九、發明說明： 【發明所屬之技術領域】 本案係指-麵助裝置，尤指一種電動輪椅之辅助 裴置。 【先前技術】 由於高齡化因素而使得身體機能衰退不良於行，或 因手術及意外而導致需以輪椅代步者愈來愈多。一般傳 統式的輪椅係利用輪子作為前進：後退之工具；缺而此 種輪椅的功能僅隱在平地上運動，在遇到階梯 (如樓梯)就無法順利通行。 者研發H之電動代步車、電動輪 以彻電能作為動力幫助行動不便之民眾能方 二動，然而，綜硯市面上之各式電動代步車、電動輪 2，其雖皆可達到利用電能作為動力供行動不便 it 的麵功效’但於其實際實施使用中卻 Γ 、電動輪椅等普遍皆僅具有單純於 -直心=::::動輪椅並可克服階差地形 移動=触健觸的魏如)在平地上快速 行進方向°可改坡二)!體要隨時保持水平紳 階差之輪椅非常狹乍空間。現今研究可上下 夕’主要有..(1)輪組式似履帶式；⑶特 殊輪式；（4)輪組與履帶之結合形式;⑺輪腳組合方 雖然第五種方式提供了混合運動機能，但整個^作，二 變得很繁複。此種上下階差之輪椅的 支撐臂，連接臂，及旋轉臂所構成，車輪和輔助履^ 置於支撐臂下以做為移動和踏腳支撐，各臂的運動g铷 複合行星錄組來傳動。轉移動方柄將她旋 行走機構組合於身體兩側’藉著固定不同旋轉支點與^ 臂間的相對轉動’即可上下階梯與斜坡，使身體^降二 保持水平，並可改變行進方向等。其中車輪和輔助= 輪並不同時接觸地面’車輪主要是用於平地之快逮移動。 、根據目前美國專微索結果，可將轉梯的輪椅分 為-轉類為單-驅絲置方式；另—類為多驅動裝 置方式。美國專利卿艰顶中提出一種輪椅的旋轉 移動系統，其具有用以提供該移動系統與表面之間奪引 力量的鏈接式賊臂，該鏈接式频臂在其輪子的牵引 為障礙物所抑制之非正常_作情況下，提供_牵引運 動的力量。控制的傳動馬達與鏈接式機械臂連接，且該 移動系統的輪子提供給機械臂與輪子-額外的驅動。輪 子的移動緖杨即具有全方錄，在_的地形或如 沙、灰塵、碎;5及;5翻駐航下提供優越的移動性， 且更可提供跨越如階梯、溝渠及石轉障礙的功能。該 機械臂可使额具衫舰，並允許其可重複安裝以滿 足使用者的舒適需求。該機财更可達成如伸手拿物體 或推開門的困難作。惟該專利為二支機械臂，故傳動 1288635 較為複雜’且該發明只有跨稱礙的魏，並無完整的 爬樓梯功能。 。另一方面，人機介面主要是提供肢障者之操控介面 以駕馭電動輪椅。由於行動不便者大多缺乏常人的靈敏 性’因此具親和性的人機介面使操控者透過搖桿和按鈕 即可非常鮮地控制轴輪椅，而整⑽穩定性則 由中央運動控⑽統來協調，如此可避免人為的操作意 外三但在無控制系統的狀態下，其機構在雜梯時是不 %疋的，所以在安全上仍然有些疑慮。 *故鑑於習知方式之缺失，發明人乃經悉心試驗與研 究，並一本鍥而不捨之精神，終於研發出此一電動輪椅 之輔助裝置。 【發明内容】 本案提出一電動輪椅之輔助裝置，其為一種可適應 各種地形的轉礙電動輪椅。該電動輪椅在平地上是以 車輪方式迅速轉，當遇馳獅携，能靖似四足 動物的運制試上下階梯，並保持整辦體的平衡。即 使在不平整的地面’亦能麟改變紐轉式的步行運 動’如此可使電動輪椅適應各種不同的地形。 本案之主要構想為提供一種電動輪椅之辅助裝置， 其包含旋臂以及二驅動輪。其中該旋臂開設有一滑動 對，以及该4驅動輪係分別裝設於該旋臂之二端，並具 有一動力。 根據上述構想，其中該等驅動輪具有一馬達與一煞 1 1288635 車器。 根據上述構想，其中該滑動對係在該等驅 移動。 根據上述構想，其中該旋臂在作一旋轉動作前會纖 更該滑動對的位置。曰交 根據上述構想，其中該等驅動輪係驅動該旋臂以哕 滑動對為中心作該旋轉動作。 ^Nine, invention description: [Technical field to which the invention belongs] This case refers to a face-lift device, especially an auxiliary device for an electric wheelchair. [Prior Art] Due to aging factors, the body function is deteriorating, or there are more and more wheelchair users due to surgery and accidents. The conventional wheelchair system uses the wheel as a forward: a tool for retreating; the function of this type of wheelchair is only hidden on the ground, and it cannot pass smoothly when it encounters a step (such as a staircase). The electric scooter and electric wheel developed by H use the power as the power to help the people with limited mobility to move. However, all kinds of electric scooters and electric wheels 2 in the market can use electricity as power. Power for the inconvenience of the action of the face's effect 'but in its actual implementation, but the electric wheelchair, etc. are generally only simple - straight heart =:::: mobile wheelchair and can overcome the step terrain movement = touch touch For example, the direction of rapid travel on the flat ground can be changed to the second level)! The wheelchair should be kept at a constant level. Today's research can be held on the eve of the 'mainly.. (1) wheel-type crawler-type; (3) special wheel type; (4) combination of wheel and track; (7) wheel combination, although the fifth way provides mixed movement Function, but the whole work, the second has become very complicated. The support arm of the wheelchair of the upper and lower steps, the connecting arm, and the rotating arm are formed, and the wheel and the auxiliary track are placed under the supporting arm for supporting the movement and the foot, and the movement of each arm is a composite planetary recording group. transmission. Turn the moving handle to combine her rotating mechanism on both sides of the body. 