CN116610124A - Mower with intelligent obstacle avoidance and travel control system - Google Patents
Mower with intelligent obstacle avoidance and travel control system Download PDFInfo
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- CN116610124A CN116610124A CN202310589784.5A CN202310589784A CN116610124A CN 116610124 A CN116610124 A CN 116610124A CN 202310589784 A CN202310589784 A CN 202310589784A CN 116610124 A CN116610124 A CN 116610124A
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- 230000005856 abnormality Effects 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 238000011065 in-situ storage Methods 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 6
- 239000002420 orchard Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000009333 weeding Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Harvester Elements (AREA)
Abstract
The invention discloses a mower with an intelligent obstacle avoidance and travel control system, which comprises a control module, a positioning module and a hardware module; the hardware module comprises an RTK base station and a mower, wherein a vehicle-mounted RTK mobile station is arranged on the mower, a charging base is arranged on the RTK base station, the mower is powered by a rechargeable battery, and a rainfall sensor, a camera and a laser radar are also arranged on the mower; the control module adopts a comprehensive mode of 'visual algorithm + laser radar + rainfall sensing', the control module comprises a mobile phone APP and a core control unit, an intelligent mower control system of 'virtual boundary line or virtual operation path' is set in the mobile phone APP, and the core control unit adopts a four-core 64-bit processor RK3568; the positioning module adopts a Real-time kinematic (RTK) carrier phase difference technology, and comprises an RTK base station and a vehicle-mounted RTK mobile station, the data generated by a camera is a 2D image, and the high resolution of the camera and the accurate ranging of a laser radar are mutually complementary.
Description
Technical Field
The invention relates to the field of mowers, in particular to a mowing machine with an intelligent obstacle avoidance and travel control system.
Background
The universal electric weeder chassis has the greatest advantage that the universal electric weeder chassis can be directly applied to most operation scenes, and can realize function conversion by matching with suitable working heads according to different weeding requirements. Meanwhile, the chassis is matched with a gyroscope and an encoder to realize accurate control of the motion state in cooperation with a control algorithm, and a display module and a wireless module are added to perform man-machine interaction and data transmission. The existing weeding robot starts to pursue full-intelligent operation, manual direct control is reduced as much as possible, so that people are liberated from heavy repeated weeding labor, and unmanned operation of the mower is realized.
Compared with indoor environment, the mower working environment has the advantages that the positioning, navigation and obstacle avoidance difficulties of outdoor courtyard scenes are increased, more moving objects or planted fruit trees or auxiliary irrigation pipelines are provided, the volume and the quality of the mower are larger, the mower is further provided with blades, the dangerousness is higher, and meanwhile, the mower is far away from the working area of an operator, so that naked eyes cannot see the mower and the robot can sense the mower.
Accordingly, there is a need for a new mower that provides a good solution to the drawbacks of the prior art.
Disclosure of Invention
The invention aims to provide a mower with an intelligent obstacle avoidance and travel control system, so as to solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a mower with an intelligent obstacle avoidance and travel control system comprises a control module, a positioning module and a hardware module;
the hardware module comprises an RTK base station and a mower, wherein a vehicle-mounted RTK mobile station is arranged on the mower, a charging base is arranged on the RTK base station, the mower is powered by a rechargeable battery, and a rainfall sensor, a camera and a laser radar are also arranged on the mower;
the control module adopts a comprehensive mode of ' visual algorithm + laser radar + rainfall sensing ', and comprises a mobile phone APP and a core control unit, wherein an intelligent mower control system of a virtual boundary line or a virtual operation path ' is set in the mobile phone APP, and the core control unit adopts a four-core 64-bit processor RK3568;
the positioning module adopts a Real-time kinematic (RTK) carrier phase difference technology, the positioning module comprises an RTK base station and a vehicle-mounted RTK mobile station, data generated by a camera are 2D images, and high resolution of the camera and accurate ranging of the laser radar are mutually complementary.
The mower is respectively provided with two cameras, and the cameras can respectively collect images and upload the images.
Three rows of cutter heads are arranged in a working area of the mower, 8-12 cutter heads can be respectively arranged in each row of cutter heads, and each cutter head is independently provided with a switch to independently arrange each cutter head to rotate forwards or reversely.
The mower is provided with a mowing situation awareness information acquisition unit, the mowing situation awareness information acquisition unit acquires information of each cutter head once every 5 seconds, acquires current working state information, and automatically configures abnormal cutter heads to reversely rotate when abnormality occurs; the mowing state can be manually controlled on the mower, and the working states of the 3 groups of motors are controlled through the mobile phone to move forwards and backwards, turn around and run.
In the running process of the mower, a vehicle-mounted RTK mobile station on the mower can acquire running track information and mileage information.
