Double-layer intelligent motion target vehicle

Abstract

The utility model provides a double-layer intelligent motion target car which comprises a base, crawler walking assemblies are connected to the two sides of the base, an installation groove is formed in the center of the interior of the base, a first servo motor is installed in the installation groove, and a second dummy assembly is rotationally connected to the portion, above the installation groove, of the base. The output end of the first servo motor is connected with the second dummy assembly, a controller is embedded in one end of the top of the base, and a mounting base is fixed to the other end of the top of the base. Compared with the prior art, the utility model has the following beneficial effects: the crawler walking assembly is matched with differential drive, has strong cross-country ability and flexible steering performance, can stably move in various complex environments, and is controlled by double-layer layout and multi-motor cooperation; motion simulation of the dummy assembly in multiple dimensions such as horizontal rotation, vertical lifting and multi-angle swinging is achieved, and diversified training requirements are met.

Description

Technical Field

[0001] This utility model is a double-layer intelligent target vehicle, belonging to the field of target vehicles. Background Technology

[0002] In military training, shooting competitions, and security drills, target vehicles are important training equipment. Their performance directly affects the training effect and the realism of combat simulation. Traditional target vehicles mostly use wheeled or tracked chassis. In complex terrain such as mud, gravel, and steep slopes, wheeled chassis are prone to slipping and getting stuck. Although tracked chassis have a certain degree of passability, their steering flexibility and terrain adaptability are limited, making it difficult to meet the needs of diverse training scenarios.

[0003] Existing target vehicles mostly use a single-layer fixed structure for target placement, which can only achieve simple linear or circular motion. They cannot simulate the multi-dimensional dynamic changes of targets in real combat scenarios. Trainees find it difficult to conduct complex tactical maneuvers using such target vehicles, resulting in a significant gap between training and actual combat. In addition, traditional target vehicles lack a precise attitude detection and feedback system. Targets cannot automatically reset after being impacted by external forces, and they cannot collect target motion data in real time, making it difficult to scientifically evaluate training effectiveness and limiting the improvement of training quality. Therefore, it is necessary to design a double-layer intelligent moving target vehicle. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a double-layer intelligent motion target vehicle to solve the problems mentioned in the background technology.

[0005] To achieve the above objectives, this utility model is implemented through the following technical solution: a double-layer intelligent motion target vehicle, including a base, with tracked walking components connected to both sides of the base, and a mounting groove is provided in the center of the base. A first servo motor is installed inside the mounting groove, and a second dummy component is rotatably connected to the base above the mounting groove. The output end of the first servo motor is connected to the second dummy component. A controller is embedded in one end of the top of the base, and a mounting seat is fixed to the other end of the top of the base. A second servo motor is provided in the center of the mounting seat, and a hydraulic lifting rod is rotatably connected to the mounting seat above the second servo motor. The first dummy component is installed on the top of the hydraulic lifting rod.

[0006] Furthermore, the tracked walking assembly includes a frame, guide wheels, adjustable telescopic rods, drive pulleys, suspension brackets, support rollers, mounting brackets, carrier rollers, and a transmission track. The frame is fixedly connected to the side wall of the base, and guide wheels and drive pulleys are rotatably connected to both ends of the frame, respectively. A suspension bracket is installed at the center of the bottom of the frame, and seven support rollers are evenly spaced at the bottom of the suspension bracket. The support rollers are rotatably connected to the suspension bracket, and the support rollers are elastically connected to the frame through the suspension bracket. A mounting bracket is slidably connected to the center of the top of the frame, and carrier rollers are rotatably connected to both sides of the top of the mounting bracket. Both sides of the bottom of the mounting bracket are connected to the frame through adjustable telescopic rods. The transmission track is arranged around the outside of the guide wheels, drive pulleys, support rollers, and carrier rollers, and transmission grooves that mesh with the drive pulleys are evenly spaced on the transmission track. Differential motors are installed on both sides inside the mounting base, and the output ends of the two differential motors are respectively connected to the drive pulleys of the two tracked walking assemblies.

