Intelligent laser guidance system carrier platform

Abstract

This utility model provides an intelligent laser guidance system carrier platform, solving the problems of high safety risks due to manual operation of existing laser guidance devices, lack of dedicated armored hangars for UAVs, low protection, and difficulty in adapting to different battlefield environments. The technical solution includes: a tracked mobile armored chassis equipped with an automatic driving system; a power subsystem, an automatic driving subsystem, a communication control module, and a power supply system are installed inside the armored vehicle box; the front box of the mobile armored chassis houses the electro-optical reconnaissance and laser guidance subsystem, the rear box houses the power supply system, the upper box houses the UAV armored hangar, and telescopic stabilizing support legs are installed on both sides of the rear of the mobile armored chassis; the front box is equipped with a three-section telescopic structure automatic lifting and rotating mast, with the electro-optical reconnaissance and laser guidance subsystem installed at the top of the mast. Operators can control the system from 100m away via an operating terminal, significantly reducing the risk of personnel exposure. UAVs can cooperate with the ground electro-optical subsystem to complete reconnaissance and guidance tasks, adapting to various battlefield scenarios such as plains, mountains, and hills.

Description

Technical Field

[0001] This utility model relates to the technical field of laser-guided weapon supporting equipment, and in particular to a carrier platform for an intelligent laser guidance system, which is used to carry related mobile devices of the intelligent laser guidance system. Background Technology

[0002] Currently, the laser guidance devices used in my country's laser-guided artillery shells generally rely on manual operation to complete the target illumination task. Moreover, the deployment position of the device must avoid being directly below the trajectory to ensure personnel safety, which causes the laser reflection angle to deviate from the ideal state and affects the guidance accuracy. At the same time, the existing guidance devices lack active reconnaissance capabilities, and the target coordinates need to be issued by the superior, resulting in low response efficiency. In terms of the transport platform, the existing technology mostly uses ordinary wheeled or simple tracked platforms, which have the following shortcomings: (1) Low degree of automation: manual driving or close-range remote control is required, which cannot realize autonomous route planning and remote deployment, increasing the risk of personnel exposure; (2) Poor equipment integration: laser guidance devices, reconnaissance equipment, etc. are mostly deployed in a decentralized manner, without a unified integrated installation structure, and there is a lack of dedicated storage and protection space for UAVs, resulting in low system deployment and recovery efficiency; (3) Insufficient stability: when working in complex terrain (such as mountains and hills), the platform is prone to tilting, especially when the optoelectronic reconnaissance equipment is raised, the center of gravity shift is more likely to affect the reconnaissance and laser illumination accuracy. Patent document CN 216328337 U discloses a wheeled explosion-proof reconnaissance robot, which is equipped with a tracked chassis, a motion control system, and fixed detection lenses. It cannot be equipped with a laser emitter or long-range detection and guidance, cannot flexibly adjust its altitude according to the battlefield environment, and does not have a dedicated hangar for drones and stable support legs. It cannot achieve unmanned deployment and stable operation in complex terrain. Existing transport platforms cannot meet the requirements of "unmanned, highly integrated, safe and stable" intelligent laser guidance systems, and there is an urgent need to design a dedicated intelligent transport platform. Utility Model Content

[0003] The purpose of this invention is to provide an intelligent laser guidance system carrier platform, which solves the problems of existing laser guidance devices, such as high safety risks due to manual operation, insufficient safety, lack of dedicated armored hangars for UAVs, low storage and protection of UAVs, lack of stable support structure, and difficulty in adapting to different battlefield environments.

[0004] The technical solution adopted by this utility model is as follows: The intelligent laser guidance system carrier platform includes a tracked mobile armored chassis equipped with an automatic driving system. The armored vehicle box contains a power subsystem, an automatic driving subsystem, and a communication control module. Key technical points are: the front compartment of the armored vehicle box of the mobile armored chassis houses the electro-optical reconnaissance and laser guidance subsystem, the upper compartment houses the UAV armored hangar, and telescopic stabilizing support legs are installed on both sides of the rear of the mobile armored chassis; the front compartment is equipped with a three-section telescopic structure automatic lifting and rotating mast, with the electro-optical reconnaissance and laser guidance subsystem installed at the top of the mast; the UAV armored hangar is a square box, including a lower hangar base and an upper hangar door symmetrically arranged in the form of an armored protective cover that moves to both sides; the hangar interior contains a UAV landing pad, and the landing pad is equipped with a charging interface; The unmanned aerial vehicle armored hangar has rotating arms on both sides of the hangar door. The rotating arms are mounted on the hangar base via a drive end connecting cylinder, a main shaft, and a motor drive mechanism.

