CN110174071B - Robot network structure and sensing system suitable for unstructured environment - Google Patents
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention discloses a robot network structure and a sensing system suitable for unstructured environments, wherein an upper layer structure of the robot network structure comprises a first node; the understructure includes at least three second nodes that are not collinear; the first nodes and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first nodes and the second nodes; when the robot receives side acting force from an external environment, the connecting rod of the three-dimensional network structure is concavely deformed in space to form self-adaptability with the geometric structure of the external environment, so that the robot realizes physical interaction in an unstructured environment; on the basis, the invention can directly use the connecting rod structure as a light path or embed a single or multiple optical fiber loops, and detect the physical deformation of the connecting rod by measuring the change of the light flux, thereby realizing the physical perception of the unstructured environment when the robot interacts.
Description
Technical Field
The invention belongs to the technical field of robot design, relates to a self-adaptive universal space network robot and a sensing system, and particularly relates to a robot network structure and a sensing system suitable for physical interaction in an unstructured environment.
Background
The existing robots usually adopt rigid materials for structural design, and a mature design method, such as an industrial robot, is formed in the process of coping with structural environmental problems, but the design method still has larger limitation in coping with wider unstructured environment interaction, and complex mechanical structures, transmission parts, driving parts and the like are often required to be adopted for realizing complex movement functions, so that the self-adaptability of the robot structure becomes an important design problem in the process.
In general, a robot with higher environmental adaptability can realize various complex functions under a wider application scene, particularly under an unstructured environment, by means of a single structure or with only a small amount of modification, which is an important embodiment of the robot self-adaptability. For example, in the design of a gripper of a robot, a limited design method is a flexible structure simulating a human hand, but this introduces as many as tens of drivers and parts like human hand muscles, and can achieve similar functions through complex motion control (such as an artificial pneumatic muscle driven manipulator manufactured by Shadow Robotics), such robots tend to be complex in structure and expensive in cost, and a manipulator with adaptability is expected to be able to stably grip objects of various geometric shapes through fewer drivers (such as only one driver), fewer parts, and more complex physical environments (such as underwater, dust-free, etc.). Another example is the design of mobile robots, where it is often desirable that the robot not only can move efficiently over flat ground with a wheeled structure, but also can move in a variety of terrain environments with complex and rugged features, where it is desirable that the mobile robot be capable of moving efficiently over different terrain (e.g., up and down, rugged, etc.), in different environments (e.g., land, swamp, sand, underwater, etc.). The foot robot can effectively solve the movement problem under complex terrains (such as big dog robots of boston dynamics), but quite complex mechanical structures and specially designed drivers are often required to deal with challenges of complex terrains through high-level sensing and control, and the foot robot with adaptability can realize adaptive gait capable of coping with complex environments through relatively simple foot structures under a small number of drivers as much as possible. Another example is a mechanical arm operated under water, where underwater operations often need to protect fragile ecological environments including corals, and conventional mechanical arms need to perform complex structures, waterproof and sensing designs to avoid obstacles to the underwater environments during operation of the mechanical arm so as to generate as little influence as possible, and the self-adaptive underwater mechanical arm needs to reduce damage to physical environments and the like to the greatest extent through self-adaptation of its own structure even if collision occurs. In order to cope with the above problems, the prior art has often realized a robot design that can cope with the above difficulties by integrating a more complex mechanical structure, driving scheme, sensor device, control method, and the like. Such a design often has various difficulties such as complex structure, high cost, numerous parts, small space, complex control, difficult protection in special environments, etc., and the provision of a robot design method with universal self-adaptability is still a challenge in the field of robot design for dealing with special application requirements in unstructured environments.
Disclosure of Invention
Aiming at the defects in the problems, the invention provides a robot network structure and a sensing system which are suitable for physical interaction in an unstructured environment.
A first object of the present invention is to provide a robot network structure suitable for unstructured environments, comprising: an upper layer structure and a lower layer structure;
the upper layer structure comprises a first node;
the understructure includes at least three second nodes, at least three of the second nodes being non-collinear;
the first nodes and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first nodes and the second nodes.
As a further improvement of the invention, the connecting rod is a hollow flexible rod.
As a further improvement of the present invention, any one of the second nodes and the second node closest thereto are connected by the link.
As a further improvement of the invention, any one of the second nodes and one or more second nodes not connected thereto are connected by the link.