[0007] Furthermore, the bottom of the hydraulic lifting rod is integrally connected to a turntable, and the output end of the second servo motor passes through the top of the mounting base and is connected to the center of the turntable. Four limiting plates are distributed in a circular array near the turntable on the top of the mounting base, and the limiting plates are designed in an inverted "L" shape. The inner sidewalls of the four limiting plates are all in contact with the outer wall of the turntable.

[0008] Furthermore, both the first and second dummy components include a humanoid target, a fixed base, a mounting shaft, a hinge groove, a universal joint, a reset detection component, and a chassis. The bottom of the humanoid target is connected to the fixed base. The center of the bottom of the fixed base is connected to the center of the top of the chassis via a universal joint. The center of the bottom of the chassis is connected to the output end of the first servo motor. The four side walls of the fixed base are provided with hinge grooves, and a mounting shaft is fixed in the hinge groove. A reset detection component is rotatably connected to the mounting shaft. The bottom of the reset detection component is hinged to the edge of the chassis. The four reset detection components are arranged in a circular array and maintain a pre-stretched state that is obliquely downward and outward.

[0009] Furthermore, both ends of the inner surface of the transmission track protrude inward to form anti-detachment edges, and the distance between the two anti-detachment edges is consistent with the axial width of the guide wheel and the drive pulley. The outer surface of the transmission track is provided with anti-slip strips.

[0010] Furthermore, the bottom of the humanoid target is integrally connected to a plug-in seat, and the top center of the fixing seat is provided with a plug-in groove that matches the plug-in seat. Both sides of the plug-in seat are integrally provided with flange plates, and the plug-in seat and the plug-in groove are first plugged in and then fixed by bolts.

[0011] Furthermore, the reset detection assembly includes a guide post, a first mounting plate, a rotating sleeve, a reset spring, a laser rangefinder, a sleeve, and a second mounting plate. The bottom of the sleeve forms a hinge joint with the top edge of the chassis via a spherical bearing, and the guide post is movably connected inside the sleeve. The top of the guide post penetrates the top of the sleeve and is fixedly connected to the rotating sleeve. The rotating sleeve uses a self-lubricating bearing to form a low-friction rotating joint with the mounting shaft. The first mounting plate is welded to the outer periphery of the guide post below the rotating sleeve, and the second mounting plate is welded to the bottom of the outer surface of the sleeve. A reset spring arranged around the guide post is connected between the first and second mounting plates. The laser rangefinder is connected to the bottom of the sleeve, and an anti-detachment plate with an outer diameter matching the inner diameter of the sleeve is provided at the bottom of the guide post.

[0012] The beneficial effects of this utility model are:

[0013] The tracked walking assembly, combined with differential drive, possesses strong off-road capability and flexible steering performance, enabling stable movement in various complex environments. The dual-layer layout and multi-motor collaborative control allow the dummy assembly to simulate motion in multiple dimensions, such as horizontal rotation, vertical lifting, and multi-angle swinging, to meet diverse training needs.

[0014] The reset detection component integrates laser ranging technology. The reset spring of the reset detection component provides the restoring force to the humanoid target. The laser rangefinder monitors the displacement of the guide post and feeds it back to the controller to achieve precise posture reset and motion data acquisition, thereby improving the accuracy and scientific nature of training evaluation. The humanoid target and the fixed base are fixed with plug-in bolts. Each component of the track assembly is assembled independently, which facilitates maintenance and replacement, reduces the cost of use, and improves the versatility of the equipment. Attached Figure Description

[0015] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0016] Figure 1 This is a schematic diagram of the structure of a double-layer intelligent motion target vehicle according to the present invention;

[0017] Figure 2 This is a schematic diagram of the tracked walking component structure of a double-layer intelligent motion target vehicle according to the present invention;

[0018] Figure 3 This is a schematic diagram showing the disassembled structure of the tracked walking component of a double-layer intelligent motion target vehicle according to this utility model;

[0019] Figure 4 This is a schematic diagram of the base structure of a double-layer intelligent sports target vehicle according to the present invention;

[0020] Figure 5 This is a schematic diagram of the first and second dummy components of a double-layer intelligent motion target vehicle according to the present invention.

