Safety Devices and Robot Systems

Abstract

This safety device is connected to the control device of a robot. The safety device comprises: a detection unit that detects an object; a determination unit that determines the presence or absence of an abnormality in the safety device; and an output unit that outputs, to the control device of the robot, the detection result of the object by the detection unit and the determination result of the presence or absence of an abnormality by the determination unit. The output unit has a first output mode in which the detection result and the determination result are output to the control device through separate signal lines, and a second output mode in which the detection result and the determination result are output to the control device through a common signal line.

Description

[Technical Field]

[0001] This specification discloses a safety device and a robotic system. [Background technology]

[0002] Conventionally, a safety device (safety switch) has been proposed that includes a detection unit that detects the presence or absence of an object and an output unit that outputs a detection signal indicating the detection result of the presence or absence of an abnormality, and that outputs the detection signal via duplicated signal lines (OSSD1, OSSD2) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-117712 Summary of the Invention [Problem to be solved by the invention]

[0004] In a safety device that has the function of detecting an object while determining whether or not there is an abnormality in the safety device, when the object detection results and abnormality determination results are output to the system's control device via signal lines, depending on the specifications of the control device, such as a lack of signal lines, it may not be possible to properly output these results (information) to the control device.

[0005] A primary object of the present disclosure is to provide a safety device that can output an object detection result and an abnormality determination result to a control device regardless of the specifications of the control device. [Means for solving the problem]

[0006] The present disclosure has adopted the following means to achieve the above-mentioned main object.

[0007] The safety device of the present disclosure comprises: A safety device connected to a control device of the robot, a detection unit that detects an object; a determination unit that determines whether or not there is an abnormality in the safety device; an output unit having a first output mode in which the object detection result by the detection unit and the abnormality determination result by the determination unit are output to the control device via separate signal lines, and a second output mode in which the detection result and the determination result are output to the control device via a common signal line; The gist of the project is to provide the following:

[0008] The safety device disclosed herein includes a detection unit that detects an object and a determination unit that determines whether or not there is an abnormality in the safety device, and has a first output mode in which the object detection result and the abnormality determination result are output to the control device via separate signal lines, and a second output mode in which the object detection result and the abnormality determination result are output to the control device via a common signal line. This allows both the detection result and the determination result to be output to the control device in accordance with the specifications of the robot's control device, simply by switching the output mode. As a result, the safety device can output the object detection result and the abnormality determination result to the control device regardless of the specifications of the control device.

[0009] The robot system of the present disclosure includes the safety device of the present disclosure described above, and therefore can achieve the same effects as those achieved by the safety device of the present disclosure. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the electrical connection relationship between the robot body, the robot control device, and the safety device. [Figure 3] 10 is a flowchart illustrating an example of an information output process executed by a control unit of a safety device. [Figure 4] FIG. 10 is an explanatory diagram showing an example of a conversion table for mode A. [Figure 5] FIG. 4 is an explanatory diagram showing the relationship between a detection distance and a detection area. [Figure 6]FIG. 10 is an explanatory diagram showing how distance information and abnormality information are output to the robot control device in mode A. [Figure 7] FIG. 10 is an explanatory diagram showing an example of a conversion table for Mode B. [Figure 8] FIG. 10 is an explanatory diagram showing how distance information and abnormality information are output to the robot control device in mode B. [Figure 9] 10 is a flowchart illustrating an example of information output processing according to another embodiment. [Figure 10] FIG. 10 is an explanatory diagram showing an example of a conversion table for mode A. [Figure 11] FIG. 10 is an explanatory diagram showing an example of a conversion table for Mode B. [Figure 12] FIG. 10 is a schematic configuration diagram of a robot system according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Next, embodiments of the present disclosure will be described with reference to the drawings.

[0012] Fig. 1 is a schematic configuration diagram of a robot system 1 of this embodiment. Fig. 2 is a block diagram showing the electrical connection relationship between a robot main body 10, a robot control device 20, and a safety device 30. As shown in the figure, the robot system 1 of this embodiment includes a robot main body 10, a robot control device 20 that controls the operation of the robot main body 10, and a robot safety device 30 that can detect objects (interfering objects such as a worker) around the robot main body 10.

