CN111434394B - Method and device for locking key points of travelling path of automatic trolley - Google Patents
Method and device for locking key points of travelling path of automatic trolley Download PDFInfo
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- CN111434394B CN111434394B CN201910030971.3A CN201910030971A CN111434394B CN 111434394 B CN111434394 B CN 111434394B CN 201910030971 A CN201910030971 A CN 201910030971A CN 111434394 B CN111434394 B CN 111434394B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C3/00—Sorting according to destination
- B07C3/003—Destination control; Electro-mechanical or electro- magnetic delay memories
- B07C3/006—Electric or electronic control circuits, e.g. delay lines
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Abstract
The application discloses a method and a device for locking a travelling path of an automatic trolley, comprising the following steps: the path calculated according to the path selection algorithm is initially the key point of the automatic trolley locking path; recording the key point locking record of the automatic trolley path according to a preset time window; when the occurrence of the path conflict is judged according to the automatic trolley path key point locking record, a preset locking point updating strategy is adopted to re-lock the path key point for the automatic trolley; and issuing the locked path key points to an automatic trolley for running. By applying the technical scheme disclosed by the application, when the automatic trolley encounters a path conflict, the automatic trolley does not passively wait passively, but actively seeks a conflict solution to improve the sorting efficiency of the automatic trolley.
Description
Technical Field
The application relates to the technical field of logistics intelligent sorting, in particular to a method and a device for locking a travelling path of an automatic trolley.
Background
With the development of economy, electronic commerce rises rapidly, and online shopping becomes a mainstream consumption mode of people. The online shopping mode drives the development of a large number of express enterprises, but also brings challenges to traditional warehouse logistics. In order to reduce labor cost and improve sorting efficiency and accuracy, an intelligent sorting center is used at present in the face of massive express parcel tasks. In the intelligent sorting center, a large number of automatic trolleys start from different package loading platforms, deliver packages and pour the packages into the grid openings, and sorting tasks are completed.
The inventors have found in a lot of work that in case of a relatively large number of automatic carts, the traveling paths of the respective automatic carts may collide, or that at a certain point in time, a plurality of automatic carts will reach a certain path key point at the same time. In the existing sorting technology, a certain automatic trolley is usually stopped to wait, and locking is tried after delay. This is done in a reciprocating manner until there is no conflict.
The inventors have found that the prior art way of letting the dolly wait passively is an important factor leading to a low sorting efficiency.
Disclosure of Invention
The embodiment of the application provides a method for locking a driving path of an automatic trolley, which can overcome the passive waiting of the automatic trolley when the paths conflict.
The specific technical scheme is that the method for locking the automatic trolley driving path comprises the following steps:
the path calculated according to the path selection algorithm is initially the key point of the automatic trolley locking path;
recording the key point locking record of the automatic trolley path according to a preset time window;
when the occurrence of the path conflict is judged according to the automatic trolley path key point locking record, a preset locking point updating strategy is adopted to re-lock the path key point for the automatic trolley;
and issuing the locked path key points to an automatic trolley for running.
Further, the method for re-locking the key points of the path for the automatic trolley according to the preset lock point updating strategy comprises the following steps:
and determining the path conflict type according to the automatic trolley path key point locking record, and re-locking the path key point for the automatic trolley by utilizing the corresponding locking point updating strategy.
Further, when the path conflict type is a path cross conflict, the corresponding lock point update policy is a delay policy, which specifically includes:
delaying all key points in one path with conflict by a preset time window;
and judging whether the path cross conflict is eliminated, and if the path cross conflict is not eliminated, executing the operation of delaying the time window set in advance again until the number of delayed operations reaches a threshold value set by implementation.
Further, when the path conflict type is a path relative conflict, the corresponding lock point update policy is a replacement path policy, which specifically includes:
re-calculating a path for the automatic trolley by using the path selection algorithm;
and judging whether the recalculated path eliminates the path relative conflict, and if not, executing the operation of recalculating the path again until the path relative conflict is eliminated.
