KR20230073496A - Autonomous driving device capable of combination of auxiliary vehicles - Google Patents

Abstract

The present invention relates to an autonomous driving device capable of combining auxiliary running bodies, and more particularly, to an autonomous driving device capable of combining auxiliary running bodies according to a driving environment.

Description

Autonomous driving device capable of combination of auxiliary vehicles

The present invention relates to an autonomous driving device capable of combining auxiliary running bodies, and more particularly, to an autonomous driving device capable of combining auxiliary running bodies according to a driving environment.

As robot and network technology develops, the area of providing autonomous driving services using robots is expanding.

Specifically, self-driving robots for restaurants can serve food to customers on behalf of employees, self-driving robots for agriculture can perform tasks related to crop cultivation, such as tillage, plowing, transplanting, and weeding, and are autonomous for delivery. The driving robot also receives delivery information from the user and delivers it to the user who ordered the item to be delivered to the delivery address. In addition, the service area of autonomous robots is expanding throughout social facilities such as airports, large shopping facilities, cultural facilities, and public facilities, and the demand for them is gradually increasing.

However, such a conventional self-driving robot has a problem in that it is designed to be able to drive only in a specific driving environment, and difficulty in using it when the driving environment changes.

For example, in the case of an autonomous robot designed to run indoors, it is difficult to use outdoors, and an autonomous robot designed to be used outdoors for delivery is difficult to use in an agricultural environment.

On the other hand, as a prior art related to an intelligent driving robot, there is Korean Patent Registration No. 10-1119026.

The present invention has been made to solve the problems of the prior art as described above, and an object of the present invention is to provide an autonomous driving device that can be used by combining an auxiliary driving body according to a driving environment or purpose.

An autonomous driving device that can be used by combining an auxiliary running body according to the present invention for achieving the above object is composed of a robot body and an auxiliary running body, and the robot main body alone or the robot body rides on the auxiliary running body and travels. , The robot body has control authority of the robot body or the auxiliary running body and includes a control unit for controlling the robot main body or the auxiliary running body, and the auxiliary running body is seated composed of a boarding plate and a boarding plate. and an auxiliary sensor unit that detects the proximity distance to the robot body, seating information of the robot body with respect to the seating unit, and environmental information of the auxiliary traveling body, and assisted driving based on the detection result of the auxiliary sensor unit. It is configured to include an auxiliary control unit that performs control of the body.

In addition, the autonomous driving method that can be used by combining the auxiliary running body of the present invention includes the steps of detecting the proximity distance of the robot body; withdrawing the boarding board of the auxiliary running body when the proximity distance is equal to or less than a predetermined distance; Seating the robot body on the seating portion of the auxiliary running body along the withdrawn boarding board; Determining whether the robot body is properly seated in the main body mounting portion; and when the robot body is properly seated, generating control authority for the auxiliary traveling body in the robot body.

In addition, the autonomous driving method that can be used by combining the auxiliary running body of the present invention includes the steps of the robot body getting off the auxiliary running body; moving the lowered auxiliary running body to a safe position; detecting environmental information of the auxiliary running body whether or not the auxiliary running object has moved to a safe position; and extinguishing the control authority of the auxiliary traveling body of the robot body when it is determined that the auxiliary traveling body has been moved to a safe position based on the environment information of the auxiliary traveling body.

An autonomous driving device capable of combining auxiliary running bodies according to the present invention is an autonomous driving device that can be used in a way that only the robot main body travels alone, or can be used by combining an autonomous robot main body with an auxiliary running body. Depending on the type of sieve, it can be used in various driving environments, increasing its usability.

For example, when a serving robot body that can only be used indoors is used by riding on an auxiliary delivery vehicle, it is not only possible to serve indoors, but also delivers food to homes, collects delivery containers, and also serves outdoor tables. Since food can be served, the service area that can be performed can be expanded.

In addition, since the self-driving device of the present invention does not need to replace the self-driving robot itself even if the driving environment changes, the number of self-driving robots can be significantly reduced and the production cost of the self-driving robot can be reduced.

In addition, since the auxiliary running body can be combined and used for various tasks, user convenience is increased.

