CN102830436A - Underground non-metal pipeline distribution probing device and method based on ultrasonic sensor - Google Patents
Underground non-metal pipeline distribution probing device and method based on ultrasonic sensor Download PDFInfo
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- CN102830436A CN102830436A CN2012103632606A CN201210363260A CN102830436A CN 102830436 A CN102830436 A CN 102830436A CN 2012103632606 A CN2012103632606 A CN 2012103632606A CN 201210363260 A CN201210363260 A CN 201210363260A CN 102830436 A CN102830436 A CN 102830436A
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Abstract
The invention discloses an underground non-metal pipeline distribution probing device and method based on an ultrasonic sensor. The probing device comprises a stretching rod, the ultrasonic sensor, a step motor and a control circuit, wherein the ultrasonic sensor is fixedly suspended below the edge of one end of the stretching rod, and is used for emitting ultrasonic waves to probe an underground non-metal pipeline, and receiving reflection waves of the underground non-metal pipeline; the step motor is connected with the other end of the stretching rod through the rotating shaft of the step motor; the step motor drives the ultrasonic sensor to carry out circumference step translation parallel to the earth surface plane through the stretching rod; and the control circuit is respectively connected with the circuits of the step motor and the ultrasonic sensor. With the adoption of the underground non-metal pipeline distribution probing device and method based on the ultrasonic sensor provided by the invention, under the conditions that covering earth is not excavated, no real contact is realized, and the normal use is not influenced, the distribution and the direction of the underground metal pipeline can be conveniently and rapidly determined; and the underground non-metal pipeline distribution probing device and method have the characteristics that the device and the method are practical, convenient and easy to operate.
Description
Technical field
The present invention relates to a kind of technical field of nondestructive testing that belongs to, be specifically related to a kind of underground non-metal pipeline distribution detecting apparatus and method of sonac.
Background technology
Nonmetal pipeline has obtained using extremely widely in current city fundamental construction, in the economic development of country and the people's productive life, occupies position of crucial importance.It is the important means that detects and protect its safe operation that the distribution of nonmetal pipeline is surveyed.The successful exploitation of nonmetal pipeline distribution Detection Techniques will be played and guarantee the nonmetal pipeline safe operation; Make things convenient for the examination and the maintenance of nonmetal pipeline; Simultaneously can avoid unnecessary destruction to nonmetal pipeline; Significantly reduce because of the frequent caused loss of overhaul, prevent in the work progress fund and the time of urban construction has been practiced thrift in the infringement of nonmetal pipeline greatly.
Existing underground non-metal pipeline Detection Techniques have: visit end radar, nonmetal pipeline detection instrument, notation.Wherein visit end Radar Technology and receive pipeline address condition restriction on every side, undesired signal is more; Nonmetal pipeline detection instrument only is applicable to small-bore nonmetal pipelines such as groundwater supply, draining, combustion gas, and needs pipeline that exposed point is arranged on the face of land; The sign rule needs pipeline when laying, to be embedded with corresponding mark or speciality lead underground, if do not have mark or speciality lead then can't survey.All there is significant limitation in above method.
Summary of the invention
The invention provides a kind of underground non-metal pipeline distribution detecting apparatus and method based on sonac; Can do not excavate earthing, really contactless, do not influence under the situation of normal use, be positioned at reflection wave signal that the sensor of pipeline face of land top receives through direct detection and change and can make things convenient for the distribution trend that detects underground pipeline accurately.
For realizing above-mentioned purpose, the present invention provides a kind of underground non-metal pipeline distribution detecting apparatus based on sonac, is characterized in that this sniffer comprises:
Stretch;
Sonac, its suspension are fixed in the below of above-mentioned stretch one end margin, this sonac emission ultrasonic listening underground non-metal pipeline, and the reflection wave of reception underground non-metal pipeline;
Stepper motor, through the other end of its rotating shaft connection stretch, stepper motor drives the circumference stepping translation that sonac is parallel to plane, the face of land through stretch; And,
The control circuit that is connected with the sonac circuit with above-mentioned stepper motor respectively.