[0005] The rear end of the drive end connecting cylinder is fixedly connected to the hangar body base. The rotating arm is provided with a guide arm shell on the outside and a sprocket assembly inside. The sprocket assembly includes a front gear and a rear gear connected by chain meshing. The guide arm shell has a base end mounting hole and a hangar door side mounting hole at both ends of its inner side. The guide arm housing is provided with a front slewing support inner ring and a front slewing support outer ring through the base end mounting hole. The front gear of the sprocket assembly is installed on the front slewing support inner ring, and the front slewing support inner ring is fixedly connected to the front end of the rotating arm drive end connecting cylinder. The motor drive mechanism drives the main shaft. The sections of the main shaft near both ends are respectively mounted on double-row angular contact ball bearings installed in the corresponding drive end connecting cylinders. The ends of the main shaft are fixed to the rotating arm guide arm housing through the rotating arm front axle plate. The rotating arm front axle plate is fixedly connected to the rotating arm front rotating plate, which is fitted outside the front gear. A double-cap deep groove ball bearing is installed between the inner ring of the front gear and the rotating arm front axle plate. The guide arm housing is provided with a rear slewing support inner ring and a rear slewing support outer ring through the hangar door mounting hole. The rear gear of the sprocket assembly is installed on the rear slewing support inner ring. The rear slewing support inner ring is fixedly connected to the hangar door through a stop plate. The rotating arm rear axle plate is fixedly connected to the rotating arm guide arm housing. The rotating arm axle plate is fixedly connected to the rotating arm rear rotating plate, which is fitted outside the rear gear. A double-cap deep groove ball bearing is provided between the rear gear inner ring and the rotating arm rear axle plate. The motor drive mechanism is used to drive the guide arm housing of the rotating arm to rotate through the main shaft. The front gear of the sprocket assembly is fixed to the base of the hangar body through the drive end connecting cylinder, and drives the rear gear through the chain to keep it moving synchronously with the front gear, and keeps the hangar door parallel to the base of the hangar body for opening and closing actions.

[0006] A small wind speed and direction monitor is installed on the top of the hangar door.

[0007] The positive effects of this utility model are as follows: Because this utility model uses a front enclosure within the armored vehicle body of a mobile armored chassis to house the optoelectronic reconnaissance and laser guidance subsystem, a rear enclosure to house the power supply system, and an upper enclosure to house the UAV armored hangar, the front enclosure features a three-section telescopic automatic lifting and rotating mast. The top of the mast houses the mounting area for the optoelectronic reconnaissance and laser guidance subsystem, fixed to the left front of the armored chassis, while the bottom of the mast connects to a servo drive module within the chassis. The top mounting section houses the visible light reconnaissance module, infrared reconnaissance module, and laser guidance module of the optoelectronic reconnaissance and laser guidance subsystem. This provides effective space for the optoelectronic reconnaissance and laser guidance subsystem, improving automation and safety. Operators can control it remotely via an operating terminal, significantly reducing the risk of personnel exposure. The use of the UAV armored hangar... The rectangular enclosure comprises a lower hangar base and an upper hangar with symmetrically arranged, sliding doors that open to both sides, featuring an armored protective shield. The hangar includes a drone parking apron with charging ports, enabling the armored hangar to provide protection, storage, and power to drones, extending their loiter time. It can collaborate with ground-based electro-optical subsystems to complete reconnaissance and guidance missions, adapting to complex terrain (e.g., activating the airborne subsystem when ground obstruction is present). Enhanced platform stability and guidance accuracy are achieved through an adjustable and rotating mast that allows for flexible adjustment of reconnaissance and illumination angles based on battlefield conditions. Stabilizing legs level the platform in complex terrain, preventing attitude deviations in the electro-optical modules caused by chassis tilting, while the armored protection ensures equipment reliability in battlefield environments. High adaptability is ensured by compatibility with various laser-guided weapons (e.g., 155mm laser-guided artillery shells, air-to-ground missiles), and the mast height and leg length can be adjusted as needed, adapting to various battlefield scenarios such as plains, mountains, and hills. Attached Figure Description

[0008] The present invention will be further described below with reference to the accompanying drawings.