[0021] Figure 6 This is a cross-sectional structural diagram of the reset detection component of a double-layer intelligent motion target vehicle according to the present invention;

[0022] In the diagram: 1. Base; 101. Mounting slot; 2. Tracked walking assembly; 3. Mounting seat; 4. Hydraulic lifting rod; 401. Turntable; 5. First dummy assembly; 6. Second dummy assembly; 7. Frame; 8. Guide wheel; 9. Adjustable telescopic rod; 10. Drive pulley; 11. Suspension bracket; 12. Track roller; 13. Mounting bracket; 14. Carrier roller; 15. Drive track; 1501. Drive groove; 1502. Anti-detachment edge; 1503. Anti-slip strip; 16. Controller; 17. First servo... 18. Servo motor; 19. Differential motor; 20. Second servo motor; 21. Limiting plate; 22. Human-shaped target; 2101. Flange plate; 2102. Plug-in socket; 22. Fixed seat; 2201. Plug-in groove; 2202. Mounting shaft; 2203. Hinge groove; 23. Universal joint; 24. Reset detection assembly; 25. Chassis; 26. Guide post; 2601. First mounting plate; 27. Rotating sleeve; 28. Return spring; 29. ​​Laser rangefinder; 30. Sleeve; 3001. Second mounting plate. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0024] Please see Figures 1 to 6 This utility model provides a technical solution: a double-layer intelligent motion target vehicle, including a base 1, with tracked walking components 2 connected to both sides of the base 1, and a mounting groove 101 is provided in the center of the base 1. A first servo motor 17 is installed inside the mounting groove 101, and a second dummy component 6 is rotatably connected to the base 1 above the mounting groove 101. The output end of the first servo motor 17 is connected to the second dummy component 6. A controller 16 is embedded in one end of the top of the base 1, and a mounting base 3 is fixed to the other end of the top of the base 1. A second servo motor 19 is provided in the center of the mounting base 3. A hydraulic lifting rod 4 is rotatably connected to the mounting base 3 above the servo motor 19. A first dummy component 5 is mounted on the top of the hydraulic lifting rod 4. A first servo motor 17 is connected to a second dummy component 6 through a mounting slot 101 and is responsible for driving the rotation of the second dummy component 6. The second servo motor 19 is placed in the mounting base 3 and drives the hydraulic lifting rod 4 and the first dummy component 5 on top, forming independent power control of the two-layer dummy components. This layered drive mode allows the two dummy components to perform motion simulations at different angles and speeds without interfering with each other, significantly improving the multi-dimensional motion simulation capability of the target vehicle and meeting the needs of complex training scenarios.

[0025] For example, the tracked walking assembly 2 includes a frame 7, guide wheels 8, adjustable telescopic rods 9, drive pulleys 10, suspension brackets 11, support rollers 12, mounting brackets 13, track rollers 14, and a drive track 15. The frame 7 is fixedly connected to the side wall of the base 1, and the guide wheels 8 and drive pulleys 10 are rotatably connected to both ends of the frame 7, respectively. A suspension bracket 11 is installed at the center of the bottom of the frame 7, and seven support rollers 12 are evenly spaced at the bottom of the suspension bracket 11. The support roller 12 is rotatably connected to the suspension bracket 11, and the support roller 12 is elastically connected to the frame 7 through the suspension bracket 11. A mounting bracket 13 is slidably connected to the center of the top of the frame 7, and both sides of the top of the mounting bracket 13 are rotatably connected to the track roller 14. Both sides of the bottom of the mounting bracket 13 are connected to the frame 7 through adjustable telescopic rods 9. The drive track 15 is arranged around the outside of the guide roller 8, drive pulley 10, support roller 12 and track roller 14, and the drive track 15 has evenly spaced openings. The mounting base 3 has a transmission groove 1501 that meshes with the drive pulley 10. Differential motors 18 are installed on both sides inside the mounting base 3, and the output ends of the two differential motors 18 are respectively connected to the drive pulleys 10 of the two tracked walking components 2. The tracked walking components 2 have a large contact area with the ground through the transmission track 15, which significantly reduces the ground pressure compared with the wheel structure and is less likely to sink in soft terrain such as mud, sand, and snow. Seven equally spaced support rollers 12 form an elastic connection with the suspension bracket 11, which can dynamically adapt to uneven ground and keep the target vehicle moving smoothly. The two differential motors 18 drive the drive pulleys 10 of the two tracked walking components 2 respectively, and differential steering is achieved by adjusting the difference in motor speed. The mounting frame 13 is connected to the frame 7 through an adjustable telescopic rod 9. The track roller 14 is installed on the top of the mounting frame 13. The length of the adjustable telescopic rod 9 can be manually or automatically adjusted according to the wear or temperature change of the transmission track 15 to adjust the tension of the transmission track 15 in real time and extend its service life.