Above-mentioned control circuit comprises:
Stepper motor driving circuit, its output driving pulse drive stepping motor stepping;
The transmitted wave exciting circuit, its output drive pulsed drive sonac emission ultrasound wave;
The reflection wave modulate circuit, sonac receives reflection wave and exports the reflection wave modulate circuit to, and the reflection wave modulate circuit is nursed one's health this reflection wave signal; And,
The host computer of two-way connection and data acquisition module, host computer drives above-mentioned transmitted wave exciting circuit and stepper motor driving circuit respectively through data acquisition module; Reflection wave signal after the conditioning of data acquisition module scanning sample reflection wave modulate circuit imports host computer, and the reflection wave signal of host computer selected part time period carries out analyzing and processing.
Step angle θ≤1.8 of above-mentioned stepper motor °.
Above-mentioned stepper motor is higher than the suspension of plane, the face of land and fixedly installs.
Above-mentioned stretch can be along its axial tension, and this stretch length r is 25 to 100 centimetres.
Above-mentioned sonac adopts piezoelectric type single-chip, transceiver sonac, and its blind area d≤35cm, emission angle are 0 °.
Above-mentioned data acquisition module comprises:
Analog output module, its output drive pulse are to sonac, and the output driving pulse is to stepper motor;
Analog input module receives the reflection wave signal that sonac is exported.
A kind of underground non-metal pipeline distribution detection method based on sonac, it is applicable to any above-mentioned underground non-metal pipeline distribution detecting apparatus based on sonac; Be characterized in that the method includes the steps of:
Step 1.1, choose the zone marker home position O of the no pipeline in below, stepper motor is fixed in the top of home position O, the initial length of stretch is set, guarantee the interior no-sundries of sonac sweep limit;
Step 1.2, the work of PC control sniffer, the stepper motor driving circuit drive stepping motor drives clockwise or counterclockwise one week of translation of sonac, and the sonac of transmitted wave exciting circuit excitation simultaneously emission ultrasound wave scans;
Step 1.3, sonac reception reflection wave signal transfer to the reflection wave modulate circuit and nurse one's health;
Reflection wave signal after step 1.4, reflection wave modulate circuit will be nursed one's health transfers to host computer and carries out Treatment Analysis;
The data of step 1.5, the host computer reflection wave signal after with Treatment Analysis show output through waveform;
Step 2, sniffer increase investigative range, two place's projections in the waveform of reflection wave signal, occur;
The length of step 2.1, increase stretch enlarges investigative range, and guarantees no-sundries in the sonac sweep limit; The increase of stretch length is smaller or equal to the twice of sonac radius of investigation;
Step 2.2, stepper motor driving circuit drive stepping motor drive clockwise or counterclockwise one week of translation of sonac, and the sonac of transmitted wave exciting circuit excitation simultaneously emission ultrasound wave scans;
Step 2.3, sonac reception reflection wave signal transfer to the reflection wave modulate circuit and nurse one's health;
Reflection wave signal after step 2.4, reflection wave modulate circuit will be nursed one's health transfers to host computer and carries out Treatment Analysis;
The data of the reflection wave signal of gained compare analysis in step 2.5, host computer reflection wave signal data and the step 1 after with analyzing and processing, and to show the reflection wave signal data after the output analyzing and processing through waveform;
Step 2.5, host computer judge in the waveform of reflection wave signal two place's projections whether occur, if, then jump to step 3, if not, then jump to step 2.1;
Step 3, host computer are established the perpendicular projection point of stepper motor on the face of land and are decided to be center of circle O, occur two place's projections in the waveform of record reflection wave signal respectively and central angle alpha between the scan start point of sonac and β;
Step 4, host computer are the limit of central angle alpha and β with sonac at the perpendicular projection point A on the face of land and the line OA of center of circle O; Measure central angle alpha and β clockwise or counterclockwise; Another limit of obtaining central angle alpha and β is respectively OB and OC; This straight line OB and straight line OC respectively be that the center of circle, OA are that the circumference of radius intersects at a B and some C with O, this BC line is the trend that detects the gained pipeline, and this pipeline be positioned at straight line BC under.
The present invention is based on the underground non-metal pipeline distribution detecting apparatus of sonac and the nonmetal pipeline distribution detection method of method and prior art compares; Its advantage is; The present invention realized do not excavate earthing, really contactless, do not influence under the situation of normal use, confirm underground non-metal pipeline distribute trend, prior art relatively quickly and easily; This technology is more practical, more convenient, more easy to operate, is one of the most feasible underground non-metal pipeline lossless detection instrument.
