Self-propelled agricultural machinery with balance control and adjustment

Abstract

The agricultural machine (1) comprises a connecting link between the support frame (2) and the rolling assembly (4), the connecting link being configured to allow movement between the support frame (2) and the rolling assembly (4) along the longitudinal axis (L), and the agricultural machine (1) determines, and if necessary automatically determines and adjusts, by means of an evaluation and control means (8) or on the basis of an operator's command communicated by the evaluation and control means (8), the relative position between the support frame (2) and the rolling assembly (4) so ​​that the center of gravity (CG) of the support frame (2) with the tool (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L), and preferably coincident.

Description

[Technical Field]

[0001] The present invention relates to the field of agricultural machinery, and more particularly to the balance and safety of agricultural machinery fitted with tools of different types and weights, in some cases with adjustable tools, and agricultural machinery in which the balance can be controlled and adjusted.

[0002] The present invention relates to a self-propelled agricultural machine, in particular a self-propelled agricultural machine driven autonomously or controlled by an operator, which has a general direction of travel defining front and rear and a longitudinal axis of the machine. This type of agricultural machine comprises a support frame at the front and / or rear for supporting at least one tool, and a rolling assembly (ensemble de roulement, rolling undercarriage). The latter rolling assembly comprises at least one track (train de roulement · chenilles) as a rolling means, or an additional rolling assembly with at least one axle, or a rolling assembly with wheels having at least two axles. The support frame is attached to or combined with the rolling assembly and supports at least one tool. [Background technology]

[0003] Therefore, the center of gravity of the upper part of the agricultural machine (support frame + tool), and therefore the center of gravity of the entire agricultural machine, may change with the weight and / or position of the tool supported or attached to the front or rear, and may be offset (misaligned) relative to the ground support of the agricultural machine, with the degree of offset varying. As a result, the agricultural machine may become unstable, its performance may deteriorate, its parts may be deformed, its caterpillars may wear unevenly, and the agricultural machine may deviate from its autonomous operation instructions, especially while it is moving.

[0004] These drawbacks are particularly problematic for tracked agricultural machinery, resulting in, for example:

[0005] - The load is distributed unevenly, causing pressure on the ground to be too high in some places.

[0006] - The agricultural machine tilts forward or backward, causing the tracks to lose full contact with the ground and the contact area with the ground to be smaller than the underside of the tracks, resulting in suboptimal traction and stability of the vehicle.

[0007] - Additional ballast is required to compensate for the weight imbalance, which increases unnecessary ground loads and increases soil compaction, which is obviously undesirable.

[0008] Furthermore, some tools are fitted with hoppers or tanks (seed drills, various fertiliser applicators, plant protection product applicators, etc.) which are emptied as the work in the field progresses and then refilled until the work is completed, causing a non-negligible change in weight and therefore a change in the centre of gravity.

[0009] Furthermore, the center of gravity of a tracked vehicle does not coincide with its instantaneous center of rotation, making it more difficult to guide autonomously (via GPS) and requiring the guidance system to be recalibrated every time the center of gravity changes position, which requires complex algorithms to manage the directional commands for each track. Summary of the Invention [Problem to be solved by the invention]

[0010] The object of the present invention is to overcome these drawbacks, although the invention is not limited to tracked agricultural machinery. [Means for solving the problem]

[0011] The subject of the present invention is an autonomous agricultural machine of the type mentioned at the outset, characterized in that the connecting link between the support frame and the rolling assembly is configured to allow a displacement between the support frame and the rolling assembly along the longitudinal axis, and that it comprises means for determining and, if necessary, further adjusting, by the evaluation and control means or, if necessary automatically, by command from the operator on the basis of a notification from said means, the relative position between the support frame and the rolling assembly so that the centers of gravity of the support frame and its tool and the center point of the rolling assembly are close to each other, advantageously lying in the same plane perpendicular to the longitudinal axis and preferably coincident.

[0012] The invention will be better understood through the following description which describes a preferred embodiment given as a non-limiting example with reference to the attached schematic drawings. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a functional schematic diagram of a self-propelled agricultural machine according to the present invention.