Further, before locking the path keypoints for the dolly, the method further comprises:
uniformly dividing the travelling places of the automatic trolley according to a path X axis and a path Y axis in advance, and representing the travelling path key points by using the < path X and the path Y axis >;
presetting a time window;
the automatic trolley is divided into 4 traveling directions of positive X-axis direction, negative X-axis direction, positive Y-axis direction and negative Y-axis direction in advance according to the X-axis and Y-axis of the path.
Further, the automatic trolley path key point locking record comprises the time window, the path key point and the driving direction.
Further, the method for judging the occurrence of the path conflict according to the automatic trolley path key point locking record comprises the following steps:
judging whether the same time window and the same path key point exist in different automatic trolley path key point locking records, and if so, indicating that the path conflict occurs.
The embodiment of the application also provides a device for locking the driving path of the automatic trolley, which can overcome the passive waiting of the automatic trolley when the paths conflict. Specifically, the device comprises:
the path key point calculation module is used for locking the path key points of the automatic trolley according to the path calculated by the path selection algorithm;
the recording module records the key point locking record of the automatic trolley path according to a preset time window;
the path conflict module adopts a preset lock point updating strategy as an automatic trolley re-locking path key point when judging that the path conflict occurs according to the automatic trolley path key point locking record;
and the notification module is used for issuing the locked path key points to the automatic trolley for running.
Further, the path collision module includes:
the conflict type identification module is used for determining a path conflict type according to the automatic trolley path key point locking record;
and the conflict elimination module is used for utilizing a lock point updating strategy corresponding to the path conflict type to re-lock the path key point for the automatic trolley.
Further, the conflict resolution module includes:
the delay strategy module is used for delaying all key points in one path which generates conflict by a preset time window; and judging whether the path cross conflict is eliminated, and if the path cross conflict is not eliminated, executing the operation of delaying the time window set in advance again until the delay operation reaches the threshold value set by implementation.
Further, the conflict resolution module includes:
the path replacement strategy module is used for recalculating a path for the automatic trolley by utilizing the path selection algorithm; and judging whether the recalculated path eliminates the path relative conflict, and if not, executing the operation of recalculating the path again until the path relative conflict is eliminated.
The embodiment of the application also provides a computer readable storage medium, which is specifically:
a computer readable storage medium storing instructions that when executed by a processor cause the processor to perform the steps of a method of locking an automated trolley travel path as described above.
The embodiment of the application also provides electronic equipment, which can overcome the passive waiting of the automatic trolley when the paths conflict, and specifically comprises the following steps: the electronic device includes a computer readable storage medium as described above, and a processor that can execute the computer readable storage medium.
Therefore, when the path conflict occurs, the preset lock point updating strategy is adopted to automatically lock the key points of the path again by the trolley; and issuing the locked path key points to an automatic trolley for running. That is, when the technical scheme disclosed by the application is applied, the automatic trolley does not passively and negatively wait when encountering a path conflict, but actively seeks a conflict solution to improve the efficiency of automatic trolley sorting.
Drawings
FIG. 1 is an illustration of a work site of a logistics parcel sorting center in accordance with one embodiment of the present invention.
Fig. 2 is a diagram showing an example of traveling situations of the automated guided vehicle a and the automated guided vehicle B according to the first embodiment of the present invention.
Fig. 3 is a flow chart of a method according to a second embodiment of the invention.
Fig. 4 is a schematic diagram of a device structure according to a second embodiment of the present invention.
Fig. 5 is a diagram showing an example of the traveling conditions of the automated guided vehicle a and the automated guided vehicle C in the third embodiment.
Fig. 6 is a schematic diagram of the internal structure of a path collision module 403 in the third embodiment of the present invention.
Fig. 7 is a schematic diagram of the internal structure of the collision resolution module 62 in the third embodiment of the present invention.
Fig. 8 is a schematic structural diagram of an electronic device in an embodiment of the invention.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and examples.
Fig. 1 is an illustration of a physical distribution parcel sorting center workplace, in accordance with an embodiment of the present invention. As shown in fig. 1, the sorting center includes at least a control system 101, a loading station 102, a sorting area 103, a pouring spout 104, and a number of automated carts 105 for transporting packages.