Description of drawings
Fig. 1 is the structural representation that the present invention is based on the underground non-metal pipeline distribution detecting apparatus of sonac;
Fig. 2 is the working timing figure of detection method that the present invention is based on the underground non-metal pipeline distribution detecting apparatus of sonac;
Fig. 3 is the outcome measurement figure of detection method that the present invention is based on the underground non-metal pipeline distribution detecting apparatus of sonac.
Embodiment
Below in conjunction with accompanying drawing, further specify specific embodiment of the present invention.
As shown in Figure 1, the present invention discloses a kind of underground non-metal pipeline distribution detecting apparatus based on sonac, is used to measure the situation of moving towards of underground non-metal pipeline.
This sniffer comprises: telescopic stretch 2, be arranged at the stepper motor 1 and the sonac 3 at stretch 2 two ends respectively, and the control circuit that is connected with sonac 3 circuit with stepper motor 1 respectively.
The below of stretch 2 one end margins is fixed in sonac 3 suspensions, and this sonac 3 is used to launch the ultrasonic listening underground non-metal pipeline, and surveys the reflection wave that receives underground non-metal pipeline.In the present embodiment, sonac 3 adopts piezoelectric type single-chip, transceiver sonac, and its blind area d≤35cm, emission angle are 0 °.
Stretch 2 can be along its axial tension, and this stretch 2 length r are 25 to 100 centimetres.
Control circuit comprises: host computer 8; The data acquisition module 7 that is connected with host computer 8 two-way circuits; The stepper motor driving circuit 6 and the transmitted wave exciting circuit 4 of circuit connection data acquisition module 7 output terminals; And the reflection wave modulate circuit 5 of circuit connection data acquisition module 7 input ends; Wherein the circuit of output terminal of stepper motor driving circuit 6 connects the input end of stepper motor 1, and the circuit of output terminal of transmitted wave exciting circuit 4 connects the input end of sonac 3, and the inlet circuit of reflection wave modulate circuit 5 connects the output terminal of sonac 3.
Data acquisition module 7 comprises: analog output module 71 and analog input module 72, analog output module 71 is a D/A converter, its output drive pulse to sonac 3, and output driving pulse to stepper motor 1.Analog input module 72 is an A/D converter, and it receives the reflection wave signal of sonac 3 outputs.Also include buffer register 73 in the data acquisition module 7, buffer register 73 circuit are connected between analog output module 71 and analog input module 72 and the host computer 8.
Stepper motor driving circuit 6 includes optical coupling isolator, pulsqe distributor and power amplifier, satisfies the requirement of step motor drive voltage and current.
Transmitted wave exciting circuit 4 has improved the pulse load ability, satisfies the requirement of sonac driving voltage and electric current.
Reflection wave modulate circuit 5 comprises holding circuit, has signal and amplifies and filter function.
Principle of work based on the underground non-metal pipeline distribution detecting apparatus of sonac is following:
Host computer 8 drives transmitted wave exciting circuit 4 through data acquisition module 7; The driving pulse of transmitted wave exciting circuit 4 output CFs and certain pulses width drives sonac 3 emission ultrasound waves; The ultrasound wave radiation is gone into underground; Ultrasound wave reflects through underground nonmetal pipeline, and sonac 3 is surveyed and received reflection wave, and reflection wave signal is transferred to reflection wave modulate circuit 5; 5 pairs of these reflection wave signals of reflection wave modulate circuit carry out the conditioning of signal amplification and filtering; And the reflection wave signal after will nursing one's health transfers to the analog input module 72 of data acquisition module 7, and the reflection wave signal after analog input module 72 will be nursed one's health transfers to host computer 8, and the reflection wave signal of 8 selected part time periods of host computer carries out analyzing and processing; Host computer 8 is provided with display, and host computer 8 shows output with its analyzing and processing gained data through oscillogram.
Simultaneously for realizing with circumferential path scanning ground; Host computer 8 is through data acquisition module 7 drive stepping motor driving circuits 6; The driving pulse drive stepping motor 1 of stepper motor driving circuit 6 output CFs and certain pulses width is rotated with specific step angle stepping, and this step angle is θ≤1.8 °.Stepper motor 1 drives stretch 2 through rotating shaft and in being parallel to the plane on ground, rotates, and drives sonac 3 with the circumferential path translation scan through stretch 2.