[0009] Figure 1 This is a schematic diagram of the overall structure of the transport platform of this utility model; Figure 2 This is a schematic diagram of the lifting mast structure in the raised state of this utility model; Figure 3 This is a schematic diagram of the armored hangar structure for the unmanned aerial vehicle (UAV) of this utility model; Figure 4 This is a schematic diagram of the structure of the unmanned aerial vehicle armored hangar door in the open state of this utility model. Figure 5 This is a schematic diagram of the drive mechanism installation for the armored hangar of the unmanned aerial vehicle (UAV) of this utility model. Figure 6This is a schematic diagram of the disassembled state of the armored hangar of the UAV according to this utility model; Figure 7 This is a schematic diagram of the disassembled state of the rotating arm of this utility model; Figure 8 This is an exploded view of the sprocket assembly of this utility model; Figure 9 This is a schematic diagram of the cross-sectional structure of the rotating arm of this utility model; Figure 10 This is a schematic diagram showing the working process of the sprocket assembly of this utility model.

[0010] The numbers in the diagram are explained as follows: 1. Mobile armored chassis; 2. Armored vehicle box; 3. Stabilizing support leg; 4. UAV armored hangar; 5. Hanger base; 6. Electro-optical reconnaissance and laser guidance subsystem; 7. Automatic lifting and rotating mast; 8. Wind speed and direction monitor; 9. Rotating arm; 10. Helipad; 11. Connecting cylinder; 12. Hanger door; 13. Motor drive mechanism; 14. Main shaft; 15. UAV; 16. Base end mounting hole; 17. Hanger door mounting hole; 20. Shell sealing plate; 21. Shell groove; 22. Rotating arm front axle plate; 23. Front gear; 24. Chain; 25. Rear gear; 26. Double-cap deep groove ball bearing; 27. Rotating arm front rotating plate; 28. Front slewing support inner ring; 29. ​​Front slewing support outer ring; 30. Double row angular contact ball bearing; 31. Stop plate; 32. Rear slewing support outer ring; 33. Rear slewing support inner ring; 34. Rotating arm rear rotating plate; 35. Rotating arm rear axle plate. Detailed Implementation

[0011] To facilitate understanding of this utility model, the embodiments are described below. Figures 1-10 The specific structure of this utility model is described in detail, such as... Figure 1 As shown, in the embodiment, such as Figure 1 As shown, this utility model provides an intelligent laser guidance system carrier platform, whose core structure includes a mobile armored chassis 1, an armored vehicle box 2, an unmanned aerial vehicle armored hangar 4, stabilizing support legs 3, and an automatically lifting and rotating mast 7 equipped with an optoelectronic reconnaissance and laser guidance subsystem 6. It can carry a matching power subsystem, an autonomous driving subsystem, a communication control module, and a power supply system.

[0012] The specific construction is as follows: Mobile armored chassis 1, such as... Figure 1As shown, the chassis, serving as the basic carrier of the entire transport platform, is made of high-strength alloy armor and has an overall rectangular structure. A tracked walking mechanism is installed at the bottom of the chassis, with tracks 500-600mm wide to adapt to complex terrain. The upper surface of the chassis is divided into functional areas: the front of the armored vehicle box 2 of the mobile armored chassis houses the electro-optical reconnaissance and laser guidance subsystems; the rear box houses the power subsystem and autonomous driving subsystems; and the upper rear section is the area for the armored hangar of unmanned aerial vehicles (UAVs). The power supply system includes a pre-installed battery compartment inside the chassis (capable of accommodating 2-3 sets of high-capacity lithium batteries, supporting quick replacement), and external ventilation holes and waterproof interfaces on the sides, providing protection against dust, water, and small arms fire.