As a further development of the invention, the first node and the one or more second nodes are connected by the link on the basis of a proximity principle.
As a further development of the invention, the first node and the one or more second nodes not connected thereto are connected by the connecting rod.
A second object of the present invention is to provide a sensing system of a robot network structure, comprising: a light source device, a photosensitive device, and an optical signal processor;
the robot network structure is provided with a light path inlet and a light path outlet, the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the light path inlet, and the photosensitive device is arranged at the light path outlet;
light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
A third object of the present invention is to provide a sensing system of a robot network structure, comprising: a light source device, a photosensitive device, and an optical signal processor;
the robot network structure is provided with an optical path inlet and an optical path outlet, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod;
the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the entrance of the optical path, and the photosensitive device is arranged at the exit of the optical path;
light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
Compared with the prior art, the invention has the beneficial effects that:
the invention is based on the positions of the nodes and adopts the connecting rods to orderly combine in space to form a space three-dimensional network structure; when receiving lateral acting force from an external environment, the connecting rod of the three-dimensional network structure is concavely deformed in space to form self-adaptability with the geometric structure of the external environment, so that the robot realizes physical interaction in an unstructured environment;
on the basis, the invention can directly use the connecting rod structure as an optical path or embed a single or multiple optical fiber loops, and the physical deformation of the connecting rod is detected by measuring the change of the light flux through the optical signal processor, so that the physical perception of the unstructured environment is realized when the robot interacts.
Drawings
Fig. 1 is a schematic structural diagram of a network structure of a robot according to an embodiment of the present invention;
FIG. 2 is a side cross-sectional view of a sensing system of a robot network architecture as disclosed in one embodiment of the present invention;
FIG. 3 is a schematic diagram of adaptive deformation of an article X before and after contact with a robot network structure in accordance with one embodiment of the present invention;
FIG. 4 is a schematic diagram of the robot network structure of FIG. 3 after the article X is adaptively adjusted;
fig. 5 is a schematic diagram showing adaptive deformation of an object X before and after contact with a robot network structure according to another embodiment of the present invention.
In the figure:
1. a first node; 2. a second node; 3. a connecting rod; 4. a light source device; 5. a photosensitive device; 6. an optical signal processor; 7. an optical path inlet; 8. an optical path outlet; 9. an optical path opening into which the side link can be introduced; 10. and (5) deformation signals.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The purpose of the invention is as follows: in the physical interaction process, the robot device realizes self-adaptive interaction and perception of the unstructured environment in a relatively limited structural space.
To achieve the above object: the invention sequentially researches the theory level, the method level, the processing level and the application level; wherein:
on the theoretical level, how to realize complex and intelligent environment interaction and intelligent perception in a limited physical space on the basis of highly fused sensing, driving, electronic, modeling and other technical means by means of the kinematics and material characteristics of a space mechanism in the process of mechanical structure design;
on the aspect of the method, how to optimize the mechanical structure, a relatively simple mechanical configuration with general functions is designed, and the robot configuration design capable of bearing more complex or higher functions is realized by less mechanical parts;
on the processing level, how to reduce processing cost and processing difficulty by means of processing technology and material characteristics, and realize a robot configuration capable of bearing more complex or higher functions;
on the application level, how to design the robot as a carrier in a single mechanical configuration, so as to realize the interactive application of the robot and the unstructured physical environment in various different scenes.
In order to achieve the above purpose, the design basis of the robot network structure suitable for physical interaction in unstructured environment is as follows:
according to classical structural mechanics theory, when any structural rod member receives a lateral force from an external environment, due to the elasticity of the material of the rod member, corresponding elastic deformation is generated along the stress direction, meanwhile, the two ends of the rod member generate deformation trend towards the stress direction, and the external environment or external object applying the force receives a reaction force from the rod member.