This detection sequential based on the underground non-metal pipeline distribution detecting apparatus of sonac is as shown in Figure 2; 0 constantly; Transmitted wave exciting circuit 4 beginning output drive pulsed drive sonacs 3 emission ultrasound waves; Sonac 3 receives reflection wave simultaneously, and at t1 constantly, transmitted wave exciting circuit 4 stops to drive sonac 3 emission ultrasound waves.Behind process t1 and the aftershock time Δ t of t2 between the time (wherein this aftershock time Δ t=2d/ (340m/s)); At t2 constantly; Host computer 8 begins to receive reflection wave signal and carries out Treatment Analysis; The reflection wave signal that host computer 8 is chosen the period between the t2 to t3 carries out Treatment Analysis, and until t3 constantly, host computer 8 stops to analyze reflection wave signal.Simultaneously, begin to export driving pulse through stepper motor driving circuit 6, rotate with specific step angle stepping in t3 to t4 period drive stepping motor 1 at t3 moment host computer 8.
Then at t4 constantly, transmitted wave exciting circuit 4 output drive pulse is again launched ultrasound waves to drive sonac 3, and is repeated above-mentioned flow process.
The present invention also discloses a kind of underground non-metal pipeline distribution detection method based on sonac, and it is applicable to the above-mentioned underground non-metal pipeline distribution detecting apparatus based on sonac, and the method includes the steps of:
Step 1.1, choose the zone marker home position O of the no pipeline in below, stepper motor 1 is fixed in the top of home position O, the initial length of stretch 2 is set, and guarantees the interior no-sundries of sonac 3 sweep limits.
Step 1.2, this underground non-metal pipeline distribution detecting apparatus work of host computer 8 controls based on sonac; Stepper motor driving circuit 6 drive stepping motor 1 drive sonac 3 clockwise (or counterclockwise) one week of translation, and transmitted wave exciting circuit 4 excitation sonacs 3 emission ultrasound waves scan simultaneously.
Step 1.3, sonac 3 reception reflection wave signals transfer to reflection wave modulate circuit 5 and nurse one's health.
Reflection wave signal after step 1.4, reflection wave modulate circuit 5 will be nursed one's health transfers to host computer 8 and carries out Treatment Analysis.
Step 1.5, host computer 8 show output with the data of the reflection wave signal after the Treatment Analysis through waveform.
Step 2, increase investigative range, two place's projections in the waveform of reflection wave signal, occur based on the underground non-metal pipeline distribution detecting apparatus of sonac.
The length of step 2.1, increase stretch 2 enlarges investigative range, and guarantees no-sundries in sonac 3 sweep limits.The increase of stretch 2 length is smaller or equal to the twice of sonac 3 radius of investigation.
Step 2.2, stepper motor driving circuit 6 drive stepping motor 1 drive sonac 3 clockwise (or counterclockwise) one week of translation, and transmitted wave exciting circuit 4 excitation sonacs 3 emission ultrasound waves scan simultaneously.
Step 2.3, sonac 3 reception reflection wave signals transfer to reflection wave modulate circuit 5 and nurse one's health.
Reflection wave signal after step 2.4, reflection wave modulate circuit 5 will be nursed one's health transfers to host computer 8 and carries out Treatment Analysis.
Step 2.5, host computer 8 compare analysis with the data of the reflection wave signal of gained in reflection wave signal data after the analyzing and processing and the step 1, and to pass through the reflection wave signal data after waveform shows the output analyzing and processing.
Step 2.5, host computer 8 judge in the waveform of reflection wave signal two place's projections whether occur, if, then jump to step 3, if not, then jump to step 2.1.
Step 3, host computer 8 are established the perpendicular projection point of stepper motor 1 on the face of land and are decided to be center of circle O, occur two place's projections in the waveform of record reflection wave signal respectively and central angle alpha between the scan start point of sonac 3 and central angle β.