[0013] Automatic lifting and rotating mast 6, such as Figure 1 and Figure 2 As shown, a commercially available automatic lifting and rotating mast can be used, fixed to the mounting area on the left front of the armored chassis. It adopts a three-section telescopic structure, including a fixed section, a middle telescopic section, and a top mounting section, and is made of high-strength lightweight aluminum alloy. The bottom of the mast is connected to the servo drive module inside the chassis, which can achieve 360° horizontal rotation (rotational angular velocity of 5° / s). The middle telescopic section is hydraulically driven to achieve height adjustment (retracted height of 1.5m, maximum extended height of 5m, adjustment accuracy of 100mm). A mounting flange is set at the top of the mast to fix the optoelectronic reconnaissance and laser guidance subsystem 6 (including visible light reconnaissance module, infrared reconnaissance module, and laser guidance module). A level sensor is installed at the mounting flange to detect the module's attitude in real time and feed back to the servo drive module for fine adjustment to ensure that the module is always in a horizontal working state. The outside of the mast is wrapped with a flexible dust cover to prevent sand and dust from entering the internal structure during the extension and retraction process.

[0014] Unmanned aerial vehicle armored hangar 4, such as Figures 1 to 4 As shown, the hangar is a rectangular, sealed armored structure fixed to the upper rear of the armored chassis. The hangar base 5 has a protective shield-like symmetrical hangar door 12 that moves to both sides. The hangar interior has a drone landing pad 10, which can accommodate multi-rotor drones 15. The support frame is equipped with cushioning rubber pads to prevent bumps during transportation. A charging interface is located on the right side of the fixed support frame, which is connected to the chassis battery compartment for real-time charging of the drones. A fiber optic communication interface is located on the top for wired communication connection when the drones are tethered. The inner walls of the hangar are lined with a heat insulation layer, which can ensure the normal storage of drone equipment in environments ranging from -30℃ to 60℃, and also has impact resistance to prevent damage to the drones from battlefield vibrations.

[0015] like Figures 5 to 9As shown, as a further improvement, rotating arms 9 are provided on both sides of the hangar door 12 of the UAV armored hangar. The rotating arms are mounted on the hangar base 5 via a drive end connecting cylinder 11, a main shaft 14, and a motor drive mechanism 13. Specifically, the following structure can be adopted: the rear end of the drive end connecting cylinder 11 is fixedly connected to the hangar base 5; a guide arm shell is provided on the outside of the rotating arm 9; the guide arm shell can adopt a structure in which a shell sealing plate 20 and a shell groove 21 are fastened together; a sprocket assembly is provided inside; the sprocket assembly includes a front gear 23 and a rear gear 25 meshed together by a chain 24; base end mounting holes 16 and hangar door mounting holes 17 are respectively provided at both ends of the inner side of the guide arm shell. The guide arm housing is provided with a front slewing support inner ring 28 and a front slewing support outer ring 29 through the base end mounting hole 16. The front slewing support inner ring 28 is equipped with the front gear 23 of the sprocket assembly. The front slewing support inner ring 28 is fixedly connected to the front end of the rotating arm drive end connecting cylinder 11. The front slewing support inner ring 28 and the front gear 23 can be connected to the front end of the rotating arm drive end connecting cylinder 11 by bolts. The motor drive mechanism 13 drives the main shaft 14. The sections of the main shaft near its two ends are respectively mounted on double-row angular contact ball bearings 30 installed in the corresponding drive end connecting cylinder 11. The ends of the main shaft 14 are fixed to the rotating arm guide arm housing through the rotating arm front axle plate 22. The rotating arm front axle plate 22 is fixedly connected to the rotating arm front rotating plate 27, which is fitted outside the front gear 23. The rotating arm front axle plate is provided with a chain passage opening. A double-cap deep groove ball bearing 26 is installed between the inner ring of the front gear 23 and the rotating arm front axle plate 22. The rotating arm front axle plate 22, the rotating arm front rotating plate 27 and the guide arm housing can be connected by bolts.

[0016] The guide arm housing is fitted with a rear slewing support inner ring 33 and a rear slewing support outer ring 32 via the hangar door mounting hole 17. The rear slewing support inner ring 33 is fitted with the rear gear 25 of the sprocket assembly. The rear slewing support inner ring 32 is fixedly connected to the hangar door 12 via a stop plate 31. The rotating arm rear axle plate 34 is fixedly connected to the rotating arm guide arm housing. The rotating arm rear axle plate 35 is fixedly connected to the rotating arm rear rotating plate 34, which is fitted outside the rear gear 25. The rotating arm rear axle plate 35 is provided with a chain passage opening. A double-cap type deep groove ball bearing is provided between the rear gear inner ring 33 and the rotating arm rear axle plate 35. The rear slewing support inner ring 33, the rear gear 25, and the stop plate 31 can be connected to the hangar door 12 by bolts. The rotating arm rear axle plate 35, the rotating arm rear rotating plate 34, and the guide arm housing are connected by bolts.