'By fixing the relative rotation between the different pivot points and the arm', the ladder and the slope can be up and down, so that the body can be lowered and the direction of travel can be changed. . Among them, the wheel and the auxiliary = wheel do not touch the ground at the same time. The wheel is mainly used for fast-moving movement of the ground. According to the current results of the US special micro-soarning, the wheelchairs of the transfer ladder can be classified into a single-drive type; the other type is a multi-drive device. The U.S. Patent Secretary proposes a rotary motion system for a wheelchair having a linked thief arm for providing traction between the mobile system and the surface. The linked frequency arm is restrained by obstacles on its wheels. In the case of non-normal _, the power of the _ traction movement is provided. The controlled drive motor is coupled to the link arm and the wheels of the mobile system are provided to the arm and wheel - additional drive. The movement of the wheel Xu Yang has a full record, in the terrain of _ or such as sand, dust, broken; 5 and; 5 to provide superior mobility under the voyage, and more to provide obstacles such as steps, ditches and stone turning obstacles The function. The robotic arm enables the vestibule and allows it to be re-installed to meet the comfort needs of the user. This machine can achieve difficulties such as reaching for an object or pushing the door open. However, the patent is a two-armed arm, so the transmission 1288635 is more complicated' and the invention only has a cross-barrier Wei, and there is no complete stair climbing function. . On the other hand, the human-machine interface mainly provides the manipulation interface of the disabled to control the electric wheelchair. Most people with limited mobility lack the sensitivity of ordinary people. Therefore, the human-machine interface with affinity enables the controller to control the axle wheelchair very smoothly through the joystick and the button, while the stability of the whole (10) is coordinated by the central motion control (10) system. In this way, human-made operation accidents can be avoided. However, in the state of no control system, the mechanism is not paralyzed when the ladder is in the ladder, so there are still some doubts about safety. *In view of the lack of conventional methods, the inventor has carefully developed the auxiliary device for an electric wheelchair through careful experimentation and research, and a spirit of perseverance. SUMMARY OF THE INVENTION The present invention proposes an auxiliary device for an electric wheelchair, which is an electric wheelchair that can adapt to various terrains. The electric wheelchair is quickly turned on the ground in the form of a wheel. When it is carried by a lion, it can be used as a quadruped animal to test the ladder up and down, and maintain the balance of the whole body. Even on uneven grounds, it is possible to change the walking movement of the New Zealand-style so that the electric wheelchair can be adapted to various terrains. The