[0014] [Figure 2A] and

[0015] [Figure 2B] 2A and 2B are schematic side views of an agricultural machine (caterpillar) according to a first modified example of the first embodiment of the present invention, showing an unbalanced configuration (FIG. 2A) and a balanced configuration (FIG. 2B), respectively.

[0016] [Figure 3A] and

[0017] [Figure 3B] 1 is a schematic side view of an agricultural machine (caterpillar) according to a second variant of the first embodiment of the present invention, in two balanced configurations with different levels of a hopper mounted at the front due to a controlled offset between the support frame and the rolling assembly.

[0018] [Figure 4A] and

[0019] [Figure 4B] 1 is a schematic side view of an agricultural machine (caterpillar) according to a third variant of the first embodiment of the present invention, in two balanced configurations with different levels of the rear-mounted hopper due to a controlled offset between the support frame and the rolling assembly.

[0020] [Figure 5A] and

[0021] [Figure 5B] 1 is a schematic side view of an agricultural machine (caterpillar) according to a fourth variant of the first embodiment of the present invention, in two balanced configurations with different levels of the rear-mounted hopper due to a controlled offset between the support frame and the rolling assembly.

[0022] [Figure 6A] and

[0023] [Figure 6B] 1 is a schematic side view of an agricultural machine (caterpillar) according to a fifth variant of the first embodiment of the present invention, in two balanced configurations even at different levels in the fuel tank due to a controlled offset between the support frame and the rolling assembly.

[0024] [Figure 7A] and

[0025] [Figure 7B]7A and 7B are schematic side views of an agricultural machine (axle train, structure with wheeled axles) according to a first variant of the second embodiment of the present invention, showing an unbalanced configuration (FIG. 7A) and a balanced configuration (FIG. 7B).

[0026] [Figure 8A] and

[0027] [Figure 8B] 1 is a schematic side view of an agricultural machine (axle train, train with wheels, structure with wheeled axles) according to a second variant of the second embodiment of the present invention, in two balanced configurations with different levels of a hopper mounted at the front due to a controlled offset between the support frame and the rolling assembly.

[0028] [Figure 9] is a simplified schematic plan view of the machine of Figures 2 to 8, with the tools and other equipment supported on the support frame removed so as to show the connecting link between the rolling assembly and the support frame.

[0029] [Figure 10A] and

[0030] [Figure 10B] 10A is a view similar to FIG. 9, showing the rolling assembly in two extreme offset positions along the longitudinal axis relative to the support frame, respectively the maximum forward position (10A) and the maximum rearward position (10B). DETAILED DESCRIPTION OF THE INVENTION

[0031] [Figures 1] to [Figure 8] show a self-propelled agricultural machine (1) that can be driven autonomously or controlled by an operator, and that has a normal forward direction (A) that determines front and rear, and a longitudinal axis (L) of the agricultural machine (1).

[0032] The agricultural machine (1) comprises a support frame (2) for supporting at least one tool (3, 3') at the front and / or rear, and a rolling assembly (4) as rolling means, the rolling assembly (4) being either at least one caterpillar (5') type rolling travelling device (5) (a track de roulement (5) a chenilles (5')), or possibly at least one rolling travelling device having an axle (6, 6') with additional wheels (6''), or at least two rolling travelling devices having axles (6'') with wheels (6''), the support frame (2) carrying the tool (3, 3').

[0033] As illustrated in Figures 2 to 8, tools, at least one tool, or front and rear tools (3, 3') can be fixedly or movably mounted on the support frame (2), and each tool can have a constant or variable weight. In particular, each tool or one of the tools (3, 3') can be equipped with a hopper (12) or similar tank that is gradually or intermittently emptied or filled during operation of the agricultural machine (1). The support frame (2) can carry ballast weights (3'') at the front or rear, which can be movable or attached via ballast weight holders (13'') or the like. Various interchangeable tools and similar equipment of the agricultural machine (1) are typically secured to and supported by the support frame (2) by hitching devices with front (13) and rear (13') links. However, it will be appreciated that other equipment and specific tools necessary and useful in operating the agricultural machine (1) may be mounted on the support frame or may be attached and secured in place on top of the agricultural machine or may even be attached to the bottom of the agricultural machine.