[0017] like Figure 4 , 5 and Figure 10As shown, the motor drive mechanism 13 drives the guide arm housing of the rotating arm 9 to rotate via the main shaft 14. The front gear 23 of the sprocket assembly is fixed to the hangar base 5 via the drive end connecting cylinder 11, and drives the rear gear 25 via the chain 24 to maintain synchronous operation with the front gear, thus ensuring the hangar door 12 and the hangar base remain parallel during opening and closing. When the rotating arm rotates, the front gear remains stationary, and the rear gear remains stationary by limiting the traction chain, ensuring the hangar door and the hangar base remain parallel during opening and closing. This design keeps the outer armor layer of the hangar door facing upwards and also allows for the installation of a small wind speed and direction monitor on the top of the hangar door. This monitor provides more accurate wind speed and direction information via a communication system, ensuring the monitor remains in position.

[0018] Stable support leg 3, such as Figure 1 As shown, there are two sets of stabilizing support legs, symmetrically arranged on both sides of the rear of the armored chassis. They adopt a hydraulically driven structure, including the support leg body, hydraulic cylinders, and control valves. The support leg body is a telescopic metal rod (retracted length 800mm, maximum extended length 1500mm), with a circular support plate at the bottom (300mm in diameter, with anti-slip texture on the lower surface of the support plate). During operation, the support leg extension command is triggered by the operating terminal or the automatic driving subsystem. The hydraulic cylinder pushes the support leg downward until the support plate makes close contact with the ground, supporting the rear of the armored chassis and keeping the chassis level. When not in operation, the support legs retract and fit against the side of the chassis, without affecting the platform's movement.

[0019] The supporting power subsystem includes a large-capacity lithium battery (200Ah capacity per unit, 24V voltage) and an electric drive motor in the battery compartment. The motor is connected to the track walking mechanism and can provide a maximum travel speed of 15km / h and a range of no less than 50km. Autonomous driving subsystem: It can be composed of a general-purpose GPS positioning module, inertial navigation module, environmental perception sensors (LiDAR, camera) and control chip. It can realize autonomous path planning and obstacle avoidance (can identify obstacles with a height of not less than 300mm), and can receive remote commands from the operating terminal to accurately drive to the designated location (positioning accuracy is ±1m). Communication control module: It integrates a wireless communication unit (supporting 5G / BeiDou dual-mode communication) and an optical fiber communication interface, which can realize data interaction with the operation terminal, drones and optoelectronic subsystems, and has anti-electromagnetic interference capability.

[0020] Working Principle: When the optoelectronic reconnaissance and laser guidance subsystem mounted on the intelligent laser guidance system platform of this utility model operates, it follows the process of "autonomous deployment, stable support, multi-module collaboration, and precise guidance," specifically as follows: Autonomous Deployment Phase: Operators input the target area coordinates and mission parameters through the operating terminal. The autonomous driving subsystem, combined with GPS... Using inertial navigation data, an optimal driving path is generated. The power subsystem drives the tracked walking mechanism, allowing the platform to autonomously avoid obstacles and travel to the designated location. During the stabilization phase: after reaching the position, the horizontal sensor detects the chassis attitude and feeds the data back to the communication control module. If the attitude deviation exceeds a threshold, the control module triggers the hydraulic cylinders of the stabilizing support legs, extending and adjusting their length until the chassis remains level, providing a stable foundation for subsequent subsystem operations. During the subsystem deployment phase: the communication control module receives commands from the operating terminal. On one hand, it controls the upgrade mast of the electro-optical reconnaissance and laser guidance subsystem to extend to a set height (1.5-5m) and rotate to the target direction, activating the electro-optical module and entering reconnaissance mode. On the other hand, it controls the opening of the UAV armored hangar, allowing the UAV to take off and obtain power and communication via tethering. The onboard module activates and establishes coordination with the ground module. Data interaction and target identification are also implemented. In the first phase: Ground-based optoelectronic modules and airborne modules upload real-time reconnaissance data (images, coordinates) to the operating terminal via the communication control module. The operating terminal identifies, classifies, and sorts the targets, and sends the target data to the launch site. In the laser-guided phase: After the launch site fires shells or missiles, the operating terminal selects a ground-based or airborne laser guidance module based on the battlefield environment (such as terrain obstruction or target movement), and issues a laser illumination command via the communication control module. The module emits a laser beam towards the target, guiding the weapon precisely to the target. During this process, the mast's servo drive module fine-tunes the angle of the optoelectronic module according to the target's movement, and the stabilizing legs keep the platform level, ensuring laser illumination accuracy. In the mission completion phase: After the target is hit, the operating terminal commands all subsystems to shut down, the UAV is recovered to the armored hangar, the mast retracts, the supporting legs retract, and the platform autonomously travels to the withdrawal point or awaits the next mission command. Operators can control the system from 100m away via the operating terminal, significantly reducing the risk of personnel exposure.