The mower can automatically cruise according to the track of the previous running and the track coordinate; the mobile phone APP is connected with and controls the left electric driving mechanism of the mower to drive the left vacuum tire to rotate positively, and the right driving mechanism drives the right vacuum tire to rotate reversely, so that the in-situ steering of 360 degrees right is realized; the right electric driving mechanism is controlled by the mobile phone APP to drive the right vacuum tire to rotate positively, and the left driving mechanism drives the left vacuum tire to rotate reversely, so that the left 360-degree steering in situ can be realized.
The mower can also be manually operated through the mobile phone APP at any time under the automatic cruising state, and can enter an automatic cruising mode only by clicking the automatic cruising operation again after entering the manual operation.
The mower can calculate when the returning charge is needed according to the residual quantity of the battery.
When the vehicle-mounted RTK mobile station does not acquire the driving position information for more than 5 seconds, the current position information can be acquired through inertial navigation and other modes, a mower does not need to be stopped, and the APP end of the mobile phone processes and displays a prompt alarm.
The mower is in an automatic cruising state, obstacle judgment is carried out according to a radius of 1 meter outside the mower, when an obstacle is found at the front side, obstacle avoidance is carried out by bypassing, if the same obstacle is found at the bypassing position, the abnormality is returned to the APP end of the mobile phone, the APP end of the mobile phone is processed, and prompt warning is displayed. Further, the method comprises the steps of,
compared with the prior art, the invention has the beneficial effects that:
1. compared with the existing mower, the mower which can be operated in an orchard can be controlled by operating the APP on the mobile phone or the special terminal only by the operator in the range of wireless signals covered by the WIFI networking of the operation, the operation complexity of the clutch device is further simplified by designing communication logic of the APP, only Chinese and graphic buttons which are easy to understand by agricultural practitioners are designed, the motor is driven to complete complex displacement and mowing operation, the cultural knowledge requirements on the operator are greatly reduced, and the operator can realize the efficient completion of agricultural operation requirements by multi-machine parallel work without following the mower in the orchard.
2. The invention can remotely control the four-wheel drive vehicle which does not need driving, flexible steering and chain transmission, has wide application scene range, is small in size, is powered by a battery, can steer in situ, has small steering radius and flexibility, can drive on a narrow rugged road or about 30 degrees, can ensure the effectiveness of a mowing range, has wide application, reduces manpower, provides production efficiency, and is suitable for wide popularization.
Drawings
FIG. 1 shows the logic of three functional units of the intelligent mower of the present invention
FIG. 2 is a logic diagram of the intelligent mower RTK navigation operation of the present invention
FIG. 3 is a top view of a mower functional module and motor according to the present invention
FIG. 4 is a front view of the mower assembly according to the present invention
FIG. 5 shows the APP function and logic flow of the present invention
FIG. 6 is a general design diagram of an RTK and vision combining system of the present invention
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Example 1: the intelligent orchard obstacle avoidance and travelling mower control system is characterized by comprising a mobile phone APP and an intelligent mower control system for setting a virtual boundary line or a virtual working path, wherein the mower is driven by a four-wheel direct current motor, and the control system adopts a comprehensive mode of visual algorithm, laser radar and rainfall sensing. The intelligent mowing robot without boundary for autonomous planning path is mainly the mature navigation, positioning and obstacle avoidance technology.
The core control unit adopts a new generation four-core 64-bit processor RK3568, integrates a dual-core architecture GPUCortex-A55 processor, a 22nm advanced technology, a main frequency of 2.0GHz at most and a high-efficiency NPU; maximum support 8G large memory; supporting WiFi6,5G/4G wireless transmission; the method has the characteristics of high-speed transmission, packet loss rate reduction and retransmission rate reduction, more effectively reduces data congestion, allows more devices to be connected to a network, and ensures that the transmission is more stable and safer; the 5G/4G can be expanded through the external module, so that the real-time communication and data transmission of the whole mower have higher speed, larger capacity and lower delay. The system has rich interface expansion, supports various video input and output interfaces, and provides high-efficiency and stable performance for data processing of back-end equipment; the core board provides a plurality of storage configuration choices and can be suitable for intelligent NVR, cloud terminals, internet of things gateways, state control and other scenes.
From the power perspective, the mowing robot designed by the invention adopts a lithium battery to supply energy from the mode of three rows of mowing in a layering mode of traveling driven by a speed reduction high-torque motor and a high-speed motor.
The design adopts RTK (Real-time kinematic) carrier phase difference technology, and the working principle is that a reference station and a mobile station (namely a mowing robot) are arranged on the ground by satellite positioning. The accuracy is enough, but when the weather is bad, some weaknesses exist due to the interference of signals. Therefore, the intelligent mowing robot is added with vision and rain sensor to supplement and integrate the mower body, and a virtual boundary line or a virtual working path is set by using the mobile phone APP.