[0034] The agricultural machine (1) of the present invention is characterized in that the connecting link between the support frame (2) and the rolling assembly (4) is configured to allow displacement along the longitudinal axis (L) between the support frame and the rolling assembly, and in that it comprises means for determining and, if necessary, adjusting the relative position between the support frame (2) and the rolling assembly (4) automatically by the evaluation and control means (8) or on the basis of a command from an operator informed by the evaluation and control means (8) so that the centers of gravity (CG) of the support frame (2) and its tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L) and preferably coincident.

[0035] It is assumed that the agricultural machine (1) is ideally balanced laterally with respect to a plane containing the longitudinal axis (L) and perpendicular to the plane (P). However, the balancing according to the invention can also be carried out even if such a lateral balancing is not confirmed. In this case, in Figures 2 to 8, each cross does not represent the center of gravity (CG) and the central point (C), but represents a horizontal line containing them and perpendicular to the longitudinal axis (L), so that the centers of gravity (CG) and the central point (C) are close to each other and in the same position, advantageously in the same plane and preferably coincident.

[0036] The present invention therefore overcomes the above-mentioned drawbacks and proposes a simple and integrated solution that i) is able to achieve an optimal relative position between the support frame (2) and the rolling assembly (4) based on a predetermined configuration of the various weights corresponding to the tools or similar accessories supported on the support frame (2), and ii) is able to maintain or return to the optimal position when changes in weight distribution occur due to changes in the supported movable tools or accessories, or when the weight distribution changes during a working phase of the agricultural machine (1) or between two consecutive working phases.

[0037] The central location of the support frame (2) relative to the rolling assembly (4) achieves optimal stability and maximum contact with the ground (S) of the agricultural machine (1), substantially distributing the load across the entire support surface, optimizing grip and traction. This also results in limited ballast requirements and reduced impact on the ground (S). Furthermore, the center of gravity and the instantaneous center of rotation are always aligned, facilitating GPS guidance of the machine (1). Furthermore, by monitoring (tracking) the adjustment of the relative position, changes in the tool's weight (e.g., when a hopper is emptied) can be indirectly monitored. Finally, it should be noted that the solution of the present invention is compatible with any type of tools, implements, accessories, attachments, devices, and weights, and is compatible with all tool link or ballast weight attachment configurations.

[0038] In a variant of the first embodiment, the center point (C) of the rolling assembly (4) corresponds to the geometric center or center of gravity of the contact area between the rolling travel devices (5, 5'; 6, 6', 6'') and the ground (S).

[0039] In a variant of the second embodiment, when the rolling assembly (4) comprises only a rolling travelling device (5) with caterpillars (5'), the centre point (C) of the rolling assembly (4) corresponds to the geometric centre of the rolling travelling device (5) or to the midpoint of the drive axle of this rolling travelling device (5).

[0040] In a variation of the third embodiment, when the rolling assembly (4) includes two rolling travelling devices (5, 5'; 6, 6', 6''), the center point (C) corresponds to the midpoint between the geometric centers of the axles of the two rolling travelling devices (5, 5'; 6, 6', 6'').

[0041] As shown schematically in Figures 9 and 10, the connecting link between the support frame (2) and the rolling assembly (4) has freedom to slide along a longitudinal axis (L) and comprises one or more cylinders (7) that are lockable in position, causing relative sliding displacement between the support frame and the rolling assembly when at least some of the cylinders, in particular at least one electric cylinder equipped with a position sensor, are actuated.

[0042] As shown in particular in Figures 3 to 5 and 8, the or at least one of the tools (3, 3') supported on the support frame (2) has a variable weight and / or can move relative to the support frame (2), in particular during use of the agricultural machine (1) or when the agricultural machine (1) is changed from one configuration to another. The agricultural machine (1) is provided with means (9) for measuring the weight of the ballast and means (9') for detecting the relative position of the or each tool (3, 3') mounted on the front or rear of the agricultural machine (1) with respect to the support frame (2). These means (9, 9') are in the form of sensors and are capable of monitoring, in particular, changes in position and weight corresponding to the various tools and ballast, and of dynamically adjusting the relative position of the two components (2 and 4) of interest.