[0021] In summary, the purpose of this utility model has been achieved.

Claims

1. An intelligent laser guiding system carrying platform, comprising a tracked mobile armored chassis provided with an automatic driving system, a power subsystem, an automatic driving subsystem and a communication control module are arranged in the armored vehicle box, characterized in that: The mobile armored chassis has an armored vehicle box with a front compartment housing an electro-optical reconnaissance and laser guidance subsystem, an upper compartment housing an armored drone hangar, and telescopic stabilizing support legs on both sides of the rear of the mobile armored chassis. The front compartment has a three-section telescopic structure with an automatically lifting and rotating mast, and the top of the mast houses the electro-optical reconnaissance and laser guidance subsystem. The armored drone hangar is a square box, including a lower hangar base and an upper hangar door that is symmetrically arranged in the form of an armored protective cover and opens to both sides. The hangar has a drone landing pad with a charging interface.

2. The intelligent laser guidance system carrier platform of claim 1, wherein: The unmanned aerial vehicle armored hangar has rotating arms on both sides of the hangar door. The rotating arms are mounted on the hangar base via a drive end connecting cylinder, a main shaft, and a motor drive mechanism.

3. The intelligent laser guidance system carrier platform of claim 2, wherein: The rear end of the drive end connecting cylinder is fixedly connected to the hangar body base. The rotating arm is provided with a guide arm shell on the outside and a sprocket assembly inside. The sprocket assembly includes a front gear and a rear gear connected by chain meshing. The guide arm shell has a base end mounting hole and a hangar door side mounting hole at both ends of its inner side. The guide arm housing is provided with a front slewing support inner ring and a front slewing support outer ring through the base end mounting hole. The front gear of the sprocket assembly is installed on the front slewing support inner ring, and the front slewing support inner ring is fixedly connected to the front end of the rotating arm drive end connecting cylinder. The motor drive mechanism drives the main shaft. The sections of the main shaft near both ends are respectively mounted on double-row angular contact ball bearings installed in the corresponding drive end connecting cylinders. The ends of the main shaft are fixed to the rotating arm guide arm housing through the rotating arm front axle plate. The rotating arm front axle plate is fixedly connected to the rotating arm front rotating plate, which is fitted outside the front gear. A double-cap deep groove ball bearing is installed between the inner ring of the front gear and the rotating arm front axle plate. The guide arm housing is provided with a rear slewing support inner ring and a rear slewing support outer ring through the hangar door mounting hole. The rear gear of the sprocket assembly is installed on the rear slewing support inner ring. The rear slewing support inner ring is fixedly connected to the hangar door through a stop plate. The rotating arm rear axle plate is fixedly connected to the rotating arm guide arm housing. The rotating arm axle plate is fixedly connected to the rotating arm rear rotating plate, which is fitted outside the rear gear. A double-cap deep groove ball bearing is provided between the rear gear inner ring and the rotating arm rear axle plate. The motor drive mechanism is used to drive the guide arm housing of the rotating arm to rotate through the main shaft. The front gear of the sprocket assembly is fixed to the base of the hangar body through the drive end connecting cylinder, and drives the rear gear through the chain to keep it moving synchronously with the front gear, and keeps the hangar door parallel to the base of the hangar body for opening and closing actions.

4. The intelligent laser guidance system carrier platform of claim 3, wherein: A small wind speed and direction monitor is installed on the top of the hangar door.

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