[0026] For example, the bottom of the hydraulic lifting rod 4 is integrally connected to the turntable 401, and the output end of the second servo motor 19 passes through the top of the mounting base 3 and is connected to the center of the turntable 401. Four limiting plates 20 are arranged in a ring array near the turntable 401 on the top of the mounting base 3. The limiting plates 20 are designed in an inverted "L" shape. The inner sidewalls of the four limiting plates 20 are all in contact with the outer wall of the turntable 401. The ring array of limiting plates 20 limits the turntable 401 so that it can only rotate horizontally and will not tilt. The design is more reasonable.

[0027] Please see Figure 1 and Figure 5Both the first dummy assembly 5 and the second dummy assembly 6 include a humanoid target 21, a fixed base 22, a mounting shaft 2202, a hinge groove 2203, a universal joint 23, a reset detection assembly 24, and a chassis 25. The bottom of the humanoid target 21 is connected to the fixed base 22. The center of the bottom of the fixed base 22 is connected to the center of the top of the chassis 25 via the universal joint 23. The center of the bottom of the chassis 25 is connected to the output end of the first servo motor 17. A hinge groove 2203 is provided in the center of each of the four side walls of the fixed base 22, and a mounting shaft 2202 is fixed in the hinge groove 2203. The 02 is rotatably connected to a reset detection component 24, and the bottom of the reset detection component 24 is hinged to the edge of the chassis 25. The four reset detection components 24 are arranged in a ring array and are in a pre-stretched state that is obliquely downward and outward. The fixed base 22 is connected to the chassis 25 through a universal joint 23, giving the humanoid target 21 multiple degrees of freedom of rotation such as pitch, tilt, and rotation. The humanoid target 21 can rotate freely when it is hit. The pre-stretched state of the reset detection component 24 enables the reset spring 28 to provide a constant restoring force. When the humanoid target 21 is offset by an external force impact, the reset spring 28 drives it to automatically reset.

[0028] Please see Figure 2 and Figure 3 Both ends of the inner surface of the transmission track 15 protrude inward to form anti-derailment edges 1502, and the distance between the two anti-derailment edges 1502 is consistent with the axial width of the guide wheel 8 and the drive pulley 10. The outer surface of the transmission track 15 is provided with anti-slip strips 1503. The anti-derailment edges 1502 at both ends of the inner surface of the transmission track 15 have an inward protruding structure, and their distance is precisely matched with the axial width of the guide wheel 8 and the drive pulley 10, forming a mechanical limiting structure. When the target vehicle turns, climbs a slope, or is subjected to lateral impact, the anti-derailment edges 1502 can prevent the transmission track 15 from sliding laterally and avoid track derailment failure.

[0029] Please see Figure 5 The bottom of the humanoid target 21 is integrally connected to the plug-in seat 2102, and the top center of the fixing seat 22 is provided with a plug-in groove 2201 that is compatible with the plug-in seat 2102. Both sides of the plug-in seat 2102 are integrally provided with flange plates 2101. The plug-in seat 2102 and the plug-in groove 2201 are first plugged in and then fixed by bolts. The precise fit between the plug-in seat 2102 and the plug-in groove 2201 forms an initial positioning constraint. The flange plates 2101 on both sides are further locked to the fixing seat 22 by bolts, forming a double fixing structure of "plug-in + bolt".