1 schematically illustrates the configuration of an autonomous driving device capable of combining auxiliary running bodies according to an embodiment of the present invention.
2 illustrates an autonomous driving device capable of combining auxiliary running bodies according to an embodiment of the present invention.
3 illustrates a process in which an autonomous driving device according to an embodiment of the present invention is boarded on an auxiliary vehicle.
4 is a flowchart illustrating a process in which an autonomous driving device according to an embodiment of the present invention is boarded on an auxiliary vehicle.
5 illustrates a process in which an autonomous driving device according to an embodiment of the present invention is separated from an auxiliary driving device.
6 is a flowchart illustrating a process of separating an autonomous driving device from an auxiliary driving device according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, some configurations irrelevant to the gist of the present invention will be omitted or compressed, but the omitted configurations are not necessarily unnecessary in the present invention, and can be combined and used by those skilled in the art to which the present invention belongs. can

1 is a diagram showing the configuration of an autonomous driving device 1 capable of combining auxiliary running bodies, and FIG. 2 is a diagram showing an autonomous driving device 1 capable of combining auxiliary running bodies according to an embodiment of the present invention. am.

Hereinafter, the autonomous driving device 1 of the present invention will be described with reference to FIGS. 1 and 2 .

First, the autonomous driving device 1 of the present invention is composed of a robot body 2 and an auxiliary running body 3, and the robot main body 2 can ride on the auxiliary running body 3 and travel. .

The robot body 2 is a self-driving robot that searches the surroundings and detects obstacles on its own to find and move to the optimal path to the destination. etc.

The robot body 2 includes a driving unit 21, a communication unit 22, a sensor unit 23, a control unit 24, and a charging unit 25.

The drive unit 21 is configured to drive the self-driving robot body 2, and includes a body wheel, a drive motor, and a drive steering device.

In the drive unit 21, a drive motor is driven under the control of the control unit 24, and the robot body 2 travels while the main body wheel 211 connected to the drive motor rotates, and autonomous driving is performed by the drive steering device. The moving direction of the robot body 2 is determined.

The communication unit 22 communicates with the auxiliary running body 3 through wired/wireless communication.

The communication is communicated through a docking connection, or is implemented to communicate through wireless communication, and wireless communication is, for example, wireless Internet (eg, wi??fi), short-range communication (eg, Bluetooth, ZigBee, and infrared communication), and mobile communication.

In addition, the communication unit 22 is formed to be able to communicate with external devices, servers, routers, and the like.

The sensor unit 23 may detect a proximity distance of the auxiliary traveling body 3 .

Specifically, the sensor unit 23 may include at least one of a camera, radar, lidar, ultrasonic sensor, and infrared sensor.

Specifically, the camera uses an image, the radar uses radio waves, the lidar uses laser light, the ultrasonic sensor uses an ultrasonic signal, and the infrared sensor uses an infrared signal (3) Proximity or obstacles can be detected.

The configuration of the sensor unit 23 can be used for driving of the robot body 2 as well. In addition, sensors necessary for driving may be further included, and sensing information sensed through the sensors may be provided to the control unit 24 and used to control the self-driving robot body 2 .

The control unit 24 has a control authority for the robot body 2 or the auxiliary traveling body 3, and performs control of the robot body 2 or the auxiliary traveling body 3.

Specifically, the control authority of the auxiliary running body 3 is generated when the robot body 2 is safely seated on the auxiliary running body 3, and the robot main body 2 gets off the auxiliary running body 3 and assists driving. Disappears when the body 3 is moved to a safe position (for example, a position where the auxiliary running body 3 will not be short-circuited by moisture or the like or a user-specified position), which will be described in detail later in FIGS. 3 and 4 I'm going to do it.

The control authority of the control unit 24 of the auxiliary running body 3 is created and destroyed is not limited to the description and can be applied in various ways.

The charging unit 25 provides driving force required for the robot body 2 or the auxiliary running body 3 using a battery.

The charging unit 25 may be provided at the rear end of the auxiliary running body 3, and when the battery is discharged, it is supplied with power from a charging device and recharged before use.

The auxiliary running body 3 is formed to be combined with the robot body 2, and is designed to withstand the load of the robot body 2.

When the robot body 2 is seated on the auxiliary traveling body 3, the auxiliary traveling body 3 can be controlled to autonomously travel by the robot body 2 by connecting communication with the robot body 2.