Step 4, as shown in Figure 3; Host computer 8 is the limit of central angle alpha and central angle β with sonac 3 at the perpendicular projection point A on the face of land and the line OA of center of circle O; (or counterclockwise) measured central angle alpha and β clockwise, and another limit of obtaining central angle alpha and β is respectively OB and OC, this straight line OB and straight line OC respectively be that the center of circle, OA are that the circumference of radius intersects at a B and puts C with O; This BC line is the trend that detects the gained pipeline, and confirm this pipeline be positioned at straight line BC under.
In sum; A kind of underground non-metal pipeline distribution detecting apparatus and method disclosed by the invention based on sonac; Can do not excavate earthing, really contactless, do not influence under the situation of normal use, be positioned at reflection wave signal value that the sonac of pipeline face of land top receives through direct detection and change and can make things convenient for the distribution trend that detects underground pipeline accurately.
Although content of the present invention has been done detailed introduction through above-mentioned preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute all will be conspicuous.Therefore, protection scope of the present invention should be limited appended claim.
Claims (10)
1. underground non-metal pipeline distribution detecting apparatus based on sonac is characterized in that this sniffer comprises:
Stretch (2);
Sonac (3), its suspension are fixed in the below of said stretch (2) one end margins, this sonac (3) emission ultrasonic listening underground non-metal pipeline, and the reflection wave of reception underground non-metal pipeline;
Stepper motor (1), through the other end of its rotating shaft connection stretch (2), stepper motor (1) drives the circumference stepping translation that sonac (3) is parallel to plane, the face of land through stretch (2); And,
The control circuit that is connected with sonac (3) circuit with said stepper motor (1) respectively.
2. the underground non-metal pipeline distribution detecting apparatus based on sonac as claimed in claim 1 is characterized in that described control circuit comprises:
Stepper motor driving circuit (6), its output driving pulse drive stepping motor (1) stepping;
Transmitted wave exciting circuit (4), its output drive pulsed drive sonac (3) emission ultrasound wave;
Reflection wave modulate circuit (5), sonac (3) receives reflection wave and exports reflection wave modulate circuit (5) to, and reflection wave modulate circuit (5) is nursed one's health this reflection wave signal; And,
Host computer of two-way connection (8) and data acquisition module (7), host computer (8) drives said transmitted wave exciting circuit (4) and stepper motor driving circuit (6) respectively through data acquisition module (7); Reflection wave signal after data acquisition module (7) scanning sample reflection wave modulate circuit (5) conditioning imports host computer (8), and the reflection wave signal of host computer (8) selected part time period carries out analyzing and processing.
3. the underground non-metal pipeline distribution detecting apparatus based on sonac as claimed in claim 1 is characterized in that, step angle θ≤1.8 of described stepper motor (1) °.
4. the underground non-metal pipeline distribution detecting apparatus based on sonac as claimed in claim 1 is characterized in that, described stepper motor (1) is higher than the suspension of plane, the face of land and fixedly installs.
5. the underground non-metal pipeline distribution detecting apparatus based on sonac as claimed in claim 1 is characterized in that described stretch (2) can be along its axial tension, and this stretch (2) length r is 25 to 100 centimetres.
6. the underground non-metal pipeline distribution detecting apparatus based on sonac as claimed in claim 1 is characterized in that, described sonac (3) adopts piezoelectric type single-chip, transceiver sonac, and its blind area d≤35cm, emission angle are 0 °.
7. the underground non-metal pipeline distribution detecting apparatus based on sonac as claimed in claim 2 is characterized in that, described data acquisition module (7) comprises:
Analog output module (71), its output drive pulse to sonac (3), and output driving pulse to stepper motor (1);
Analog input module (72) receives the reflection wave signal that sonac (3) is exported.
8. underground non-metal pipeline distribution detection method based on sonac, it is applicable to like any described underground non-metal pipeline distribution detecting apparatus based on sonac in claim 1 to the claim 7; It is characterized in that the method includes the steps of:
Step 1, sniffer begin to gather the waveform of reflection wave signal from no conduit region;
Step 2, sniffer increase investigative range, two place's projections in the waveform of reflection wave signal, occur;
Step 3, host computer (8) are established the perpendicular projection point of stepper motor (1) on the face of land and are decided to be center of circle O, occur two place's projections in the waveform of record reflection wave signal respectively and central angle alpha and β between the scan start point of sonac (3);
Step 4, host computer (8) are the limit of central angle alpha and β with sonac (3) at the perpendicular projection point A on the face of land and the line OA of center of circle O; Measure central angle alpha and β clockwise or counterclockwise; Another limit of obtaining central angle alpha and β is respectively OB and OC; This straight line OB and straight line OC respectively be that the center of circle, OA are that the circumference of radius intersects at a B and some C with O, this BC line is the trend that detects the gained pipeline, and this pipeline be positioned at straight line BC under.