[0043] In another non-dynamic embodiment, a weighing-free system can be envisaged, in which case the weights can be known from a catalogue of tools available for the corresponding agricultural machine or by manual input by the user at the control terminal of the agricultural machine ("front tool = X kg, rear tool = Y kg").

[0044] In an advantageous embodiment of the invention, diagrammatically shown in FIG. 1, which allows for an ideal dynamic control adjustment of the relative position of the two parts (2 and 4), the agricultural machine (1) comprises evaluation and control means (8) configured to: i) analyze data provided by a means (T) for measuring the balance of the agricultural machine (1), e.g., a balancing device (measuring the inclination relative to the horizontal position) and / or provided by a database (10); ii) determine the optimal relative position between the support frame (2) and the rolling assembly (4); and iii) if necessary, further adjust the relative displacement between the support frame (2) and the rolling assembly (4) by controlling the relative displacement between the support frame (2) and the rolling assembly (4), or to inform the operator if the center of gravity (CG) of the support frame (2) and its tools (3, 3') and the center point (C) of the rolling assembly (4) do not coincide, at least approximately. The information processing means (8) operate under the control of specific adapted management and control software.

[0045] The agricultural machine (1) is provided with evaluation and control means (8), which are preferably configured and programmed as follows: i) analyzing the data provided by the means (9) for measuring the ballast weight of the tools (3, 3') or tools (3 and 3') mounted at the front or rear, by the means (9') for detecting the relative position (e.g. by raising / lowering) of the tools (3, 3') or tools (3 and 3') mounted at the front or rear and movable with respect to the support frame (2), and / or by the database (10); ii) determining the optimal relative position between the support frame (2) and the rolling assembly (4); iii) If necessary, perform adjustments by controlling the relative displacement between the support frame (2) and the rolling assembly (4) or notify the operator when the center of gravity (CG) of the support frame (2) does not at least approximately coincide with its tools (3, 3') and center (C) of the rolling assembly (4).

[0046] In another preferred aspect of the invention, the agricultural machine (1) comprises a database (10) that provides predetermined conditions for an optimum relative position between the support frame (2) and the rolling assembly (4) based on the type of tools (3, 3') or ballast weights (3'') attached to the front and / or rear of the agricultural machine (1), and means (11) for detecting the type of attached tools (3, 3') or ballast weights (3'').

[0047] In connection with this configuration, the evaluation and control means (8) can preferably be programmed to analyze the data provided by the means (11) for detecting the type of attached tool (3, 3') or ballast weight (3''), consult the database (10) at least at the start of a working or moving phase of the agricultural machine (1), and adjust the relative position between the support frame (2) and the rolling assembly (4) if necessary and / or inform the operator, thereby making it possible to define a balanced initial configuration of the agricultural machine (1) at the start of a particular phase.

[0048] In addition, the evaluation and control means (8) can be programmed to: i) repeatedly, if necessary, analyze data provided by the means for measuring the balance of the agricultural machine (1) or the means for measuring the ballast weight (9) and by the means for detecting the relative position of the front or rear mounted tools (3, 3') or the tools (3 and 3'), and ii) automatically determine the relative position between the support frame (2) and the rolling assembly (4) throughout the entire working phase of the agricultural machine (1) and, if necessary, continuously and repeatedly adjust it in real time, thereby ensuring a balanced configuration at all times in the case of tools with variable weights (e.g., incorporating hoppers that are emptied during operation of the agricultural machine) (see Figures 3 to 5 and 8).

[0049] If the agricultural machine (1) is fully autonomous, for example an agricultural robot, it will make dynamic adjustments as work progresses in the field and according to the machine's needs, without user intervention. The agricultural machine can also send a warning signal to the user (via the vehicle's control interface) to indicate any imbalance or improper weight distribution and suggest to the operator how to optimally adjust the position of the tracks (5') to solve the problem.

[0050] In connection with another advantageous feature of the invention, as illustrated in FIG. 6, the evaluation and control means (8) can also be programmed to determine and, if necessary, adjust the optimum relative position between the support frame (2) and the rolling assembly (4), taking into account the filling level of the fuel tank (12′) of the agricultural machine (1) and its changes during the working phase.