In addition, the auxiliary running body 3 is divided into an indoor auxiliary running body and an outdoor auxiliary running body according to the driving environment. body, etc.

The auxiliary running body 3 includes an auxiliary driving unit 31, an auxiliary sensor unit 32, a seating unit 33, an auxiliary communication unit, an auxiliary control unit 35, and an auxiliary charging unit 36.

The auxiliary driving unit 31 is configured to drive the auxiliary running body 3 and includes an auxiliary driving wheel, a motor, and a steering device.

In the auxiliary driving unit 31, a motor is driven under the control of the auxiliary control unit 35, and the auxiliary driving body 3 travels while the auxiliary driving wheel 311 connected to the motor rotates, and also the auxiliary driving by the steering device. The traveling direction of the sieve 3 can be determined.

The auxiliary driving wheel 311 is designed to be larger and stronger than the main body wheel 211 so that the robot body 2 can travel in an outdoor driving environment where it cannot travel.

The auxiliary driving wheel 311 may be in the form of a wheel, may be in the form of an endless track, or may be formed in the form of a leg.

The auxiliary driving wheel 311 in the form of a wheel can be mainly used when driving at high speed, and the auxiliary driving wheel 311 using an endless track (eg, belt type) has a large area in contact with the ground, so it is difficult to It can be used when driving in an environment such as terrain or a desert, and the auxiliary driving wheel 311 using the legs can be used when there are rough terrain or obstacles.

As such, in the auxiliary running body 3 applied to the autonomous driving device 1 of the present invention, the size and shape of the auxiliary running wheel 311 can be manufactured in various ways according to the driving environment.

Accordingly, the robot body 2 is formed to be able to travel outdoors, such as stairs, slopes, ice, mountain roads, rice fields, asphalt, etc., which cannot be driven alone. It may be selected by the user or may be automatically selected.

The auxiliary sensor unit 32 detects the proximity distance of the robot body 2, seating information of the robot body 2, and environmental information of the auxiliary traveling body 3.

Specifically, the auxiliary sensor unit 32 may include at least one of a camera, radar, lidar, ultrasonic sensor, infrared sensor, seat detection sensor, moisture sensor, or temperature sensor.

The camera, radar, lidar, ultrasonic sensor, and infrared sensor detect proximity to the robot body 2, the camera uses an image, the radar uses radio waves, and the lidar uses laser light. Using, the ultrasonic sensor uses an ultrasonic signal, and the infrared sensor uses an infrared signal to detect the proximity distance to the robot body 2.

In addition, the seat detection sensor detects whether the robot body 2 is safely seated on the upper surface of the coupling plate of the auxiliary traveling body 3.

In addition, the moisture sensor and the temperature sensor detect environmental information (surrounding humidity and temperature) of the auxiliary running body 3, so that the auxiliary running body 3 is in a safe position (for example, the auxiliary running body 3 is damp It can be used as an indicator for determining whether it is moved to a position that will not be shorted by the like or a user-specified position).

The configuration of the sensor unit can of course also be used to control the running of the auxiliary running body 3 . In addition, the auxiliary sensor unit 32 may further include a sensor required for driving, and sensing information sensed through the sensor may be provided to the auxiliary control unit 35 .

The seating portion 33 is composed of a boarding board 331 and a boarding plate 332.

The boarding board 331 may be in a retracted form at normal times, and may be withdrawn when the robot body 2 approaches a predetermined distance or less to board the auxiliary traveling body 3. In addition, protrusions may be formed on the surface of the boarding board 331 to prevent slipping.

The boarding plate 332 is mounted on the upper surface of the auxiliary running body 3, and a seating groove (not shown) is formed in the boarding plate 332 so that the lower part of the boarded robot body 2 is in the seating groove ( (not shown) is inserted and fixed so as not to shake or fall while driving. A signal connection terminal for exchanging signals with the main body may be formed in the seating groove (not shown). At this time, a connection terminal corresponding to the signal connection terminal is also formed in the main body.

In addition, the boarding plate 332 may be provided with various fixing means for stably fixing the robot body 2 when the robot body 2 is boarded on the auxiliary running body 3 .

The auxiliary communication unit 34 performs communication with the robot body 2 through wired/wireless communication.

The communication may be communicated through a docking connection or implemented to communicate through wireless communication, and wireless communication is, for example, wireless Internet (eg, wi? and infrared communication), and mobile communication.