The working area of each orchard or each mowing robot needs to be networked to form two RTK modules (base station and mobile station), the data generated by the cameras are 2D images, and the sensing precision of the shape and the type of the object is high. The integrated mode of "vision algorithm + lidar + rain perception" is adopted. The high resolution of the camera and the accurate ranging of the laser radar are used for supplementing each other. Namely, in the setting overlapping area of the sensing range, more hardware is used for making safe redundancy.
Image acquisition and real-time identification return function: at most two cameras can be respectively added in front of and behind the mower; the camera reaches: frame number: 60 frames; the clear cameras can respectively collect images and upload (can view and play back) the definition: 1080P; viewing angle: a plan view angle of 70 degrees (without looking up and down). The M.2PCIE3.0 and SATA3.0 interfaces on the core control board support the access of the M.2NVMe SSD and the 2.5 inch SATA SSD/HDD respectively, and meanwhile, the method has the advantages of high-speed reading and writing and large-capacity storage, and realizes the storage, uploading, bearing and review of real-time video.
Mowing operation area: configuring three rows (rows) of tool bits; 8-12 tool bits (currently defaulting to 12 tool bits) can be respectively configured in each row; each cutter head can be independently provided with a switch, and each cutter head can be independently provided with forward rotation or reverse rotation, so that the motor is protected and the problem that the operation is influenced due to blockage caused by grass and sundries is effectively solved according to video and motor state feedback data.
Mowing situation perception information acquisition part: collecting information of each tool bit every 5 seconds; collecting current working state information (such as rotating speed or state normal abnormal mark); when an abnormality occurs, the abnormal cutter head can be automatically configured according to the requirement and rotated reversely.
Manual driving mowing state: the working states of 3 groups (rows/rows) of motors can be controlled by a mobile phone to move forwards and backwards, turn around and run.
Cruise situation awareness information acquisition: in the driving process, the driving track information and the mileage information can be acquired.
Automatic cruising situation awareness and operation: the vehicle can automatically cruise according to the track coordinates of the previous running track. The left electric driving mechanism is connected and controlled through the mobile phone APP to drive the left vacuum tire to rotate positively, and the right driving mechanism drives the right vacuum tire to rotate reversely, so that the in-situ steering of 360 degrees to the right can be realized; the APP is used for controlling the right electric driving mechanism to drive the right vacuum tire to rotate positively, and the left driving mechanism is used for driving the left vacuum tire to rotate reversely, so that the left 360-degree steering in situ can be realized.
Can automatically travel according to the track information acquired by the previous travel or automatically cruise according to the manually configured land information to be cruised, and automatically upload the current travel position information of the mower
When no driving position information is acquired for more than 5 seconds, the current position information can be acquired through inertial navigation and other modes, the trolley does not need to be stopped, the APP end processes the information, and a prompt alarm is displayed
When the vehicle runs automatically, the obstacle is judged by a radius of 1 meter outside the agricultural machinery, and when the front obstacle is found, the vehicle bypasses the obstacle. If the bypassing place has an obstacle, an abnormality is returned to the APP end, the APP end processes the abnormality, and a prompt alarm is displayed
When the vehicle runs automatically, if no abnormality exists, the position information of the vehicle running automatically exceeds 5 seconds, and when no change exists (the vehicle does not run all the time), the abnormality is returned to the APP end, the APP end processes, and a prompt alarm is displayed
It is necessary to calculate when the return charge is required based on the battery margin.
And recording the coordinates before the return voyage, and continuously starting the operation from the coordinates after charging.
In the automatic cruising state, the APP can be used for manual operation at any time, and after the APP is used for manual operation, the APP needs to be clicked again to automatically cruise, so that the cruise mode can be started. .
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
The specific working steps of the embodiment are as follows:
the designed working flow of the whole RTK navigation and vision obstacle avoidance main and auxiliary switching optimization control strategy is as follows:
the mowing operation can be finished by adopting a manual operation terminal APP mode.
The method is characterized in that an RTK navigation-based and visual navigation-based combined mode is adopted initially, the position information of the current mower is obtained and RTK navigation is carried out by a fixed RTK device which is arranged on the mower and comprises an RTK receiver, a satellite and a to-be-mowed working area, the forward distance and the heading angle are calculated, and the navigation control is carried out on the mower through model-free self-adaptive control of the wheel speed.
Meanwhile, in the action process of the mower, the visual sensor is used for collecting surrounding environment information, detecting and identifying video or picture obstacles in real time, if the obstacles are identified, the combination mode of mainly visual navigation (or pop-up of an APP end to suggest a manual operation interface and a pending state) and auxiliary RTK navigation is switched to, the position of the obstacles is classified, the movement direction of the mower is determined according to the types of the obstacles, and the wheel speed is controlled in a model-free self-adaptive mode again, so that the visual obstacle avoidance navigation of the mower is realized.