For this purpose,
the invention provides a robot network structure and a sensing system suitable for physical interaction in an unstructured environment, which are based on the positions of upper and lower nodes and orderly combined in space by adopting connecting rods to form a space three-dimensional network structure; when receiving lateral acting force from an external environment, the connecting rod of the three-dimensional network structure is concavely deformed in space to form self-adaptability with the geometric structure of the external environment, so that the robot realizes physical interaction in an unstructured environment; on the basis, the invention can directly use the connecting rod structure as an optical path or embed a single or multiple optical fiber loops, and the physical deformation of the connecting rod is detected by measuring the change of the light flux through the optical signal processor, so that the physical perception of the unstructured environment is realized when the robot interacts.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, the present invention provides a robot network structure suitable for an unstructured environment, comprising: an upper layer structure and a lower layer structure;
the upper layer structure comprises a first node (A) 1; the lower layer structure comprises at least three non-collinear second nodes 2, and the non-collinear second nodes 2 ensure that a space three-dimensional network structure is formed after the first nodes 1 are connected with the second nodes 2, but not a plane network structure;
the first nodes 1 and all the second nodes 2 form a three-dimensional network structure through the connecting rods 3, the connecting rods 3 are hollow flexible rods (namely elastic or super-elastic materials with higher Young modulus and deformation proportion), other solid rods meeting the requirements can be adopted, and the hollow flexible rods are preferably adopted; when the solid rod piece is selected, a channel for the light path to pass through can be arranged on the solid rod piece; the link 3 is connected between two second nodes 2 or between the first node 1 and the second node 2. All the nodes (including the first node and the second node) of the present invention are integrally connected, and the specific connection mode of the first node 1 and the second node 2 is not limited, and the specific connection mode of the first node 1 and the second node 2 can be designed according to different requirements.
As shown in fig. 1, the present invention shows a robot network structure with 3 second nodes (a/b/c), 4 second nodes (a/b/c/d) and n second nodes (a/b/c/…/n) as the lower layers; wherein:
preferably, in the upper layer structure, if only one node in the layer is connected with no connecting rod in the layer; in the substructure, any second node is typically connected to the second node closest thereto by a link. In the upper and lower two-layer structure, the first node is typically connected to one or more second nodes by links based on a proximity principle.
Further preferably, according to the actual design requirement of different scenes, in the lower layer structure, any second node is connected with one or more second nodes which are not connected with the second node through connecting rods; in the upper and lower two-layer structure, a first node and one or more second nodes which are not connected with the first node are connected through connecting rods.
Preferably, the geometric shape of each connecting rod can be a general straight line or a complex curve with a special design according to the actual design requirements of different scenes, and the cross section shape of each connecting rod can be a round shape, a square shape or any other cross section shape.
Preferably, each connecting rod is made of a material with certain elasticity, namely, the elastic deformation which can be detected can be generated under the action of external force, any connecting rod can be of a hollow structure, and the perception of the elastic deformation of the rod is realized by detecting the light flux of the interior of the rod.
Preferably, according to actual design requirements of different scenes, the connecting node can be connected in various modes such as general structural rigid connection (no degree of freedom, namely, no relative motion degree of freedom between the connecting rods), hinge connection (one degree of freedom, namely, one relative rotation degree of motion between the connecting rods), spherical hinge connection (three degrees of freedom, namely, two relative rotations between the connecting rods and one rotation degree of motion around an axis), and the like.
According to the invention, the flexible rod piece (namely the elastic or super-elastic material with higher Young modulus and deformation proportion) with the internal light path is adopted, when the rod piece is deformed, the deformation quantity of the rod piece is metered by measuring the light flux change of a light passing medium such as an optical fiber in the light path or the light path, so that the perception of the physical environment of the whole robot network structure during interaction is realized.
Specific:
as shown in fig. 2, the structure shown is only a cross-sectional view of the side triangle in the left view of fig. 1; the invention provides a sensing system of a robot network structure, which comprises: a light source device 4, a photosensitive device 5, and an optical signal processor 6; wherein:
the robot network structure is provided with an optical path inlet 7 and an optical path outlet 8, and an optical path opening 9 capable of leading in the side connecting rod is arranged at the connecting point; the light source device 4 and the photosensitive device 5 are connected with the optical signal processor 6, the light source device 4 is arranged at the optical path inlet 7, and the photosensitive device 5 is arranged at the optical path outlet 8.
When in use, light emitted by the light source device 4 enters the hollow channel of the connecting rod 3 through the light path inlet 7 and is transmitted to the photosensitive device 5 through the light path outlet 8; the optical signal processor 6 processes the optical signals of the optical source device 4 and the photosensitive device 5, converts the optical signals into a deformation signal 10 of the robot network structure, and realizes a sensing function.
Furthermore, the specific trend of the optical path of the sensing system can be specifically designed according to actual requirements, the bottom of the sensing system is provided with an optical path entrance and exit and is connected to the base part of the robot, the light source device can adopt a light emitting diode, and the photosensitive device can adopt a photosensitive sensor.