[0051] Another object of the present invention is a method for managing the configuration of an agricultural machine (1) of the type mentioned at the beginning of the invention, in particular an agricultural machine (1) with the above-mentioned technical structure and features, in order to overcome the drawbacks of the prior art.

[0052] The method of the invention involves providing a connecting link between the support frame (2) and the rolling assembly (4) that is configured to allow the support frame and the rolling assembly to be displaced along the longitudinal axis (L), and determining and possibly adjusting, by the evaluation and control means (8) or automatically, if necessary, on the basis of a command from an operator communicated by the evaluation and control means (8), the relative position between the support frame (2) and the rolling assembly (4) so ​​that the centers of gravity (CG) of the support frame (2) and its tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L), and preferably coincident.

[0053] Ideally, the position of the rolling travelling device (5) with caterpillar (5') should be changed only in the following two scenarios:

[0054] - Initial adjustment before starting work: Stationary agricultural machine (1) and its associated tool (3, 3') (if applicable, hopper filled to the required level)

[0055] - Dynamic adjustment: Straight line only. To reduce the risk of stability problems with loaded and tooled agricultural machines (1) that may occur when performing dynamic offset during cornering, U-turns or maneuvers.

[0056] The agricultural machine (1) may also adopt one of a plurality of predetermined configurations (each of which corresponds to a predetermined relative position between the support frame and the rolling assembly), namely:

[0057] - "Transport" configuration: minimum space or optimum stability (where tools are held / mounted)

[0058] - Adjusted "travail" configuration: if the agricultural machine has tool combination X+Y attached, the rolling assembly moves to position Z. A "catalog" of known tools can be integrated into the management software that controls the agricultural machine.

[0059] It is obvious that the invention is not limited to the embodiments described and shown in the accompanying drawings, in particular that substitutions and modifications by constructions and technical equivalents of the various elements are possible without departing from the scope of protection of the invention.

Claims

1. A support frame (2) having a normal forward direction (A) and a longitudinal axis (L) that determine the front and rear of the agricultural machine (1), and configured to mount at least one tool (3, 3') in the front and / or rear, A rolling assembly (4) comprising at least one caterpillar-type rolling running device (5) as a rolling means, or at least one rolling running device having an axle (6, 6') with additional wheels (6''), or at least two rolling running devices having an axle (6'') with wheels (6''), In a self-propelled agricultural machine (1) that is autonomously operated or controlled by an operator, comprising the support frame (2) attached to the rolling assembly (4) and assembled, and equipped with at least one of the tools (3, 3'), A connecting link is provided between the support frame (2) and the rolling assembly (4), and this connecting link is configured to allow displacement along the longitudinal axis (L) between the support frame and the rolling assembly. The agricultural machine (1) is characterized by having means for determining and adjusting the relative position between the support frame (2) and the rolling assembly (4) such that the center of gravity (CG) of the support frame (2) having the tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other and located in the same plane (P) perpendicular to the vertical axis (L), either automatically by the evaluation and control means (8) or based on a command from an operator notified by the evaluation and control means (8).

2. The agricultural machine (1) according to Claim 1, characterized in that the center point (C) of the rolling assembly (4) corresponds to the geometric center or center of gravity of the contact area between the rolling travel device (5, 5'; 6, 6', 6'') and the ground (S).

3. The agricultural machine (1) according to Claim 1, wherein the rolling assembly (4) comprises only a rolling travel device (5) equipped with caterpillar tracks (5'), and the center point (C) of the rolling assembly (4) corresponds to the geometric center of the rolling travel device (5) or the midpoint of the drive axle of the rolling travel device (5).

4. The agricultural machine (1) according to Claim 1, wherein the rolling assembly (4) comprises two rolling travel devices (5; 6, 6'), and the center point (C) corresponds to the midpoint between the geometric centers of the axles of these two rolling travel devices (5; 6, 6').

5. The agricultural machine (1) according to claim 1, wherein the connecting link between the support frame (2) and the rolling assembly (4) has a degree of freedom to slide along the vertical axis (L), and further comprises one or more cylinders (7) that can be locked in a predetermined position, and a relative displacement occurs between the support frame (2) and the rolling assembly (4) when at least some of the cylinders are actuated.