main idea of the present case is to provide an auxiliary device for an electric wheelchair, which comprises a spiral arm and two driving wheels. The arm has a sliding pair, and the 4 driving wheels are respectively disposed at two ends of the arm and have a power. According to the above concept, the drive wheels have a motor and a 1 1288635 vehicle. According to the above concept, the sliding pair is driven in the drive. According to the above concept, the arm will refine the position of the pair of slides before performing a rotating motion. According to the above concept, the driving wheels drive the arm to perform the rotating action centering on the sliding pair. ^
根據上述構想，其中該旋臂係利用該旋轉動作以* 動該電動輪椅上下樓梯。 ^ 本案之另一構想為提供一種電動輪椅之支撐裝置， ^包含:-機械臂以及二驅動元件。其中賴械臂係. 桿件共同樞接於-柩接軸而成；以及該等驅動二 別裝設於該樞接軸與該等桿件之一的一上，。’、刀 叙士 亚具有一According to the above concept, the arm uses the rotating action to move the electric wheelchair up and down the stairs. ^ Another concept of the case is to provide a support device for an electric wheelchair, ^: - a robot arm and two drive components. Wherein the arm members are pivotally connected to the splicing shaft; and the driving members are mounted on one of the pivoting shaft and one of the rod members. ‘, knife, Syria, has one
動輪之間 根據上述構想，其係利用該等驅動件兮 件以該樞接軸射心作—擺動動動5亥等桿 ㈣構想，其中該機械f係细轉桿件的該 杬動動作產生一旋轉動作與一伸展動作。 抑想，其巾該機崎係_雜轉動作* 該伸展動作以帶動該電動輪椅上下樓梯 /、 -===包t;座 有至少二支腳;該輔助= 肢之一侧，其所具有之—滑動對與該等支腳樞 8 接；以及該支撐裝置係利用其所具有之一驅動元件裂設 於該座椅主體之下侧。 根據上述構想，其中該輔助裝置具有二驅動輪，分 別裝設於其所具有之一旋臂的二端，並具有一動力。 根據上述構想，其中該等驅動輪具有一馬達與一煞 車器。 ^ 移動 根據上述構想，其中該滑動對係在該等驅動輪之間 根據上述構想，其中該旋臂在作一旋轉動作前 更該滑動對的位置。 曰 根據上述構想’其中該等驅動輪係驅 滑動對為中心作該旋轉動作。 疋’乂該 3上述構想，射雜臂係姻概轉動作 動该座椅主體上下樓梯。 機械臂與 根據上述_，其巾該支撐裝置係包含一 該等驅動元件。 4旱件共同樞接 於想’其中該機械臂係由 根據上述構想，其中該等驅動亓 樞接軸與該等桿件H端上，雜有:狐设於該 根據上述構想，其係利用該等 動力。 件以該樞接軸為中心作—擺動動作。動辑驅動該等桿 根據上述構想，其中該機械臂 擺動動作產生-旋轉動作與—伸展動作用該等桿件的該 1288635 根據上述構想，其中該機械臂___動作鱼 該伸展動作以帶動該座椅主體上下樓梯。 〃 根據上述構想，射_触體在灯獅時，係 利用其所具私-平衡元讀後軸，㈣ 體的平衡。 【貫施方式】 本案將可由以下的實施例說明而得到充分的瞭解， 使得熟習本方法之人士⑽細完叙，财案之實施 亚非可由下列實施例而被限制其實施型態。 喷參财―® ’其係本案具有獅裝置及支樓裝置 之電動輪椅之舰示賴。射電動輪椅_之座椅主 體101的左右支腳111分別與旋臂1〇2所具有之滑動對 l〇H接’旋臂102可作間歇性之旋轉動作，於旋臂102 1二f分別連接一内裝旋轉驅動馬達與煞車器的驅動輪 p广104，旋臂102、滑動對廳及驅動輪1〇3與1〇4 動輪椅刚之辅助裝置。旋臂⑽為-線性運動 ’且支腳m與旋臂102的滑動對1〇6設於此線 ^動機構的動部，使滑動對能被驅動而移動位置， t可控制滑動對106與驅動輪103與1〇4的距離。驅 :103與104係驅動旋臂1〇2以滑動對為中心作 ㈣，以帶動電動輪椅100上下樓梯。 田j椅主體101的下侧連接一組支撐震置105,其係利 件112與113驅動由桿件114與115共同樞接 ;°由116的機械臂作擺動動作，使支撐裝置105產 1288635 作’爾^下樓梯。座 ==展1平衡元件110，當支揮裝請 ，刪1G2 __時，平衡元 於正常平糾-在上下樓梯時的平衡。 1鶴輪椅⑽_為四個驅動輪行 遇_樓梯時，要以驅動輪刚面向樓梯方式驶 月多閱第—圖，其係本案之電動 作旋轉動作_之侧視示意圖。當電動 動輪104接近到樓梯之第一階階 m。 驅 102 2 滑動對鹰的位置’使滑動對⑽的位置 接1不_地面G之驅動輪1()4的軸心⑽ 座椅主體101的位置在上樓梯時的變異會較小。、于 至樓錢杨絲輪椅之_裝置移動 ^to^i4圖。電動輪椅⑽之驅動輪⑽驅 6為中心作旋轉動作，此時驅動 Τ將由地面G移動至樓梯之第—階階_之表面 獅賴，其縣案之縣輪椅·支卿置 作伸展動伽樓梯之側視示意圖。當# 、置 分别接觸在樓梯之第_階階梯2 : 广 裝置105利用具有動力之二:: 11 1288635 】14與115共同枢接於樞接軸116的機械臂作伸展動 作，將座椅主體101向上舉升並後移時 f用前後移動，使座椅主魏位於電動輪椅1的 重〜位置，以維持電動輪椅100的平衡。 歸，參閱第五圖’其係本案電動輪椅之支稽裝置移動 奸樓梯上之側視示意圖。當電動輪椅100之座椅主體⑼ 馨 105的伸展動作向上舉升並後移之後，支 :装 接者利用伸展動作，將其端部117提起，自 地面G移動至樓梯之第一階階梯2〇1之表面上，並接著 臂°，由重覆上述第一至三圖中旋 #動作^作以及弟四至五圖中支撐褒置105的伸 展動作，將可使電動輪椅100爬上樓梯。 之電本案具有辅·置及支撐裝置 屯動輪椅下樓梯之侧視示意圖。當 動輪103接近到樓梯之第一麵_時支4= 將利用伸展動作，將其卿117提起，自樓、 階梯601移動至樓梯之第二階_之表面上 向前=滑動物枢接之支聊⑴’使座持主體101 作旋裝置 動請接近到樓梯之第-階階⑽ 利用-旋轉驅動動力使旋臂102作 ： 12 ‘ 12名8635 旋轉前會改變滑動對106的位置 接近不離開樓梯之第_階階梯:置 :此將使得座椅主體101的位置在下樓梯時：: 凊參閱第八圖，其係本案電動於 至樓梯上之側視示意圖。電動輪椅^之U置移動 動旋臂102以滑動對106為中心作動輪104驅 輪刚將由樓梯之第一階階梯.