The invention also provides a sensing system of another robot network structure, which comprises: a light source device 4, a photosensitive device 5, and an optical signal processor 6; wherein:
the robot network structure is provided with an optical path inlet 7 and an optical path outlet 8, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod 3; an optical path opening 9 capable of leading in the side connecting rod is arranged at the connecting point; the light source device 4 and the photosensitive device 5 are connected with the optical signal processor 6, the light source device 4 is arranged at the optical path inlet 7, and the photosensitive device 5 is arranged at the optical path outlet 8.
When in use, light emitted by the light source device 4 enters the optical fiber loop through the light path inlet 7 and is transmitted to the photosensitive device 5 through the light path outlet 8; the optical signal processor 6 processes the optical signals of the optical source device 4 and the photosensitive device 5, converts the optical signals into deformation signals of the robot network structure, and realizes the sensing function.
Furthermore, the specific trend of the optical path of the sensing system can be specifically designed according to actual requirements, the bottom of the sensing system is provided with an optical path entrance and exit and is connected to the base part of the robot, the light source device can adopt a light emitting diode, and the photosensitive device can adopt a photosensitive sensor.
The invention can also be based on the robot network structure, the sensor system and the base, and can form a robot, and the light source device 4, the photosensitive device 5 and the optical signal processor 6 can be arranged on the base; the robot structure can generate self-adaptive deformation to the unstructured geometric characteristics of the external physical environment to form geometric cladding without any electronic components such as additional drivers, sensors and the like, and meanwhile, the self-adaptive motion stabilization effect can be generated in interaction due to the network structural characteristics of the robot structure, and compared with the traditional robot structural design, the robot structure has the characteristics of simple structure, small number of parts, flexible design, no need of additional driving, sufficient design space, flexible application scene and the like; the adaptability in environments including deep sea, deep space, deep land and other extreme harshness is greatly improved.
Examples:
in the invention, aabc in fig. 1 is taken as an example, when the external environment acting force from an article X with a certain three-dimensional geometric dimension is received, the edges contacted with the article X generate different degrees of elastic deformation to form space cladding on the three-dimensional geometric dimension of the article X, so that the self-adaption of the geometric shape is realized.
As shown in fig. 3, the external environmental article X having a certain spatial geometry is in a blank area in the middle of one trilateral Abc of the [ tetrahedron ];
the relative movement direction of the object X and the [ tetrahedron ] basic structural unit before contact is made is indicated by the dashed arrow pointing to a trilateral Abc intermediate blank area of the [ tetrahedron ] basic structural unit;
after contact is generated, the object X is contacted with the trilateral Abc of the [ tetrahedron ] basic structural unit, and the trilateral Abc generates corresponding elastic deformation; namely, the original connecting nodes A, b and c respectively generate a certain amount of displacement to the positions A ', b ' and c ' inwards, and the three rods realize the adaptability to the geometric dimension of the article X through the generated elastic deformation.
As shown in fig. 4, in the case of the schematic post-contact diagram shown in fig. 3, the point a 'may be additionally limited by the rod a' due to uneven acting force indicated by the dotted arrows, so that the trilateral a 'bc rotates around the rod a' a to cause the torsion motion of the whole [ tetrahedron ] basic structural unit, and the generated integral deformation further enhances the adaptability to the geometric structure of the article X, and when the forces shown by the three arrows are instantaneously equal, the stable effect on the motion of the article X is realized.
As shown in fig. 5, the external environmental article X having a certain spatial geometry is almost uniformly distributed in its tri-polygonal Abc and tri-polygonal Aac regions at the location of the [ tetrahedron ].
Before contact is generated, the relative movement direction of the object X and the [ tetrahedron ] basic structural units is indicated by a dotted arrow, and at the moment, the object X is almost uniformly distributed in the areas of the tri-edge Abc and the tri-edge Aac of the object X relative to the [ tetrahedron ] basic structural units at the same time, namely the dotted arrow mainly points to the direction of the rod Ac;
after contact is made, the article X is contacted with a rod Ac of the [ tetrahedron ] basic structural unit, and the rod Ac is correspondingly elastically deformed; that is, the object X is primarily in contact with the rod Ac, such that the rod Ac elastically deforms to conform to the geometry of the object X, and the original attachment node A, c is displaced inwardly to the a ', c' positions, respectively.