In addition, the auxiliary communication unit 34 is formed to be able to communicate with external devices, servers, routers, and the like.

The auxiliary control unit 35 performs overall control of the auxiliary running body 3 based on the detection result of the auxiliary sensor unit 32 .

In addition, the auxiliary control unit 35 may receive a control signal from the robot body 2 through the auxiliary communication unit 34 and control the driving of the auxiliary traveling body 3 .

In addition, the auxiliary control unit 35 determines the proximity distance based on the proximity distance of the robot body 2 detected by the auxiliary sensor unit 32 when the robot body 2 intends to board the auxiliary traveling body 3. It is determined whether the distance is less than or equal to a predetermined distance, and when the proximity distance is less than or equal to the predetermined distance, the boarding board 331 of the auxiliary running body 3 is withdrawn.

In addition, the auxiliary control unit 35, when the robot body 2 rides the auxiliary traveling body 3, according to the seating information of the robot body 2 detected by the auxiliary sensor unit 32, the robot body 2 It is determined whether the auxiliary running body 3 is properly seated, and if it is correctly seated, the boarding board 331 is brought in to its original state and control authority of the auxiliary running body 3 is created in the robot body 2.

In addition, the auxiliary control unit 35, when the robot body 2 gets off the auxiliary running body 3, environmental information (for example, temperature information) of the auxiliary running body 3 detected by the auxiliary sensor unit 32 , humidity information, location information), it is determined whether the auxiliary traveling body 3 has been moved to a safe location, and if it has moved to a safe location, the control authority of the auxiliary traveling body 3 of the robot body 2 is extinguished. .

Details on this will be described later with reference to FIGS. 5 and 6 .

The auxiliary charging unit 36 provides necessary driving force to the auxiliary running body 3 using a battery.

On the other hand, when the robot body 2 is on the auxiliary running body 3, the auxiliary running body 3 may be driven using only its own battery, and also from the robot body 2. The auxiliary running body 3 may be driven by receiving the driving force.

The auxiliary charging unit 36 may be provided at the rear end of the auxiliary running body 3, and when the battery is discharged, it may be recharged and used by receiving power from a charging device through a charging terminal.

Hereinafter, with reference to FIGS. 3 and 4 , a process in which the control unit 24 controls the robot body 2 to board the auxiliary traveling body 3 will be described.

First, among the plurality of auxiliary running bodies 3, the auxiliary running body 3 on which the robot body 2 is to be boarded is selected. At this time, the selection of the auxiliary running body 3 may be automatically selected based on environment information to be driven and location information of the auxiliary running body 3, or may be selected by the user.

As the auxiliary running body 3 to be boarded, specifically, there are an indoor auxiliary running body and an outdoor auxiliary running body, and the outdoor auxiliary running body includes an auxiliary running body for delivery, an auxiliary running body for agriculture, an auxiliary running body for mountain, and a road driving vehicle. There are auxiliary running bodies, auxiliary running bodies for icy roads, and auxiliary running bodies for slopes.

When the auxiliary traveling body 3 is selected, the controller 24 of the robot body 2 moves to the selected auxiliary traveling body 3 . At this time, as the distance between the robot body 2 and the auxiliary traveling body 3 gets closer, the auxiliary control unit 35 of the auxiliary traveling body 3 detects the robot body 2 detected by the auxiliary sensor unit 32. Based on the proximity distance information of (S41), it is determined whether the proximity distance is less than or equal to a predetermined distance (S42), and when the proximity distance is less than or equal to the predetermined distance, the boarding board 331 of the auxiliary running body 3 is withdrawn (S43). .

When the boarding board 331 is withdrawn, the control unit 24 of the robot body 2 based on the distance information of the auxiliary traveling body 3 sensed from the sensor unit, as shown in FIGS. 3(b) to 3(c) Likewise, the robot body 2 is precisely controlled so that the robot body 2 can be accurately seated on the seating portion 33 of the auxiliary traveling body 3 along the boarding board 331 of the auxiliary traveling body 3. (S44).