[0013] The robot body 10 is a work robot that performs a specified task, and examples thereof include a processing robot that processes a workpiece with a tool, a transport robot that grasps a workpiece with a chuck and transports it to another position, and an assembly robot that grasps a workpiece with a chuck and assembles it to an object.

[0014] The robot body 10 has a base 11 and an articulated arm 12 mounted on the base 11. The articulated arm 12 has a plurality of arms connected in series to the base 11 via joint shafts. Each joint shaft is provided with a servo motor 15 that drives the corresponding joint shaft, and an encoder 16 (rotary encoder) that detects the rotation angle of the corresponding servo motor 15. The robot body 10 also has an amplifier unit 17 that applies a driving current to each servo motor 15.

[0015] The robot control device 20 includes a control unit 21 configured as a microprocessor including a CPU, ROM, and RAM, and an I / O port 22 for exchanging signals with the control unit 31 of the safety device 30. The robot control device 20 also outputs control signals to the amplifier unit 17 of the robot main body 10 and inputs detection signals from the encoder 16.

[0016] The control unit 21 of the robot control device 20 controls the operation of the robot main body 10 as follows. That is, the control unit 21 first sets a target angle for each joint axis of the articulated arm 12 using inverse kinematics based on the target position and target posture of the hand. Next, the control unit 21 acquires the current angle of each joint axis from the corresponding encoder 16, and sets a speed command value for each joint axis using a feedback calculation (for example, proportional-integral calculation or proportional-integral-derivative calculation) based on the difference between the target angle and the current angle for each joint axis. Next, the control unit 21 inputs distance information and abnormality information (described later) from the safety device 30. Next, the control unit 21 sets an upper limit speed based on the input distance information and abnormality information, and sets the smaller of the set upper limit speed and the speed command value as the target speed. The upper limit speed is set to decrease (so that the robot speed is greatly restricted) as the distance of the object detected by the safety device 30 decreases, i.e., as the object approaches the robot main body 10. Furthermore, when the distance to the object becomes equal to or less than a predetermined distance (for example, 500 mm), the control unit 21 sets the upper limit speed to a value of 0 and the target speed to a value of 0 regardless of the speed command value. In other words, the operation of the robot main body 10 is stopped. Furthermore, when the control unit 21 receives abnormality information from the safety device 30, the control unit 21 similarly sets the upper limit speed to a value of 0 and the target speed to a value of 0, and stops the operation of the robot main body 10.

[0017] Once the target speed is set, the control unit 21 calculates the current speed from the current angle of the joint axis acquired from the encoder 16, and sets a torque command value to be output from the servo motor 15 by feedback calculation (for example, proportional-integral calculation or proportional-integral-derivative calculation) based on the difference between the calculated current speed and the target speed. Then, the control unit 21 outputs a control signal to the corresponding amplifier unit 17 so that the servo motor 15 outputs a torque corresponding to the set torque command.

[0018] In this embodiment, the robot safety device 30 is attached to the hand of the articulated arm 12. The safety device 30 includes a control unit 31 configured as a microprocessor including a CPU, ROM, and RAM, a sensor unit 32 that monitors the surroundings, and an I / O port 33 for exchanging signals with the control unit 21 of the robot control device 20. Note that the signals exchanged with the control unit 21 of the robot control device 20 may be duplicated.

[0019] In this embodiment, the sensor unit 32 is configured as an FMCW (Frequency Modulation Continuous Wave) radar sensor. The sensor unit 32 includes a transmitting antenna that transmits a transmitted chirp, a receiving antenna that receives a reflected chirp from an object, a mixer that mixes the transmitted chirp and the received chirp to generate an intermediate frequency signal (IF signal), and a processing unit that processes the IF signal to detect the relative distance to the object. The transmitting antenna transmits multiple transmitted chirps as one frame, each of which is modulated so that the frequency changes over time and spaced apart at regular intervals. The processing unit includes an A / D converter that performs A / D conversion on the IF signal generated by the mixer, a DSP that performs Fourier transform processing (FFT processing) on ​​the A / D converted IF signal, and the like. The DSP performs FFT processing (distance FFT processing) on ​​the IF signal in units of chirps to obtain a frequency spectrum, and calculates the relative distance between the sensor unit 32 and the object based on the peak frequency.