Meanwhile, based on the principle of fig. 4, when the action force of the article X on the connecting rod with different configurations is uneven, the torsion action is formed on the surface of the article X on which the force is applied, so that the whole tetrahedron-shaped configuration is also twisted, the self-adaptive geometric coating of the article X is further enhanced, and the motion stability of the article X is further realized.
The above-mentioned robot network structure only showing [ tetrahedra ], when the number of lower-layer connection nodes exceeds three, the [ polyhedral ] network configuration formed by adopting the similar method can be regarded as superposition of a plurality of the above-mentioned [ tetrahedra ] basic configurations, namely, the connection nodes of the lower layer are divided according to a group of three to form different [ tetrahedra ] basic configurations respectively, then overlapping and superposing are carried out at a shared connecting rod to form a corresponding [ polyhedral ] composite network configuration, and the adaptive cladding and motion stabilization effects on the external environment exemplified by the object X can be realized by the similar method.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A robotic network architecture suitable for use in an unstructured environment, comprising: an upper layer structure and a lower layer structure;
the upper layer structure comprises a first node;
the understructure includes at least three second nodes, at least three of the second nodes being non-collinear;
the first nodes and all the second nodes form a three-dimensional network structure through connecting rods, and the connecting rods are connected between the two second nodes or between the first nodes and the second nodes;
the robot network structure is based on the positions of upper and lower nodes and orderly combined in space by adopting connecting rods to form a space three-dimensional network structure;
the connecting rod is a flexible rod piece;
the space three-dimensional network structure is used for realizing the adaptive coating of the external environment through the elastic deformation of each connecting rod when the space three-dimensional network structure receives the acting force from the external environment.
2. The robotic network structure of claim 1, wherein the links are hollow flexible rods.
3. The robot network structure of claim 1, wherein any one of the second nodes and a second node closest thereto are connected by the link.
4. A robotic network as claimed in claim 3 in which any one of the second nodes and one or more second nodes not connected thereto are connected by the links.
5. The robotic network structure of claim 1, wherein the first node and one or more second nodes are connected by the link based on a proximity principle.
6. The robotic network structure of claim 5, wherein the first node and one or more second nodes unconnected thereto are connected by the links.
7. A sensing system of a robot network structure according to any of claims 1-6, comprising: a light source device, a photosensitive device, and an optical signal processor;
the robot network structure is provided with a light path inlet and a light path outlet, the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the light path inlet, and the photosensitive device is arranged at the light path outlet;
light emitted by the light source device enters the hollow channel of the connecting rod through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
8. A sensing system of a robot network structure according to any of claims 1-6, comprising: a light source device, a photosensitive device, and an optical signal processor;
the robot network structure is provided with an optical path inlet and an optical path outlet, and a single or a plurality of optical fiber loops are embedded in a hollow channel of the connecting rod;
the light source device and the photosensitive device are connected with the optical signal processor, the light source device is arranged at the entrance of the optical path, and the photosensitive device is arranged at the exit of the optical path;
light emitted by the light source device enters the optical fiber loop through the light path inlet and is transmitted to the photosensitive device through the light path outlet;
the optical signal processor processes the optical signals of the light source device and the photosensitive device, converts the optical signals into deformation signals of the robot network structure, and realizes a sensing function.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910461095.XA CN110174071B (en) | 2019-05-30 | 2019-05-30 | Robot network structure and sensing system suitable for unstructured environment |
| PCT/CN2020/079400 WO2020238335A1 (en) | 2019-05-30 | 2020-03-14 | Robot network structure suitable for unstructured environment and sensing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910461095.XA CN110174071B (en) | 2019-05-30 | 2019-05-30 | Robot network structure and sensing system suitable for unstructured environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110174071A CN110174071A (en) | 2019-08-27 |
| CN110174071B true CN110174071B (en) | 2024-01-09 |
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| CN110174070B (en) * | 2019-05-30 | 2024-06-11 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
| CN110174071B (en) * | 2019-05-30 | 2024-01-09 | 南方科技大学 | Robot network structure and sensing system suitable for unstructured environment |
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| CN110174071A (en) | 2019-08-27 |
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Application publication date: 20190827 Assignee: Shenzhen ningquan Technology Co.,Ltd. Assignor: Southern University of Science and Technology Contract record no.: X2021980002155 Denomination of invention: Robot network structure and sensor system for unstructured environment License type: Exclusive License Record date: 20210326 |
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