The automatic trolley 105 takes the package from the package loading platform 102 under the command of the control system 101, loads the package and then moves in the sorting area 103, and when the package moves to a certain designated dumping grid, the package is dumped under the grid, and the package is repeatedly reciprocated to complete the sorting task. To achieve automatic and accurate sorting, the control system 101 assigns each automated cart a corresponding bin and specifies the path it needs to travel.
In the case where there are a large number of automated guided vehicles, the traveling paths of the different automated guided vehicles may collide. To clearly represent such conflicting information, the present embodiment has the following arrangement:
1. the travelling sites of the automatic trolley are uniformly divided according to the X axis and the Y axis of the path, and the key points of the travelling path are represented by the < X axis and the Y axis of the path >.
2. A time window is preset.
3. The automatic trolley is divided into 4 traveling directions of positive X-axis direction, negative X-axis direction, positive Y-axis direction and negative Y-axis direction in advance according to the X-axis and Y-axis of the path.
According to the arrangement, the running condition of the automatic trolley can be conveniently represented.
Fig. 2 shows the traveling conditions of the automated guided vehicle a and the automated guided vehicle B in the first embodiment. As shown in fig. 2, the places are evenly divided, the key points of the running path are located at the grid intersections, and the key points represent certain points which the trolley path needs to pass through and can be represented by coordinates of an X axis and a Y axis; each square length represents a time window W, and the specific time is determined by the user applying the embodiment of the present application, for example, set to 1 second; the direction of travel of the trolley is indicated by E, W, S, N, which is the direction indication of the X, Y axis. Wherein E represents the positive X-axis direction, W represents the negative X-axis direction, S represents the negative Y-axis direction, and N represents the positive Y-axis direction. It is assumed that the solid and thick lines with arrows in fig. 2 represent the travel path of the automated guided vehicle a, and the dashed and thick lines with arrows represent the travel path of the automated guided vehicle B. The driving path of the automatic trolley A comprises 5 path key points, and the locking record corresponding to each key point comprises: time window, path keypoints, and direction of travel. Then, the record of the key point lock of the path of the automatic trolley a shown in fig. 2 can be shown as the following table:
list one
Likewise, the record of the route key lock for the dolly B is shown in table two:
watch II
As can be seen from table one and table two, the lock condition of the path keypoints <07, 05> is as shown in table three:
| time window | Running condition |
| W5 | (A，E)、(B，S) |
| …… | …… |
Watch III
The automatic trolley A and the automatic trolley B lock the same path key point in the same time window, and the occurrence of path conflict can be judged. Namely: the automated guided vehicle a and automated guided vehicle B reach the path key point with coordinates <07, 05> at the same time at the point W5, one traveling in the positive X-axis direction and the other traveling in the negative Y-axis direction. The concept of path conflict is merely exemplified here, and in practical applications, other types of path conflict may also occur, which will be described in detail in the following embodiments.
Fig. 3 is a flow chart of a method according to a second embodiment of the invention. Assuming that the automated guided vehicle of the second embodiment still travels in the sorting location as shown in fig. 1, the key point lock recording method as described in the first embodiment is also adopted. The second embodiment comprises:
step 301: and the path calculated according to the path selection algorithm is initially a key point of the locking path of the automatic trolley.
The path is naturally required to be predetermined before the path key point is locked, and the algorithm for calculating the path in the second embodiment may be an existing algorithm, such as Dijkstra algorithm, an a star algorithm, and the like, and then the path key point is locked. In practical application, if all the key points can be locked at one time, it is quite good to reach the destination pouring grid, but if more key points are on the path, all the key points are not necessarily locked at one time. In addition, the key point of the locking path in the step is only preliminary locking, and the key point is not necessarily issued to the automatic trolley for execution, and the key point is also required to be judged whether path conflict exists or not later for formal locking.
Step 302: and recording the key point locking record of the automatic trolley path according to a preset time window.
After the route key points are preliminarily locked, the automatic trolley route key point locking information can be recorded in the mode of the first embodiment. Of course, other recording methods may be employed as long as the path information can be embodied.