[0030] Please see Figure 5 and Figure 6The reset detection assembly 24 includes a guide post 26, a first mounting plate 2601, a rotating sleeve 27, a reset spring 28, a laser rangefinder 29, a sleeve 30, and a second mounting plate 3001. The bottom of the sleeve 30 is hinged to the top edge of the chassis 25 via a spherical bearing. The guide post 26 is movably connected inside the sleeve 30. The top of the guide post 26 passes through the top of the sleeve 30 and is fixedly connected to the rotating sleeve 27. The rotating sleeve 27 uses a self-lubricating bearing to form a low-friction rotating pair with the mounting shaft 2202. The first mounting plate 2601 is welded to the outer periphery of the guide post 26 below the rotating sleeve 27, and the second mounting plate 3001 is welded to the bottom of the outer surface of the sleeve 30. The first mounting plate 2601 and the second mounting plate 3001 are connected. A return spring 28 is connected around the guide post 26. A laser rangefinder 29 is connected to the bottom of the sleeve 30. The bottom of the guide post 26 is provided with an anti-detachment disc whose outer diameter matches the inner diameter of the sleeve 30. The bottom of the sleeve 30 is connected to the chassis 25 through a spherical bearing, which allows the reset detection component 24 to adapt to the tilt of the human target 21 in any direction and provide a full-circumferential reset force. The low-friction connection between the rotating sleeve 27 and the mounting shaft 2202 ensures that the guide post 26 can rotate synchronously with the fixed seat 22. When the human target 21 is deflected by an external force, the laser rangefinder 29 monitors the displacement of the guide post 26 and feeds it back to the controller 16 to achieve precise posture reset and motion data acquisition. The return spring 28 can provide a restoring force for the reset of the human target 21.

[0031] Detailed implementation: In use, the differential motor 18 drives the drive pulley 10 of the track walking assembly 2 to rotate. The transmission groove 1501 on the transmission track 15 meshes with the drive pulley 10 to transmit power, and the guide wheel 8 is used to achieve steering. The suspension bracket 11 is elastically connected to the support roller 12 to adapt to complex terrain. The adjustable telescopic rod 9 works with the track roller 14 to tension the track and ensure stable operation. The second servo motor 19 drives the turntable 401 at the bottom of the hydraulic lifting rod 4 to rotate. The limit plate 20 assists in stabilization, realizing the hydraulic lifting rod 4. The first dummy component 5 at the top rotates horizontally; the hydraulic lifting rod 4 extends and retracts itself, changing the height of the first dummy component 5 to achieve a double-layer target layout; the first servo motor 17 drives the chassis 25 of the second dummy component 6 to rotate; the universal joint 23 enables the fixed seat 22 to drive the humanoid target 21 to achieve multi-directional rotation; when the humanoid target 21 is deflected by external force, the reset spring 28 of the reset detection component 24 provides restoring force; the laser rangefinder 29 monitors the displacement of the guide post 26 and feeds it back to the controller 16 to achieve precise posture reset and motion data acquisition.

[0032] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A double-layer intelligent motion target vehicle, comprising a base (1), characterized in that: Both sides of the base (1) are connected to track walking components (2), and a mounting groove (101) is provided in the center of the base (1). A first servo motor (17) is installed inside the mounting groove (101), and a second dummy component (6) is rotatably connected to the base (1) above the mounting groove (101). The output end of the first servo motor (17) is connected to the second dummy component (6). A controller (16) is embedded in one end of the top of the base (1), and a mounting seat (3) is fixed at the other end of the top of the base (1). A second servo motor (19) is provided in the center of the mounting seat (3), and a hydraulic lifting rod (4) is rotatably connected to the mounting seat (3) above the second servo motor (19). A first dummy component (5) is installed on the top of the hydraulic lifting rod (4).

2. The double-layer intelligent target vehicle according to claim 1, characterized in that: The tracked walking assembly (2) includes a frame (7), guide wheels (8), adjustable telescopic rods (9), drive pulleys (10), suspension brackets (11), support rollers (12), mounting brackets (13), track rollers (14), and drive tracks (15). The frame (7) is fixedly connected to the side wall of the base (1), and the two ends of the frame (7) are respectively rotatably connected to the guide wheels (8) and the drive pulleys (10). The suspension bracket (11) is installed at the center of the bottom of the frame (7), and seven support rollers (12) are evenly spaced at the bottom of the suspension bracket (11). The support rollers (12) are rotatably connected to the suspension bracket (11), and the support rollers (12) are elastically connected to the frame (7) through the suspension bracket (11). A mounting frame (13) is slidably connected to the center of the top of the frame (7), and a chain roller (14) is rotatably connected to both sides of the top of the mounting frame (13). The bottom sides of the mounting frame (13) are connected to the frame (7) through adjustable telescopic rods (9). The transmission track (15) is arranged around the outside of the guide wheel (8), drive pulley (10), support wheel (12) and chain roller (14), and the transmission track (15) has transmission grooves (1501) that mesh with the drive pulley (10) at equal intervals. Differential motors (18) are installed on both sides inside the mounting base (3), and the output ends of the two differential motors (18) are respectively connected to the drive pulleys (10) of the two track walking components (2).