Thereafter, when the robot body 2 is safely seated on the auxiliary traveling body 3, the auxiliary control unit 35 of the auxiliary traveling body 3 determines that the robot body 2 is attached to the main body seating part 33 of the auxiliary traveling body 3. ) is correctly seated (S45), and if it is correctly seated, the boarding board 331 is brought in to its original state (S46), and then the control authority of the auxiliary control unit 35 is generated in the robot body 2. (S47). As a result, the robot body has overall control authority (operation control authority and driving control authority) of the auxiliary traveling body 3, so that driving in a specific outdoor environment is possible.

For example, as in the embodiment of the present invention, when the serving robot body 2 designed to run indoors wants to run outdoors, the control unit 24 of the robot main body 2 controls the outdoor auxiliary running body, especially The closest auxiliary running body is selected among the auxiliary running bodies for delivery, the proximity distance of the selected auxiliary running body is detected, and the boarding board 331 is withdrawn when the proximity distance is less than a predetermined distance, so that the robot body 2 is the auxiliary running body. (3) to allow boarding. In addition, when the robot body 2 is properly seated on the auxiliary traveling body 3, the control authority of the auxiliary traveling body 3 is transferred to the serving robot body 2, thereby providing the serving service boarded on the auxiliary traveling body 3. It is possible to control the robot body 2 for use in outdoor driving.

That the serving robot body 2 is used for outdoor driving means that, specifically, the self-driving robot body 2 can ride on the auxiliary running body 3 to deliver food to the home, and also use the delivery container. It can be collected, and it can also perform work in an outdoor environment, such as serving food with an outdoor table, which means that the usability of the autonomous driving device 1 is expanded.

As described above, the autonomous driving device of the present invention can be used by riding the robot body 2 on the auxiliary running body 3 according to the driving environment, so that convenient use is possible.

Hereinafter, in FIGS. 5 and 6, a process of controlling the control unit 24 of the robot body 2 to get off the robot body 2 from the auxiliary traveling body 3 will be described.

When the robot body 2 intends to get off the auxiliary traveling body 3, the controller 24 of the robot body 2 controls the boarding of the auxiliary traveling body 3 as shown in FIGS. 5(a) to 5(c). After the board 331 is withdrawn (S61) and the robot body 2 is dismounted from the auxiliary running body 3 along the boarding board 331 of the auxiliary running body 3 (S62), the boarding board 331 is taken in. let it

Thereafter, when the robot body 2 is dismounted from the auxiliary running body 3 and moved to a safe position as shown in FIG. 5 (d) (S63), the auxiliary running body 3 is moved to a safe position (eg, It is determined whether (3) has been moved to a position where it will not be short-circuited by moisture or a user-specified position) (S64), and when it is disembarked at a safe location, the control authority of the auxiliary running body 3 that the robot body 2 has (Operation control authority and driving control authority) are extinguished (S65).

As a result, the robot body that has been disembarked from the auxiliary running body 3 can board another auxiliary running body 3 .

In the present invention, the combination of the serving robot body with the outdoor auxiliary running body is cited as an example, but is not limited thereto, and can be used in various driving environments for various purposes.

As another example, in the case of a household robot body, it is designed to only perform tasks such as cleaning and crime prevention in the home, but when such a household robot body is used by riding on an outdoor auxiliary running body, not only domestic work, but also mart errands Self-driving robots, which were only used at home, can be used for a wider variety of tasks, such as picking up children, coping with emergencies, exercising, and picking up food.

In addition, when the robot body is used in the city, by integrating the robot body with an auxiliary running body capable of driving in the road environment, the robot body runs on general roads, runs parcels or grocery errands, or handles the wheelchair of the disabled. can be performed.

In addition, when the robot body is used for company work, by integrating with an auxiliary driving body that can be used for company work, it receives input from telecommuters' commuting routes and sends and receives documents necessary for the company according to the commuting route, or for video conferences. can get you involved.

In addition, when the robot body is used in rural areas, the robot body can be used for agricultural tasks such as spraying pesticides or weeding by using the robot body on an auxiliary running body capable of driving in a field.

As described in detail above, the autonomous driving device capable of combining auxiliary running bodies according to the present invention may be used in a way that only the robot body alone drives, or the autonomous driving robot body may be combined with the auxiliary running body. As an autonomous driving device, it can be used in various driving environments depending on the type of auxiliary running body, so its usability is expanded.