Step 303: and when judging that the path conflict occurs according to the automatic trolley path key point locking record, adopting a preset locking point updating strategy to re-lock the path key point for the automatic trolley.
When a path conflict is found, the step is not like the prior art, one party in conflict is forced to occupy the path key point, the other party is passive to wait, and a lock point updating strategy is adopted to lock the path key point which is more reasonable for the automatic trolley to be re-locked, so that the sorting efficiency is improved. The locking update policy described herein may be determined by the user according to the actual situation, and the following embodiments will be further described in detail, which will not be described herein.
Step 304: and issuing the locked path key points to an automatic trolley for running.
When the key points of the paths are locked again, after the problem of path conflict is solved, the key points of the paths locked in the step are formally locked, and the automatic trolley is required to run according to the locking information.
Fig. 4 is a schematic diagram of a device structure according to the embodiment. As shown in fig. 4, the apparatus includes: a path keypoint calculation module 401, a logging module 402, a path conflict module 403, and a notification module 404.
The path key point calculation module 401 is configured to lock a path key point for the automatic trolley according to a path calculated by a path selection algorithm. The recording module 402 is configured to record the locking record of the key points of the automatic trolley path according to a preset time window. The path conflict module 403 is configured to, when it is determined that a path conflict occurs according to the automatic trolley path key point locking record, re-lock the path key point for the automatic trolley by adopting a preset lock point updating policy. The notification module 404 is configured to issue the locked path key point to the automated guided vehicle for driving.
That is, in the scheme of the second embodiment, the path is initially locked, and when the path collision is found, the updating strategy is adopted to re-lock the path so as to avoid the collision, and the automatic trolley runs according to the newly locked path. By applying the scheme of the second embodiment, the automatic trolley with the path conflict does not wait passively as in the prior art, but actively solves the conflict, thereby improving the sorting efficiency.
In practical application, how to set the lock point updating strategy can be determined by the scheme of the embodiment of the invention according to the situation, the type of the path conflict can be determined according to the automatic trolley path key point locking record, and the corresponding lock point updating strategy is used for automatically locking the path key point again. The following uses the three specific examples. Also, it is assumed that the automated guided vehicle of the third embodiment is still traveling in the sorting venue as shown in fig. 1, and the key point lock recording manner as described in the first embodiment is adopted. The third embodiment classifies path collisions into two categories:
1) The path collision type is path cross collision. In this case, the corresponding lock point update policy may be set as the delay policy. Firstly, delaying all key points in one path which generates conflict by a preset time window; and judging whether the path cross conflict is eliminated, and if the path cross conflict is not eliminated, executing the operation of delaying the time window set in advance again until the number of delayed operations reaches a threshold value set by implementation.
The above-described figure 2 is typical of path cross-collision. Taking fig. 2 as an example, for example, a key point in a path B of the automatic trolley may be delayed backward by a time window, and the situation after the delay is shown in table four. Thereafter, it is determined whether the path cross collision is eliminated, and if not, it may be delayed again. As for the number of delays, a threshold value, for example, set to 2, may be set in advance, and then delayed only twice. If path collisions still occur after a delay of two, other strategies, such as a subsequent update strategy, may be employed.
Table four
From table four, it can be found that the dolly B no longer occupies the path key <07, 05> during the W5 time window, but delays to the W6 re-occupation, thus resolving the conflict with the dolly a.
The delay strategy here is different from the prior art passive waiting. Because the passive waiting in the prior art cannot guarantee when the subsequent conflict can be eliminated, the time for eliminating the conflict is not clear, and the method belongs to an unknown state. In the second embodiment, the delay policy may determine whether to eliminate the conflict, or may determine the time required for delay in advance. The policy may also be adjusted immediately once the delay time does not meet the user's needs.
2) The path conflict type is a path relative conflict. In this case, the corresponding lock point update policy may be set as the replacement path policy. Firstly, recalculating a path for an automatic trolley by using the path selection algorithm; and judging whether the recalculated paths eliminate the path relative conflict, and if not, executing the operation of recalculating the paths again until the path relative conflict is eliminated.