The mower can realize the switching of navigation modes under different conditions according to RTK and vision combination, can accurately travel to a designated site, realize continuous obstacle avoidance, and perform operations such as turning or advancing.
Claims (10)
1. The mower with the intelligent obstacle avoidance and travel control system is characterized by comprising a control module, a positioning module and a hardware module;
the hardware module comprises an RTK base station and a mower, wherein a vehicle-mounted RTK mobile station is arranged on the mower, a charging base is arranged on the RTK base station, the mower is powered by a rechargeable battery, and a rainfall sensor, a camera and a laser radar are also arranged on the mower;
the control module adopts a comprehensive mode of ' visual algorithm + laser radar + rainfall sensing ', and comprises a mobile phone APP and a core control unit, wherein an intelligent mower control system of a virtual boundary line or a virtual operation path ' is set in the mobile phone APP, and the core control unit adopts a four-core 64-bit processor RK3568;
the positioning module adopts a Real-time kinematic (RTK) carrier phase difference technology, the positioning module comprises an RTK base station and a vehicle-mounted RTK mobile station, data generated by a camera are 2D images, and high resolution of the camera and accurate ranging of the laser radar are mutually complementary.
2. The mower with intelligent obstacle avoidance and travel control system of claim 1, wherein: the mower is respectively provided with two cameras, and the cameras can respectively collect images and upload the images.
3. The mower with intelligent obstacle avoidance and travel control system of claim 1, wherein: three rows of cutter heads are arranged in a working area of the mower, 8-12 cutter heads can be respectively arranged in each row of cutter heads, and each cutter head is independently provided with a switch to independently arrange each cutter head to rotate forwards or reversely.
4. A mower with intelligent obstacle avoidance and travel control system as set forth in claim 3 wherein: the mower is provided with a mowing situation awareness information acquisition unit, the mowing situation awareness information acquisition unit acquires information of each cutter head once every 5 seconds, acquires current working state information, and automatically configures abnormal cutter heads to reversely rotate when abnormality occurs; the mowing state can be manually controlled on the mower, and the working states of the 3 groups of motors are controlled through the mobile phone to move forwards and backwards, turn around and run.
5. The mower with intelligent obstacle avoidance and travel control system of claim 1, wherein: in the running process of the mower, a vehicle-mounted RTK mobile station on the mower can acquire running track information and mileage information.
6. The mower with intelligent obstacle avoidance and travel control system of claim 1, wherein: the mower can automatically cruise according to the track of the previous running and the track coordinate; the mobile phone APP is connected with and controls the left electric driving mechanism of the mower to drive the left vacuum tire to rotate positively, and the right driving mechanism drives the right vacuum tire to rotate reversely, so that the in-situ steering of 360 degrees right is realized; the right electric driving mechanism is controlled by the mobile phone APP to drive the right vacuum tire to rotate positively, and the left driving mechanism drives the left vacuum tire to rotate reversely, so that the left 360-degree steering in situ can be realized.
7. The mower with intelligent obstacle avoidance and travel control system of claim 1, wherein: the mower can also be manually operated through the mobile phone APP at any time under the automatic cruising state, and can enter an automatic cruising mode only by clicking the automatic cruising operation again after entering the manual operation.
8. The mower with intelligent obstacle avoidance and travel control system of claim 1, wherein: the mower can calculate when the returning charge is needed according to the residual quantity of the battery.
9. The mower with intelligent obstacle avoidance and travel control system of claim 5 wherein: when the vehicle-mounted RTK mobile station does not acquire the driving position information for more than 5 seconds, the current position information can be acquired through inertial navigation and other modes, a mower does not need to be stopped, and the APP end of the mobile phone processes and displays a prompt alarm.
10. The mower with intelligent obstacle avoidance and travel control system of claim 6 wherein: the mower is in an automatic cruising state, obstacle judgment is carried out according to a radius of 1 meter outside the mower, when an obstacle is found at the front side, obstacle avoidance is carried out by bypassing, if the same obstacle is found at the bypassing position, the abnormality is returned to the APP end of the mobile phone, the APP end of the mobile phone is processed, and prompt warning is displayed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310589784.5A CN116610124A (en) | 2023-05-23 | 2023-05-23 | Mower with intelligent obstacle avoidance and travel control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310589784.5A CN116610124A (en) | 2023-05-23 | 2023-05-23 | Mower with intelligent obstacle avoidance and travel control system |
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| CN116610124A true CN116610124A (en) | 2023-08-18 |
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| CN202310589784.5A Pending CN116610124A (en) | 2023-05-23 | 2023-05-23 | Mower with intelligent obstacle avoidance and travel control system |
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- 2023-05-23 CN CN202310589784.5A patent/CN116610124A/en active Pending
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