9. the underground non-metal pipeline distribution detection method based on sonac as claimed in claim 8 is characterized in that said step 1 comprises following steps:
Step 1.1, choose the zone marker home position O of the no pipeline in below, stepper motor (1) is fixed in the top of home position O, the initial length of stretch (2) is set, guarantee the interior no-sundries of sonac (3) sweep limit;
Step 1.2, the work of host computer (8) control sniffer; Stepper motor driving circuit (6) drive stepping motor (1) drives clockwise or counterclockwise one week of translation of sonac (3), and the ultrasound wave of transmitted wave exciting circuit (4) excitation sonac (3) emission simultaneously scans;
Step 1.3, sonac (3) reception reflection wave signal transfer to reflection wave modulate circuit (5) and nurse one's health;
Reflection wave signal after step 1.4, reflection wave modulate circuit (5) will be nursed one's health transfers to host computer (8) and carries out Treatment Analysis;
Step 1.5, host computer (8) show output with the data of the reflection wave signal after the Treatment Analysis through waveform.
10. the underground non-metal pipeline distribution detection method based on sonac as claimed in claim 8 is characterized in that said step 2 comprises following steps:
The length of step 2.1, increase stretch (2) enlarges investigative range, and guarantees no-sundries in sonac (3) sweep limit; The increase of stretch (2) length is smaller or equal to the twice of sonac (3) radius of investigation;
Step 2.2, stepper motor driving circuit (6) drive stepping motor (1) drive clockwise or counterclockwise one week of translation of sonac (3), and the ultrasound wave of transmitted wave exciting circuit (4) excitation sonac (3) emission simultaneously scans;
Step 2.3, sonac (3) reception reflection wave signal transfer to reflection wave modulate circuit (5) and nurse one's health;
Reflection wave signal after step 2.4, reflection wave modulate circuit (5) will be nursed one's health transfers to host computer (8) and carries out Treatment Analysis;
Step 2.5, host computer (8) compare analysis with the data of the reflection wave signal of gained in reflection wave signal data after the analyzing and processing and the step 1, and to pass through the reflection wave signal data after waveform shows the output analyzing and processing;
Step 2.5, host computer (8) judge in the waveform of reflection wave signal two place's projections whether occur, if, then jump to step 3, if not, then jump to step 2.1.
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| CN109507743A (en) * | 2018-12-04 | 2019-03-22 | 南京航空航天大学 | A kind of high-precision scanning detecting a mine device and scanning detection method |
| CN109917448A (en) * | 2019-04-04 | 2019-06-21 | 常德市鼎城九申管道燃气有限公司 | A kind of detection of nonmetal pipeline and localization method |
| CN111679268A (en) * | 2020-06-18 | 2020-09-18 | 苏州市测绘院有限责任公司 | Underground pipeline detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106992819A (en) * | 2017-04-10 | 2017-07-28 | 杭州戬威机电科技有限公司 | Ultrasonic signal excitation, control, reception, conditioning and communication system |
| CN106992819B (en) * | 2017-04-10 | 2022-12-16 | 杭州戬威科技有限公司 | Ultrasonic signal excitation, control, reception, conditioning and communication system |
| CN108333623A (en) * | 2018-01-29 | 2018-07-27 | 中国科学院声学研究所 | A kind of buried pipeline detection device and method based on sound wave reflection |
| CN109507743A (en) * | 2018-12-04 | 2019-03-22 | 南京航空航天大学 | A kind of high-precision scanning detecting a mine device and scanning detection method |
| CN109917448A (en) * | 2019-04-04 | 2019-06-21 | 常德市鼎城九申管道燃气有限公司 | A kind of detection of nonmetal pipeline and localization method |
| CN111679268A (en) * | 2020-06-18 | 2020-09-18 | 苏州市测绘院有限责任公司 | Underground pipeline detection method |
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| CN102830436B (en) | 2015-03-04 |
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