Fig. 5 is a schematic diagram of an example of path relative collision in the third embodiment. As shown in fig. 5, it is assumed that the thick lines with arrows indicate the travel paths of the automated guided vehicle a and the automated guided vehicle C. The record of the path key point locking of the automatic trolley A is still shown in the table one, and the record of the path key point locking of the automatic trolley C is shown in the table five below.
TABLE five
From tables one and five, the lock cases of the path keypoints <07, 05> are shown in Table six:
| time window | Running condition |
| W5 | (A，E)、(C，W) |
| …… | …… |
TABLE six
The automatic trolley A and the automatic trolley B lock the same path key point in the same time window, and the occurrence of path conflict can be judged. Namely: both automated guided vehicle a and automated guided vehicle C occupy the path keypoints with coordinates <07, 05> at this point in time W5. The automatic trolley A runs positively in the X axis and the automatic trolley C runs negatively in the X axis, so that relative collision or head-on collision is formed.
Fig. 6 is a schematic view of the structure of the third device according to the present embodiment. As shown in fig. 6, on the basis of the second embodiment, the internal structure of the path collision module 403 includes:
a collision type identification module 61, configured to determine a path collision type according to the automatic trolley path key point locking record; the conflict resolution module 62 is configured to re-lock the path key points for the automated guided vehicle using a lock point update policy corresponding to the path conflict type.
The schematic internal structure of the collision resolution module 62 is shown in fig. 7, and includes:
a delay policy module 621, configured to delay all key points in one of the paths that collide by a time window set in advance; and judging whether the path cross conflict is eliminated, and if the path cross conflict is not eliminated, executing the operation of delaying the time window set in advance again until the delay operation reaches the threshold value set by implementation.
A replace path policy module 622 that recalculates a path for the automated cart using the path selection algorithm; and judging whether the recalculated path eliminates the path relative conflict, and if not, executing the operation of recalculating the path again until the path relative conflict is eliminated.
That is, the third embodiment proposes a specific solution for resolving the conflict. If the path cross conflict exists, the corresponding delay strategy is utilized to solve the conflict. If a relative conflict exists, a replacement path policy is utilized to resolve the conflict. Other methods may be used in practical applications, and are not limited to the two solutions proposed in this embodiment. For example, the above also mentions that the conflict problem is not resolved when the delay policy is resolved, and the replacement path policy may be adopted instead for resolving.
Of course, if no path conflict occurs, the locked path key points can be directly issued to the automatic trolley for running. The absence of a path conflict may be a direct lock to the destination dump gate assigned to the cart or a lock to a relatively large number of path keypoints, sufficient for the automated cart to travel a relatively long path. For example, N waypoints are locked for the dolly, where N ranges from [8, 16], then it can be considered that there are no waypoints that have been locked for the dolly. And after the automatic trolley runs out of the issued path key points, continuing to lock forwards until reaching the assigned destination pouring lattice, and completing the sorting task.
Embodiments also provide a computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the method steps of locking an automated trolley travel path as described above. In practice, the computer readable medium may be RAM, ROM, EPROM, magnetic disk, optical disk, etc. and is not intended to limit the scope of the present application.
As shown in fig. 8, an embodiment of the present application further provides an electronic device, which includes the computer readable medium 801 described above, and further includes a processor 802 that can execute the computer readable storage medium. In practice, the electronic device may be one or more computers, as long as the computer-readable medium and the processor are included.