驅動 P皆梯602之表面上。 轉梯之弟二階 請參閱第九圖，其係本案之電動 ； 作伸展動作下樓梯之侧視示意圖。3=支撐裝置 展動作，將其一提起，自樓支梯置 移動至地面G之表面上，以古栲带4 P白梯602 鱗座_ 1G1 _支_15 ===平衡。 低並前移，並接著與旋臂·一起動 以維持電動輪椅1〇〇的平故 圖中旋臂102的旋轉動作以及第 置等的猎由本案電動輪椅的輔助裝置與支撐裝 梯：===椅安全顺的上下樓 椅與使過m賴展電動輪 13 縱使本發明已由上述之實施例詳細敘述而可由熟悉 本技藝之人士任施匠思而為諸般修飾，然皆不脫如附申 睛專利範圍所欲保護者。 【圖式簡單說明】 第一圖：其係本案具有輔助裝置及支撐裝置之電動 輪椅之侧視示意圖； 第二圖：其係本案之電動輪椅利用輔助裝置作旋轉 動作爬樓梯之侧視示意圖； 第三圖··其係本案電動輪椅之辅助裝置移動至樓梯 上之侧視示意圖； 第四圖：其係本案之電動輪椅利用支撐裝置作伸展 動作爬樓梯之側視示意圖； 第五圖：其係本案電動輪之支撐裝置移動至樓梯 上之側視示意圖； 第六圖：其係本案具有辅助裝置及支撐裝置之電動 輪椅下樓梯之侧視示意圖； 第七圖：其係本案之電動輪椅利用輔助裝置作旋轉 動作下樓梯之侧視示意圖； 第八圖：其係本案電動輪椅之辅助裝置移動至樓梯 上之側視不意圖；及 ---% λ _ 動作下樓梯之侧視示意圖。 ‘1288635 - 【主要元件符號說明】 100:電動輪椅 101:座椅主體 102:旋臂 103、104:驅動輪 105:支撐裝置 106:滑動對 107、118:驅動輪之軸心 • 110:平衡元件 111:支腳 112、113··驅動元件 114、115:桿件 116:梅接軸 117:支撐裝置之端部 201、601:樓梯之第一階階梯 602:樓梯之第二階階梯 • G:地面 15According to the above concept, the driving wheel utilizes the driving member to perform the pivoting motion of the pivoting shaft, and the rocking action of the mechanical rotating shaft is generated. A rotating action and a stretching action. Imagine, the towel is the machine 崎 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ There is a sliding pair connected to the leg pivots 8; and the supporting device is detached from the lower side of the seat body by one of the driving elements. According to the above concept, the auxiliary device has two driving wheels which are respectively disposed at two ends of one of the spiral arms and have a power. According to the above concept, the drive wheels have a motor and a brake. ^ Movement According to the above concept, wherein the sliding pair is between the driving wheels, according to the above concept, wherein the arm is more in a position to slide the pair before performing a rotating action.曰 According to the above concept, the rotating action is centered on the sliding pairs of the drive trains.疋 乂 乂 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 The arm and the towel according to the above, the support device comprises a drive element. 4 The dry parts are pivotally connected to each other. The mechanical arm system is based on the above concept, wherein the driving pivot joint shaft and the rod end H end are mixed with: the fox is set according to the above concept, and the system utilizes These powers. The piece is pivoted about the pivot axis. Actuating the rods according to the above concept, wherein the robot arm swinging action generates a -rotating motion and a stretching motion using the rods of the 1288635 according to the above concept, wherein the robot arm ___ action fish the stretching action to drive The seat body goes up and down the stairs. 〃 According to the above concept, when the _ _ body is in the light lion, it uses its private-balanced element to read the rear axis and (4) the balance of the body. [Comprehensive Mode] The present invention will be fully understood by the following examples, so that the person familiar with the method (10) is fully described, and the implementation of the financial case can be restricted by the following embodiments.