[0020] Next, the operation of the safety device 30 of this embodiment will be described. FIG. 3 is a flowchart showing an example of information output processing executed by the control unit 31 (CPU) of the safety device 30. In the information output processing, the control unit 31 first acquires the relative distance between the sensor unit 32 and an object as a detected distance from the sensor unit 32 (S100). Next, the control unit 31 determines whether any of the components of the safety device 30 has an abnormality (S110). Examples of abnormalities in the components of the safety device 30 include abnormalities in received data due to external disturbances, calculation errors in the processing unit, and a drop in power supply voltage. Next, the control unit 31 determines the current processing mode (S120). Here, the processing modes include mode A, in which distance information and abnormality information are output to the robot control device 20 via separate signal lines (DATA and RUN), and mode B, in which distance information and abnormality information are output to the robot control device 20 via a common signal line (DATA). The two modes A and B can be selected, for example, by connecting a computer (PC) to the safety device 30 and setting the computer. The set processing mode is stored in a storage unit (rewritable EEPROM) of the safety device 30. The determination in S120 is made by checking the processing mode stored in the storage unit.

[0021] When the control unit 31 determines that the current processing mode is Mode A, it converts the detection distance acquired in S100 into a DATA signal (S130) and converts the abnormality determination result determined in S110 into a RUN signal (S140). FIG. 4 is an explanatory diagram showing an example of a Mode A conversion table. As shown in the figure, the Mode A conversion table includes a distance information conversion table that converts the detection distance into distance information (DATA signal) of a predetermined number of bits (e.g., 2 bits), and an abnormality information conversion table that converts the abnormality determination result into abnormality information (RUN signal) of a predetermined number of bits (e.g., 1 bit). The detection distance is divided into multiple detection regions depending on the distance, and different distance information is assigned to each detection region. For example, when the detection distance is between 0 mm and 500 mm, the detection region becomes Region 0 in FIG. 5, and both DATA1 and DATA2 are converted into distance information with off. Furthermore, if the detection distance is greater than 500 mm and equal to or less than 1000 mm, the detection area becomes area 1 in FIG. 5, and the distance information is converted into one in which DATA1 is on and DATA2 is off. Furthermore, if the detection distance is greater than 1000 mm, the detection area becomes area 2 in FIG. 5, and the distance information is converted into one in which DATA1 and DATA2 are both on. Different abnormality information is assigned to the abnormality determination result depending on whether or not an abnormality is present. For example, if the abnormality determination result indicates the presence of an abnormality, the abnormality information is converted into one in which RUN is off, and if the abnormality is not present (normal), the abnormality information is converted into one in which RUN is on.

[0022] After converting the detected distance into distance information (DATA signal) and the result of the abnormality determination into abnormality information (RUN signal), the control unit 31 outputs the distance information (DATA signal) from the DATA terminal to the robot control device 20 and outputs the abnormality information (RUN signal) from the RUN terminal to the robot control device 20 (S150), and ends the information output process. FIG. 6 is an explanatory diagram showing how the distance information and abnormality information are output to the robot control device 20 in Mode A. Mode A is applied to a robot device that is equipped with a DATA terminal and a RUN terminal, and the distance information and abnormality information are output to the robot control device 20 as a DATA signal and a RUN signal, respectively, from the DATA terminal and the RUN terminal. As described above, the control unit 21 of the robot control device 20 receives the distance information and abnormality information and controls the robot speed based on the received distance information and abnormality information.

[0023] If the control unit 31 determines in S120 that the current processing mode is Mode B, it converts the detection distance and the presence or absence of an abnormality into a DATA signal using a Mode B conversion table (S160). FIG. 7 is an explanatory diagram showing an example of the Mode B conversion table. As shown in the figure, in the Mode B conversion table, the detection distance is divided into multiple detection regions (Region 0, Region 1, Region 2) according to the length of the detection distance, as in the Mode A conversion table, and different distance information (DATA1, DATA2) is assigned to each of Regions 0 to 2. The abnormality information is included in the distance information, and if the determination result of the presence or absence of an abnormality indicates the presence of an abnormality, the abnormality information is converted into the same information (DATA signal) as the distance information assigned to Region 0, where the distance to the object is 500 mm or less, regardless of the detection distance. Note that if the determination result indicates the absence of an abnormality, the distance information is information according to the length of the detection distance, as usual.