For example, when a serving robot body that can only be used indoors is used by riding on an auxiliary delivery vehicle, it is not only possible to serve indoors, but also delivers food to homes, collects delivery containers, and also serves outdoor tables. Since food can be served, the service area that can be performed can be expanded.

In addition, since the self-driving device of the present invention does not need to replace the self-driving robot itself even if the driving environment changes, the number of self-driving robots can be significantly reduced and the production cost of the self-driving robot can be reduced.

In addition, since the auxiliary running body can be combined and used for various tasks, user convenience is increased.

The preferred embodiment of the present invention described above has been disclosed for illustrative purposes, and various modifications, changes and additions will be possible to those skilled in the art with ordinary knowledge of the present invention within the spirit and scope of the present invention, and such modifications and changes and additions should be considered to fall within the scope of the claims of the present invention.

1: autonomous driving device
2: Robot body
3: auxiliary running body
21: driving unit
22: Ministry of Communications
23: sensor unit
24: control unit
25: charging part
31: auxiliary drive unit
32: auxiliary sensor unit
33: seating part
34: auxiliary communication unit
35: auxiliary control unit
36: auxiliary charging unit
211: main body wheel
311: auxiliary driving wheel
331 boarding board
332: boarding plate

Claims (7)

It consists of a robot body and an auxiliary running body,
The robot can drive alone, or
A device in which the robot body rides on the auxiliary traveling body and travels,
The robot body,
It is configured to include a control unit that has control authority of the robot main body or auxiliary running body and performs control of the robot main body or auxiliary running body,
The auxiliary running body,
A seating portion composed of a boarding plate and a boarding plate;
An auxiliary sensor unit for detecting a proximity distance to the robot body, seating information of the robot body with respect to the seating unit, or environmental information of the auxiliary traveling body;
Based on the detection result of the auxiliary sensor unit, an autonomous driving device capable of combining auxiliary running bodies, characterized in that configured to include an auxiliary control unit that performs control of the auxiliary running body.
According to claim 1,
The boarding board of the auxiliary running body,
Based on the proximity distance to the robot body detected by the auxiliary sensor unit,
When the proximity distance is less than or equal to a predetermined distance, the autonomous driving device capable of merging auxiliary running bodies, characterized in that the boarding board is withdrawn.
According to claim 1,
The auxiliary running body control authority of the control unit,
Based on the seating information of the robot body detected by the auxiliary sensor unit,
When the robot body is safely seated on the auxiliary running body,
An autonomous driving device capable of combining auxiliary running bodies, characterized in that the auxiliary running body control authority of the robot body is generated.
According to claim 1,
The auxiliary running body control authority of the control unit,
When the robot body gets off the auxiliary running body and is moved to a safe location, an autonomous driving device capable of combining auxiliary running bodies, characterized in that the control authority of the auxiliary running body of the robot body is extinguished.
According to claim 4,
The safe location is
Based on the environmental information of the auxiliary traveling body detected by the auxiliary sensor unit,
An autonomous driving device capable of combining auxiliary running bodies, characterized in that the ambient humidity of the auxiliary running body getting off from the robot body is one of a position specified by a user or a position designated by a user.
It consists of a robot body and an auxiliary running body,
It relates to an autonomous driving method by an autonomous driving device in which the robot body alone travels or the robot body rides on an auxiliary traveling body,
detecting the proximity distance of the robot body;
withdrawing the boarding board of the auxiliary running body when the proximity distance is equal to or less than a predetermined distance;
Seating the robot body on the seating portion of the auxiliary running body along the withdrawn boarding board;
Determining whether the robot body is properly seated in the seating portion; and
When the robot body is properly seated, generating the control authority of the auxiliary traveling body to the robot body;
An autonomous driving method capable of merging auxiliary running bodies comprising a.
It consists of a robot body and an auxiliary running body,
It relates to an autonomous driving method by an autonomous driving device in which the robot body alone travels or the robot body rides on an auxiliary traveling body,
step of the robot body getting off the auxiliary traveling body;
moving the lowered auxiliary running body to a safe position;
detecting environmental information of the auxiliary running body whether or not the auxiliary running object has moved to a safe position; and
terminating the control authority of the auxiliary traveling body of the robot body when it is determined that the auxiliary traveling body has been moved to a safe position based on the environment information of the auxiliary traveling body;
An autonomous driving method capable of combining auxiliary running bodies comprising a.

Images