喷参财-® ’ This is the case of the electric wheelchair with the lion device and the branch device. The left and right legs 111 of the seat body 101 of the electric wheelchair _ are respectively connected with the sliding pair l〇H of the arm 1〇2, and the arm 102 can be intermittently rotated, and the arms 102 1 and 2 f respectively A driving wheel p-wide 104 with a rotary drive motor and a brake is connected, and the arm 102, the sliding pair and the driving wheels 1〇3 and 1〇4 are used as auxiliary devices for the wheelchair. The arm (10) is - linear motion 'and the sliding pair of the leg m and the arm 102 is disposed at the moving portion of the wire moving mechanism, so that the sliding pair can be driven to move the position, t can control the sliding pair 106 and The distance between the drive wheel 103 and 1〇4. Drive: 103 and 104 drive the arm 1〇2 with the sliding pair as the center (4) to drive the electric wheelchair 100 up and down the stairs. The lower side of the field chair body 101 is connected to a set of supporting vibrations 105, and the driving members 112 and 113 are driven to be pivotally connected by the rods 114 and 115; the swinging action is performed by the mechanical arm of 116, so that the supporting device 105 produces 1288635 Do 'er ^ down the stairs. Block == Exhibition 1 balance component 110, when the swing is installed, delete 1G2 __, balance the balance in the normal level - the balance when going up and down the stairs. 1 Crane wheelchair (10) _ for the four drive wheels When the _ stairs, the drive wheel just facing the stairs to drive the month to read more - map, which is the side view of the electric rotation action of this case. When the electric motor 104 approaches the first step m of the stairs. Drive 102 2 Slide to the position of the eagle 'The position of the slide pair (10) is connected to 1 _ The axis of the drive wheel 1 () 4 of the ground G (10) The position of the seat body 101 is less variable when going up the stairs. , to the floor of the money Yang silk wheelchair _ device move ^to ^ i4 map. The driving wheel (10) of the electric wheelchair (10) is driven to rotate at the center. At this time, the driving cymbal will be moved from the ground G to the surface of the stairs - the surface of the lion's surface, the county's county wheelchair, the branch is set to stretch the gamma A side view of the stairs. When #, respectively, contact the step _ step 2 of the stairs: the wide device 105 uses the power of the second:: 11 1288635 】 14 and 115 together with the mechanical arm pivotally connected to the pivot shaft 116 for stretching, the seat body When the 101 is lifted up and moved backwards, f is moved back and forth, so that the seat main Wei is located at the heavy position of the electric wheelchair 1 to maintain the balance of the electric wheelchair 100. Return, see the fifth figure, which is a side view of the mobile wheelchair of the case. After the extension movement of the seat body (9) of the electric wheelchair 100 is lifted up and moved backward, the supporter: the attachment person lifts the end portion 117 by the stretching action, and moves from the ground G to the first step of the stairs 2 On the surface of the crucible 1 and then the arm, the electric wheelchair 100 will be allowed to climb up the stairs by repeating the stretching actions of the first and third figures in the above-mentioned first and third figures and the supporting members 105 