[0024] After converting the detected distance and the presence or absence of an abnormality into a DATA signal, the control unit 31 outputs the DATA signal to the robot control device 20 from the DATA terminal (S170), thereby completing the information output process. FIG. 8 is an explanatory diagram showing the output of distance information and abnormality information to the robot control device 20 in Mode B. Mode B is applied to a robot device equipped with a DATA terminal but not a RUN terminal, and both the distance information and abnormality information are output as DATA signals from the DATA terminal to the robot control device 20. If an abnormality occurs in the safety device 30, regardless of the detected distance, the safety device 30 inputs distance information (abnormality information) equivalent to that in the region 0 where the distance to the object is 500 mm or less. This allows the control unit 21 of the robot control device 20 to set the upper limit speed to 0 and the target speed to 0, thereby stopping the operation of the robot main body, without recognizing the abnormality information. This allows the safety device 30 to appropriately handle both robot devices equipped with a DATA terminal and a RUN terminal and robot devices equipped with a DATA terminal but not a RUN terminal, simply by switching the processing mode.

[0025] Here, the correspondence between the main elements of the embodiment and the main elements of the present disclosure described in the claims will be described. That is, the sensor unit 32 of the present embodiment corresponds to the detection unit of the present disclosure, the control unit 31 that executes S110 of the information output processing corresponds to the determination unit, and the control unit 31 that executes the processes of S120 to S170 of the information output processing and the I / O port 33 correspond to the output unit. Also, the robot main body 10 corresponds to the robot main body, and the robot control device 20 corresponds to the control device.

[0026] It goes without saying that the present disclosure is not limited to the above-described embodiments, and can be embodied in various forms as long as they fall within the technical scope of the present disclosure.

[0027] In the above-described embodiment, the sensor unit 32 of the safety device 30 detects the relative distance between the sensor unit 32 and an object. However, in addition to detecting the relative distance, the sensor unit 32 may also detect the relative velocity between the sensor unit 32 and an object. When the sensor unit 32 is configured as an FMCW radar sensor, the processing unit (DSP) performs FFT processing (velocity FFT processing) on ​​the data after the distance FFT processing on a frame-by-frame basis to acquire angular frequency peaks, thereby calculating the relative velocity between the sensor unit 32 and the object based on the peak angular frequency. In this case, the control unit 31 of the safety device 30 predicts the time (predicted collision time) until the object (worker) collides with the robot main body 10 from the detected distance and detected velocity, converts the predicted collision time into time information (DATA signal), and outputs it to the robot control device 20. FIG. 9 is a flowchart illustrating an example of information output processing according to this other embodiment.

[0028] In the information output process according to another embodiment, the control unit 31 first acquires the relative distance and relative speed between the sensor unit 32 and an object as the detected distance and detected speed, respectively, from the sensor unit 32 (S200). Next, the control unit 31 determines whether or not there is an abnormality in any of the components of the safety device 30 (S210). Next, the control unit 31 determines the current processing mode (S220).

[0029] When the control unit 31 determines that the current processing mode is Mode A, it calculates the collision prediction time by dividing the detection distance by the detection speed (S230). The control unit 31 then converts the calculated collision prediction time into a DATA signal (S240) and converts the abnormality determination result determined in S210 into a RUN signal (S250). FIG. 10 is an explanatory diagram showing an example of a Mode A conversion table. As shown in the figure, the Mode A conversion table includes a time information conversion table that converts the collision prediction time into time information (DATA signal) of a predetermined number of bits (e.g., 2 bits), and the abnormality information conversion table described above. The collision prediction time is divided into different time domains depending on the length of the time, and different time information (DATA signal) is assigned to each time domain. For example, if the collision prediction time is 2 seconds or less, the time domain becomes Domain 0, and both DATA1 and DATA2 are converted into time information with the time information being off. Furthermore, if the collision prediction time is greater than 2 seconds and equal to or less than 4 seconds, the time domain becomes domain 1, and DATA1 is converted into time information in which DATA2 is on and DATA1 is off. Furthermore, if the collision prediction time is greater than 4 seconds, the time domain becomes domain 2, and DATA1 and DATA2 are both converted into time information in which DATA1 and DATA2 are on. Note that the abnormality information is the same as in the present embodiment described above, and therefore a description thereof will be omitted.

