly connected to the power supply coupling mechanism 310 through a second hinge field circuit, and is used to obtain the electric energy provided by the power supply coupling mechanism 310 and convert it into a third alternating current; the third compensation module 332 and the third rectifier module 333 are at least used to convert the third alternating current into a third direct current and realize a constant voltage or constant current output of the second power-consuming end; the third rectifier module 333 is electrically connected to other circuit modules 400 and supplies power to other circuit modules 400.

[0058] Among them, other circuit modules 400 may include at least a control unit and / or a communication unit. The control unit may, for example, control the scanning probe to generate an outgoing beam of any frequency and any type; receive and process the reflected beam received by the scanning probe to obtain distance information, and then calculate the shape of the material; control the mechanical motion structure to drive the scanning probe to move, and form outgoing beams in multiple directions accordingly; and obtain the motion angle information of the mechanical motion structure in real time; the control unit may adopt a single-chip microcomputer, a microprocessor or a system on chip. The communication unit may at least transmit the distance information, motion angle information, etc. obtained by the control unit to a remote monitoring terminal (such as a central control room on site); the communication unit may apply wireless communication technologies such as Bluetooth, WiFi, ZigBee, 4G / 5G, etc. It is understandable that the communication unit may be arranged on the same circuit board as the control unit, or may be arranged on different circuit boards respectively.

[0059] Understandably, Figure 4 The example shows that the other circuit modules 400 are installed on the fixed bracket of the mechanical motion structure. Since the other circuit modules 400 are connected to the fixed bracket, when the mechanical motion structure moves, the fixed bracket can drive the other circuit modules 400 to move with the mechanical motion structure. Based on this, if there is a cable connection between the other circuit modules 400 and the scanning body 200, connecting the other circuit modules 400 to the fixed bracket can reduce the swing of the cable between the other circuit modules 400 and the scanning body 200, which is conducive to delaying the aging failure of the cable, extending the cable life, and enhancing the reliability of the 3D scanning radar.

[0060] The third rectifier module 333 can be any rectifier circuit, such as a half-wave rectifier circuit, a full-wave rectifier circuit, a bridge rectifier circuit, etc. Corresponding to the type of the power supply coupling mechanism 310, the second power coupling mechanism can be a coupling coil, an electrode plate, an ultrasonic transducer, a microwave transducer, a laser transducer, etc.

[0061] The third compensation module 332 can be in various forms, for example, it can be an SS compensation network, an SP compensation network, a PS compensation network, a PP compensation network, or it can be a compensation network with an LCC-S type composite topology structure, an LCC-LCC type composite topology structure, an LCL-S type composite topology structure, an LCL-P type composite topology structure, an LCL-LCL type composite topology structure, or an SPS type composite topology structure.

[0062] The above is only a preferred embodiment of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A wireless powered 3D scanning radar, characterized in that: At least includes a sealed housing, a scanning body and a wireless power transmission WPT module; The sealed shell is fixedly connected to the container, and a closed space is provided inside the sealed shell; The scanning body is installed in the confined space and is at least configured to perform multi-angle scanning on the surface of the material in the container; The WPT module includes at least a common power supply end and at least one power consumption end, wherein the common power supply end is arranged in the sealed housing, the power consumption end is installed in the enclosed space and is electrically connected to the scanning body through a wired cable, the common power supply end is independent of each of the power consumption ends, and is wirelessly connected through a corresponding hinge field circuit to at least provide working power for the 3D scanning radar.

2. The wireless power supply type 3D scanning radar according to claim 1, characterized in that: The sealed housing at least comprises a shell and a cover; One end of the shell is fixedly connected to the container, and the other end of the shell is fixedly connected to the cover body. The shell and the cover body enclose the enclosed space.

3. The wireless power supply type 3D scanning radar according to claim 1, characterized in that: The scanning body at least includes a mechanical motion structure and at least one scanning probe, and the mechanical motion structure drives the scanning probe to rotate, so that at least a single scanning probe has wave emission points in multiple directions and correspondingly forms output beams in multiple directions.

4. The wireless power supply type 3D scanning radar according to claim 3, characterized in that: The scanning probe is an antenna array that can be used for digital beamforming.

5. The wireless power supply type 3D scanning radar according to claim 1, characterized in that: The common power supply end at least includes a first rectifier module, a first correction module, an inverter module, a first compensation module and a power supply coupling mechanism connected in sequence; The first rectifier module is at least configured to convert the introduced external alternating current into a first direct current; The first correction module and the first compensation module are at least configured to improve the power factor of the WPT module; The inverter module is at least configured to convert the first direct current corrected by the first correction module into a first alternating current; The power supply coupling mechanism is wirelessly connected to each of the power-consuming ends through the corresponding hinge field circuit, so as to provide power to each of the power-consuming ends based on the first alternating current compensated by the first compensation module.

6. The wireless power supply type 3D scanning radar according to claim 5, characterized in that: The WPT module includes a first power terminal electrically connected to the scanning body; The first power-consuming end at least comprises a first power-consuming coupling mechanism, a second compensation module and a second rectification module connected in sequence; The first power-using coupling mechanism is wirelessly connected to the power supply coupling mechanism via a first hinge field circuit, and is used to obtain the electric energy provided by the power supply coupling mechanism and convert it into a second alternating current; The second compensation module and the second rectifier module are at least used to convert the second alternating current into a second direct current and realize a constant voltage or constant current output at the first power end; The second rectifier module is electrically connected to the scanning body through a cable and provides power to the scanning body.

7. The wireless power supply type 3D scanning radar according to claim 5, characterized in that: The 3D scanning radar also includes other circuit modules; The other circuit modules are at least electrically connected to the scanning body, and are at least used to adjust the angle of the outgoing beam emitted by the scanning body and the angle of the received echo beam; and calculate material parameters based on the outgoing beam and the echo beam; and realize the control and / or communication functions between components in the 3D scanning radar.

8. The wireless power supply type 3D scanning radar according to claim 7, characterized in that: The WPT module also includes a second power-using end electrically connected to the other circuit modules; The second power-consuming end at least comprises a second power-consuming coupling mechanism, a third compensation module and a third rectification module connected in sequence; The second power-using coupling mechanism is wirelessly connected to the power supply coupling mechanism via a second hinge field circuit, and is used to obtain the electric energy provided by the power supply coupling mechanism and convert it into a third alternating current; The third compensation module and the third rectification module are at least used to convert the third alternating current into a third direct current and realize a constant voltage or constant current output at the second power consumption end; The third rectifier module is electrically connected to the other circuit modules and provides power to the other circuit modules.

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