in the fourth to fifth figures. The electric power case has auxiliary and support devices. The side view of the wheelchair is lowered. When the moving wheel 103 approaches the first side of the stairs _ time branch 4 = will use the stretching action to lift the qing 117, moving from the floor, the step 601 to the second stage of the stairs _ the front = the sliding object pivoting Talk (1) 'Make the main body 101 to rotate the device and move closer to the first step of the stairs (10) Use the rotary drive power to make the arm 102: 12 '12 8635 will change the position of the sliding pair 106 before the rotation Step _ step from the stairs: Set: This will make the position of the seat body 101 down the stairs: 凊 See the eighth figure, which is a side view of the case electric on the stairs. The U-movement of the electric wheelchair ^ The moving arm 102 is driven by the sliding pair 106 as the center of the driving wheel 104. The wheel will be driven by the first step of the stairs. The second order of the descendant of the ladder Please refer to the ninth figure, which is the electric power of the case; 3=Supporting device The movement is lifted, and it is lifted from the floor support to the surface of the ground G, with the ancient 栲 belt 4 P white ladder 602 scale seat _ 1G1 _ branch _15 === balance. Low and forward, and then move together with the arm to maintain the rotation of the arm 102 in the flat figure of the electric wheelchair 1 and the auxiliary device of the electric wheelchair of the present case: ==The chair is safe and sturdy, and the electric wheel 13 is used. Even though the invention has been described in detail by the above embodiments, it can be modified by those skilled in the art. Attached to the scope of the patent scope of the applicant. [Simple description of the drawings] The first picture: a side view of the electric wheelchair with the auxiliary device and the supporting device in the present case; The second picture: a schematic view of the electric wheelchair using the auxiliary device for the rotating action to climb the stairs; The third figure is a side view of the auxiliary device of the electric wheelchair in this case moving to the stairs; the fourth picture is a side view of the electric wheelchair using the supporting device for the stretching action to climb the stairs; A side view of the support device of the electric wheel of the present invention moved to the stairs; Figure 6 is a side view of the electric wheelchair with the auxiliary device and the supporting device going down the stairs; Figure 7: The electric wheelchair used in the case Side view of the auxiliary device as a rotating action down the stairs; Figure 8: It is a side view of the auxiliary device of the electric wheelchair in this case moving to the stairs; and ---% λ _ action side view of the stairs. '1288635 - [Main component symbol description] 100: Electric wheelchair 101: Seat body 102: Swing arm 103, 104: Drive wheel 105: Support device 106: Sliding pair 107, 118: Axle of drive wheel • 110: Balance element 111: legs 112, 113·· drive elements 114, 115: rod 116: plum joint shaft 117: end portions 201, 601 of the support device: first step of the stairs 602: second step of the stairs • G: Ground 15