By applying the scheme of the embodiment of the invention, when the trolley encounters a path conflict, the method for solving the conflict is not passively and negatively waited, but actively sought, and the conflict can be solved by utilizing a delay strategy and/or a path replacement strategy or other strategies so as to improve the efficiency of automatic trolley sorting.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (11)
1. A method of locking a travel path of an automated guided vehicle, the method comprising:
the path calculated according to the path selection algorithm is initially the key point of the automatic trolley locking path;
recording the key point locking record of the automatic trolley path according to a preset time window;
when the occurrence of the path conflict is judged according to the automatic trolley path key point locking record, a preset locking point updating strategy is adopted to re-lock the path key point for the automatic trolley; the method for re-locking the key points of the path for the automatic trolley according to the preset lock point updating strategy comprises the following steps: determining a path conflict type according to the automatic trolley path key point locking record, and re-locking the path key point for the automatic trolley by utilizing a corresponding locking point updating strategy; when the path conflict type is path cross conflict, the corresponding lock point updating policy is a delay policy, which comprises: delaying all key points in one path with conflict by a preset time window;
issuing the locked path key points to an automatic trolley for running;
and after the automatic trolley runs the issued path key points, continuing to lock forwards until reaching the assigned destination dumping lattice, and completing the sorting task.
2. The method of claim 1, wherein between the step of delaying all keypoints in one of the paths where the collision occurs by a time window set in advance and the step of issuing the locked path keypoints to the automated guided vehicle for traveling, the method further comprises:
and judging whether the path cross conflict is eliminated, and if the path cross conflict is not eliminated, executing the operation of delaying the time window set in advance again until the number of delayed operations reaches a threshold value set by implementation.
3. The method according to claim 2, wherein when the path conflict type is a path relative conflict, the corresponding lock point update policy is a replacement path policy, specifically comprising:
re-calculating a path for the automatic trolley by using the path selection algorithm;
and judging whether the recalculated path eliminates the path relative conflict, and if not, executing the operation of recalculating the path again until the path relative conflict is eliminated.
4. The method of claim 1, wherein prior to locking the path keypoints for the dolly, the method further comprises:
uniformly dividing the travelling places of the automatic trolley according to the X axis and the Y axis of the path in advance, and representing the key points of the travelling path by using the < X axis and the Y axis of the path >;
presetting a time window;
the automatic trolley is divided into 4 traveling directions of positive X-axis direction, negative X-axis direction, positive Y-axis direction and negative Y-axis direction in advance according to the X-axis and Y-axis of the path.
5. The method of claim 4, wherein the automated trolley path key point lock record comprises the time window, a path key point, a direction of travel.
6. The method of claim 5, wherein the method for determining that a path conflict occurs based on the automated trolley path key point lock record comprises:
judging whether the same time window and the same path key point exist in different automatic trolley path key point locking records, and if so, indicating that the path conflict occurs.
7. An apparatus for locking a travel path of an automatic trolley, the apparatus comprising:
the path key point calculation module is used for locking the path key points of the automatic trolley according to the path calculated by the path selection algorithm;
the recording module records the key point locking record of the automatic trolley path according to a preset time window;
the path conflict module adopts a preset lock point updating strategy as an automatic trolley re-locking path key point when judging that the path conflict occurs according to the automatic trolley path key point locking record; the path conflict module comprises: the conflict type identification module is used for determining a path conflict type according to the automatic trolley path key point locking record; the conflict elimination module is used for utilizing a lock point updating strategy corresponding to the path conflict type to re-lock the path key points for the automatic trolley; the conflict resolution module comprises: the delay strategy module is used for delaying all key points in one path which generates conflict by a preset time window;
the notification module is used for issuing the locked path key points to the automatic trolley for running;
and after the automatic trolley runs the issued path key points, continuing to lock forwards until reaching the assigned destination dumping lattice, and completing the sorting task.
8. The apparatus of claim 7, wherein the device comprises a plurality of sensors,
and the delay strategy module is also used for judging whether the path cross conflict is eliminated, and if the path cross conflict is not eliminated, executing the operation of delaying the time window which is set in advance again until the delay operation reaches the threshold value which is set.
9. The apparatus of claim 7, wherein the collision resolution module comprises:
the path replacement strategy module is used for recalculating a path for the automatic trolley by utilizing the path selection algorithm; and judging whether the recalculated path eliminates the path relative conflict, and if not, executing the operation of recalculating the path again until the path relative conflict is eliminated.
10. A computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps of the method of locking a travelling path of an automatic trolley as claimed in any one of claims 1 to 6.
11. An electronic device comprising the computer-readable storage medium of claim 10, further comprising a processor executable to the computer-readable storage medium.
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