[0030] After converting the predicted collision time into time information (DATA signal) and the result of the abnormality determination into abnormality information (RUN signal), the control unit 31 outputs the time information (DATA signal) from the DATA terminal to the robot control device 20 and outputs the abnormality information (RUN signal) from the RUN terminal to the robot control device 20 (S260), thereby terminating the information output process. As described above, mode A is applied to a robot device having a DATA terminal and a RUN terminal, and the time information and abnormality information are output to the robot control device 20 as the DATA signal and the RUN signal, respectively, from the DATA terminal and the RUN terminal. The control unit 21 of the robot control device 20 receives the time information and abnormality information and controls the robot speed based on the received time information and abnormality information. For example, the control unit 21 sets an upper limit speed that decreases as the predicted collision time becomes shorter based on the received time information, and sets the target speed to the smaller of the upper limit speed and the speed command value to control the servo motor 15. Furthermore, when the predicted collision time becomes equal to or less than a predetermined time (for example, 2 seconds), the control unit 21 sets the upper limit speed to a value of 0, sets the target speed to a value of 0, and stops the operation of the robot main body 10, regardless of the speed command value. Furthermore, when the control unit 21 receives information indicating the presence of an abnormality as abnormality information, it sets the upper limit speed to a value of 0, sets the target speed to a value of 0, and stops the operation of the robot main body 10.

[0031] If the control unit 31 determines in S220 that the current processing mode is Mode B, it calculates the predicted collision time by dividing the detection distance by the detection speed (S270). Then, the control unit 31 converts the calculated predicted collision time and the presence or absence of an abnormality into a DATA signal (S280). FIG. 11 is an explanatory diagram showing an example of a conversion table for Mode B. As shown in the figure, in the conversion table for Mode B, the predicted collision time is divided into multiple time regions (Region 0, Region 1, Region 2) according to the length of the time, as in the conversion table for Mode A, and different time information (DATA1, DATA2) is assigned to each of Regions 0 to 2. The abnormality information is included in the time information, and if the determination result of the presence or absence of an abnormality indicates the presence of an abnormality, the abnormality information is converted into the same information (DATA signal) as the time information assigned to Region 0, where the predicted collision time is 2 seconds or less, regardless of the predicted collision time. If the determination result indicates the absence of an abnormality, the time information is, as usual, information according to the length of the predicted collision time.

[0032] After converting the predicted collision time and the presence or absence of an abnormality into a DATA signal, the control unit 31 outputs the DATA signal from the DATA terminal to the robot control device 20 (S290), ending the information output process. Mode B is applied to a robot device that is equipped with a DATA terminal but not a RUN terminal, and both the time information and the abnormality information are output as DATA signals from the DATA terminal to the robot control device 20. If an abnormality occurs in the safety device 30, regardless of the predicted collision time, time information (abnormality information) that is the same as that in region 0 where the predicted collision time is 2 seconds or less is input, so the control unit 21 of the robot control device 20 sets the upper limit speed to a value of 0, sets the target speed to a value of 0, and stops the operation of the robot main body 10. This allows the safety device 30 to appropriately handle both a robot device that is equipped with a DATA terminal and a RUN terminal and a robot device that has a DATA terminal but not a RUN terminal, simply by switching the processing mode.

[0033] In the above-described embodiment, the safety device 30 is attached to the hand (tip) of the articulated arm 12 of the robot main body 10. However, the safety device 30 may be attached to the base 11 of the robot main body 10. Although the safety device 30 is provided on a stationary robot, it may also be provided on a self-propelled robot. The self-propelled robot may be an arm robot equipped with the above-described articulated arm, or a transport robot. For example, as shown in FIG. 12 , the self-propelled robot may be an automatic exchange robot 110 that moves along the mounting line 100 and exchanges the feeders 102 for each of the component mounters 101. The automatic exchange robot 110 is provided with the safety device 30, and when an object is detected within its detection range, outputs information to the automatic exchange robot 110 according to the relative distance to the object and the collision time. The automatic exchange robot 110 travels at a speed limited according to the input information.