6. The agricultural machine (1) according to claim 1, characterized in that a tool (3, 3') or at least one of the tools (3, 3') supported on a support frame (2) has a variable weight and / or is movable relative to the support frame (2) during use of the agricultural machine (1) or when changing from one configuration or state to another configuration, and further comprises a means (9) for measuring ballast weight and a means (9') for detecting the relative position of a tool or each tool (3, 3') mounted forward or backward with respect to the support frame (2).

7. The evaluation and control means (8) i) means (T) for measuring the balance of agricultural machinery (1), and / or analyzing the data provided by the database (10), ii) Determine the optimal relative position between the support frame (2) and the rolling assembly (4), iii) If necessary, if the center of gravity (CG) of the tool (3, 3') of the support frame (2) and the center point (C) of the rolling assembly (4) do not coincide at least approximately, perform adjustments by controlling the relative displacement between the support frame (2) and the rolling assembly (4), or notify the operator. The agricultural machinery (1) according to claim 1, characterized in that it is configured in such a way.

8. The above evaluation and control means (8) i) On the one hand, by means (9) for measuring the ballast weight of the tools (3, 3') or tools (3 and 3') mounted forward or backward, and on the other hand, by means (9') for detecting the relative position of the tools (3, 3') or tools (3 and 3') mounted forward or backward and movable relative to the support frame (2), and / or ultimately by analyzing the data supplied by the database (10), ii) Determine the optimal relative position between the support frame (2) and the rolling assembly (4), iii) When the center of gravity (CG) of the support frame (2) having the tool (3, 3') and the center point (C) of the rolling assembly (4) do not coincide at least approximately, perform an adjustment by controlling the relative displacement between the support frame (2) and the rolling assembly (4), or notify the operator. The agricultural machine (1) according to claim 1, characterized in that it is configured and programmed in such a way.

9. The agricultural machine (1) according to claim 1, comprising: a database (10) that provides a predetermined state of optimal relative position between a support frame (2) and a rolling assembly (4) based on the type of tool (3, 3') or ballast weight (3'') attached to the front and / or rear; and means (11) for detecting the type of attached tool (3, 3') or ballast weight (3'').

10. The agricultural machine (1) according to claims 8 and 9, wherein the evaluation and control means (8) is programmed to analyze data supplied by means (11) for detecting the type of attached tool (3, 3') or ballast weight (3''), to refer to a database (10) at least at the start of a working or moving phase of the agricultural machine (1), to adjust the relative position between the support frame (2) and the rolling assembly (4), and / or notify the operator.

11. The agricultural machine (1) according to claim 7, characterized in that the evaluation and control means (8) is programmed to repeatedly and substantially continuously analyze data provided by means (1') for measuring the balance of the agricultural machine (1) or data provided by means (9) for measuring the ballast weight, and data provided by means (9') for detecting the relative position of tools (3, 3') or tools (3 and 3') mounted in front or behind, and to repeatedly adjust and automatically determine the relative position between the support frame (2) and the rolling assembly (4) in real time and continuously throughout the working stages of the agricultural machine (1).

12. The agricultural machine (1) according to claim 1, characterized in that the evaluation and control means (8) is programmed to determine and adjust the optimal relative position between the support frame (2) and the rolling assembly (4), taking into account the filling level of the fuel tank (12') of the agricultural machine (1) and its changes during the work stage.

13. A method for managing an agricultural machine (1) having the configuration of Claim 1, comprising: a support frame (2) configured to mount at least one tool (3, 3') on its front and / or rear; and a rolling assembly (4) including at least one caterpillar (5') type rolling running device (5) as a rolling means, or at least one rolling running device having an axle (6, 6') with additional wheels (6''), or at least two rolling running devices having an axle (6'') with wheels (6''), wherein the support frame (2) is attached to the rolling assembly (4), A connecting link is provided between the support frame (2) and the rolling assembly (4), configured to allow displacement along the longitudinal axis (L) between the support frame and the rolling assembly. A method characterized by determining and adjusting the relative position between a support frame (2) and a rolling assembly (4) such that the center of gravity (CG) of the support frame (2) having the tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other and located on the same plane (P) perpendicular to the vertical axis (L), either by an evaluation and control means (8) or based on a command from an operator notified by the evaluation and control means (8).

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