3. The double-layer intelligent target vehicle according to claim 1, characterized in that: The bottom of the hydraulic lifting rod (4) is integrally connected to a turntable (401), and the output end of the second servo motor (19) passes through the top of the mounting base (3) and is connected to the center of the turntable (401). Four limiting plates (20) are arranged in a ring array at the top of the mounting base (3) near the turntable (401), and the limiting plates (20) are designed in an inverted "L" shape. The inner sidewalls of the four limiting plates (20) are all in contact with the outer wall of the turntable (401).

4. The double-layer intelligent target vehicle according to claim 1, characterized in that: Both the first dummy assembly (5) and the second dummy assembly (6) include a humanoid target (21), a fixed base (22), a mounting shaft (2202), a hinge groove (2203), a universal joint (23), a reset detection assembly (24), and a chassis (25). The bottom of the humanoid target (21) is connected to the fixed base (22), and the center of the bottom of the fixed base (22) is connected to the center of the top of the chassis (25) through the universal joint (23). The center of the bottom of the chassis (25) is connected to the first dummy assembly (21). The output end of the servo motor (17) is connected, and the four side walls of the fixed base (22) are provided with hinge slots (2203), and the mounting shaft (2202) is fixed in the hinge slots (2203). The reset detection component (24) is rotatably connected to the mounting shaft (2202), and the bottom of the reset detection component (24) is hinged to the edge of the chassis (25). The four reset detection components (24) are arranged in a ring array and maintain a pre-stretched state that is inclined downward and outward.

5. A double-layer intelligent target vehicle according to claim 2, characterized in that: Both ends of the inner surface of the transmission track (15) protrude inward to form anti-detachment edges (1502), and the distance between the two anti-detachment edges (1502) is consistent with the axial width of the guide wheel (8) and the drive pulley (10). The outer surface of the transmission track (15) is provided with anti-slip strips (1503).

6. A double-layer intelligent target vehicle according to claim 4, characterized in that: The bottom of the human-shaped target (21) is integrally connected to a plug-in seat (2102), and the top center of the fixed seat (22) is provided with a plug-in groove (2201) that is compatible with the plug-in seat (2102). Both sides of the plug-in seat (2102) are integrally provided with flange plates (2101), and the plug-in seat (2102) and the plug-in groove (2201) are first plugged in and then fixed by bolts.

7. A double-layer intelligent target vehicle according to claim 4, characterized in that: The reset detection assembly (24) includes a guide post (26), a first mounting plate (2601), a rotating sleeve (27), a reset spring (28), a laser rangefinder (29), a sleeve (30), and a second mounting plate (3001). The bottom of the sleeve (30) is hinged to the top edge of the chassis (25) via a spherical bearing. The guide post (26) is movably connected inside the sleeve (30). The top of the guide post (26) passes through the top of the sleeve (30) and is fixedly connected to the rotating sleeve (27). The rotating sleeve (27) uses a self-lubricating bearing and is fixedly connected to the rotating sleeve (27). The mounting shaft (2202) forms a low-friction rotating pair. A first mounting plate (2601) is welded to the outer periphery of the guide post (26) below the rotating sleeve (27), and a second mounting plate (3001) is welded to the bottom of the outer surface of the sleeve (30). A reset spring (28) is connected between the first mounting plate (2601) and the second mounting plate (3001) and is arranged around the guide post (26). A laser rangefinder (29) is connected to the bottom of the sleeve (30), and an anti-detachment plate with an outer diameter matching the inner diameter of the sleeve (30) is provided at the bottom of the guide post (26).

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