[0034] As described above, the safety device for a robot disclosed herein includes a detection unit that detects an object and a determination unit that determines whether or not there is an abnormality in the safety device, and has a first output mode in which the object detection result and the abnormality determination result are output to the control device via separate signal lines, and a second output mode in which the object detection result and the abnormality determination result are output to the control device via a common signal line. This allows both the detection result and the determination result to be output to the control device in accordance with the specifications of the control device, simply by switching the output mode. As a result, the safety device can output the object detection result and the abnormality determination result to the control device regardless of the specifications of the control device.

[0035] In the robot safety device disclosed herein, the second output mode may output a specific detection result among the object detection results and a specific determination result among the abnormality determination results as the same information. In this case, the detection unit may detect the relative distance between the object and the detection unit, and the specific detection result may be a detection result that the relative distance between the object and the detection unit is less than or equal to a predetermined distance, and the specific determination result may be a determination result that an abnormality exists. Alternatively, the detection unit may detect the relative distance and relative velocity between the object and the detection unit, and the specific detection result may be a detection result that the time until the object collides with the robot, obtained from the relative distance and relative velocity between the object and the detection unit, is less than or equal to a predetermined time, and the specific determination result may be a determination result that an abnormality exists. If the robot limits (stops) the operation of the robot main body based on a detection result that the distance to the object is less than or equal to the predetermined distance or a detection result that the time until the object collides with the robot is less than or equal to a predetermined time, it becomes possible to appropriately respond to an abnormality in the safety device even in robots that are not designed to input abnormality information via a dedicated terminal.

[0036] Furthermore, the present disclosure is not limited to a robot safety device, but may be a robot system including a robot body, a control device, and a safety device. In this case, the robot body may be an arm robot including an arm. Furthermore, the robot body may be an automatic exchange robot that moves along a predetermined traveling line and exchanges feeders for each component mounter in a mounting line that is lined up in the board transport direction and has multiple component mounters that can each pick up components from a feeder and mount them on a board. [Industrial Applicability]

[0037] The present disclosure is applicable to industries such as the manufacturing of robots and safety devices. [Explanation of symbols]

[0038] 1 robot system, 10 robot body, 11 base, 12 articulated arm, 15 servo motor, 16 encoder, 17 amplifier unit, 20 robot control device, 21 control unit, 22 I / O port, 30 safety device, 31 control unit, 32 sensor unit, 33 I / O port, 100 mounting line, 101 component mounter, 102 feeder, 110 automatic exchange robot.

Claims

1. A safety device connected to a control device of the robot, a detection unit that detects an object; a determination unit that determines whether or not there is an abnormality in the safety device; an output unit having a first output mode in which, when signal lines outputting the object detection result by the detection unit and the abnormality determination result by the determination unit are individually connected to the control device, each output is sent via a respective signal line, and a second output mode in which, when a signal line outputting the detection result and the determination result is commonly connected to the control device, each output is converted into one piece of data and sent; A safety device equipped with:

2. 2. The safety device of claim 1, the second output mode outputs a specific detection result among the object detection results and a specific determination result among the abnormality determination results as the same information; Safety equipment.

3. 3. The safety device according to claim 2, the detection unit detects a relative distance between the object and the detection unit, the specific detection result is a detection result in which the relative distance between the object and the detection unit is equal to or shorter than a predetermined distance, The specific determination result is a determination result that an abnormality exists. Safety equipment.

4. 3. The safety device according to claim 2, the detection unit detects a relative distance and a relative speed between the object and the detection unit, the specific detection result is a detection result in which the time until the object collides with the robot, which is obtained from the relative distance and relative speed between the object and the detection unit, is less than a predetermined time, The specific determination result is a determination result that an abnormality exists. Safety equipment.

5. The robot body, a control device for controlling the robot body; a safety device including a detection unit that detects an object, a determination unit that determines whether or not there is an abnormality in the safety device, and an output unit that has a first output mode in which, when signal lines that output the object detection result by the detection unit and the determination result of the presence or absence of an abnormality by the determination unit are individually connected to the control device, each result is output through the respective signal lines, and a second output mode in which, when a signal line that outputs the detection result and the determination result is commonly connected to the control device, each result is converted into one piece of data and output; A robot system comprising:

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