WO2017086234A1 - 無人航空機 - Google Patents
無人航空機 Download PDFInfo
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- WO2017086234A1 WO2017086234A1 PCT/JP2016/083408 JP2016083408W WO2017086234A1 WO 2017086234 A1 WO2017086234 A1 WO 2017086234A1 JP 2016083408 W JP2016083408 W JP 2016083408W WO 2017086234 A1 WO2017086234 A1 WO 2017086234A1
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- obstacle
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- rotor blades
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- 230000001133 acceleration Effects 0.000 claims description 11
- 238000002347 injection Methods 0.000 claims description 11
- 239000007924 injection Substances 0.000 claims description 11
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005713 exacerbation Effects 0.000 abstract 1
- 230000002265 prevention Effects 0.000 abstract 1
- 230000002459 sustained effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D17/00—Parachutes
- B64D17/80—Parachutes in association with aircraft, e.g. for braking thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D25/00—Emergency apparatus or devices, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
- B64U30/26—Ducted or shrouded rotors
Definitions
- the present invention relates to an unmanned aerial vehicle including a plurality of rotor blades, and more particularly, to a technique for preventing an accidental damage caused by the rotor blades of the unmanned aircraft.
- multi-copter flight control technology there is a technology that avoids collision with obstacles by scanning obstacles around the aircraft with range sensors and automatically maintaining a certain distance from the obstacles.
- a control technology is under development, and collision with an obstacle cannot be completely avoided.
- the rotor blade of the multicopter is sharp, and if the multicopter collides with an obstacle, the rotor blade may damage it. After that, if the multicopter crashes while the rotor blade is driven, the rotor blade may damage the structure at the crash point, and if there is a passerby, the accidental damage may be serious. There is.
- the problem to be solved by the present invention is to provide an unmanned aerial vehicle capable of preventing the accident damage caused by a rotor after a crash when the aircraft collides with an obstacle during flight. It is in.
- an unmanned aerial vehicle of the present invention is an unmanned aerial vehicle including a plurality of rotary wings and a control unit that controls flight by the plurality of rotary wings, and the control unit includes: An emergency stop means for detecting a collision with an obstacle and stopping the plurality of rotor blades is provided.
- the emergency stop means detects it and stops the rotor blades, thereby preventing the accident damage caused by the rotor blades after a crash.
- a crash of an unmanned aerial vehicle may cause the dropped aircraft to damage the structure of the crash site or injure a passerby. If the emergency stop means stops the rotor, the unmanned aircraft cannot escape the crash, but the emergency stop means automatically deploys the parachute in addition to stopping the rotor, reducing damage at the crash point of the aircraft It becomes possible to do.
- the rotor guard part further protects each rotor blade from contact with an obstacle, and the emergency stop means monitors the external force applied to the rotor guard part, thereby It is good also as a structure which detects a collision.
- the unmanned aerial vehicle's rotor blades are usually placed at the top of the airframe and project to the outermost side in the horizontal direction of the airframe. That is, when an unmanned aerial vehicle collides with an obstacle, in many cases, the rotor blade first comes into contact with the obstacle. Therefore, it is possible to detect the collision between the unmanned aircraft and the obstacle with high accuracy by monitoring the external force applied to the rotor guard portion that protects the rotor blades.
- each of the rotor blades may be configured by a motor and a blade
- the emergency stop unit may be configured to detect a collision between the own machine and an obstacle by monitoring current consumption of each motor.
- the rotor blades of unmanned airplanes are usually placed at the top of the aircraft and project to the outermost side in the horizontal direction of the aircraft. That is, when an unmanned aerial vehicle collides with an obstacle, in many cases, the rotor blade first comes into contact with the obstacle.
- the motor is characterized in that the amount of current increases or decreases depending on the load. When the rotor blade comes into contact with an obstacle, the amount of current of the motor changes suddenly and shows a value different from that during normal flight. By monitoring an abnormal change in current consumption of each motor and its continuation, it is possible to detect a collision between an unmanned aircraft and an obstacle.
- the control unit has an acceleration sensor, and the control unit monitors the consistency between a flight instruction from a pilot or a program and the output value of the acceleration sensor, and detects these inconsistencies.
- the emergency stop means may automatically stop the plurality of rotor blades.
- the unmanned aerial vehicle according to the present invention it is possible to prevent the accident damage caused by the rotor blade after the crash when the aircraft collides with an obstacle during the flight.
- FIG. 1 is a block diagram showing a functional configuration of a multicopter MC1 (unmanned aerial vehicle) according to the present embodiment.
- the multicopter MC1 includes a flight controller FC1 (control unit), a plurality of rotors 150 (rotary blades), an ESC 153 (Electric Speed Controller) arranged for each rotor 150, a rotor guard 300 (rotor guard unit) having an impact sensor 310, A parachute injection device (parachute injection mechanism), a wireless transmitter / receiver 170 that performs wireless communication with a pilot's control terminal 600, and a battery 180 that is a power supply source are provided in a casing 190.
- FC1 flight controller
- FC1 control unit
- a plurality of rotors 150 rotary blades
- an ESC 153 Electrical Speed Controller
- a rotor guard 300 rotor guard unit having an impact sensor 310
- a parachute injection device parachute injection mechanism
- a wireless transmitter / receiver 170 that performs wireless
- Each rotor 150 includes a motor 151 which is a DC motor and a blade 152 attached to the output shaft thereof.
- the ESC 153 is connected to the motor 151 of the rotor 150, and is a device that rotates the motor 151 at a speed instructed by the flight controller FC1.
- the rotor guard 300 in the present embodiment is a frame that covers the outside of the tip of the blade 152 of each rotor 150 in an arc shape or in an annular shape along the rotation trajectory of the blade 152.
- the rotor guard 300 is a protective member that prevents the blade 152 from coming into direct contact with an obstacle or the like, and may have a function of securing a flow path of air that is sucked and discharged by each rotor 150.
- the flight controller FC1 includes a control unit CU1 that is a microcontroller.
- the control unit CU1 includes a CPU 111 that is a central processing unit, a memory ST1 that is a storage device such as a ROM and a RAM, and a PWM controller 113 that controls the rotation speed and rotation speed of each motor 151 via the ESC 153.
- the flight controller FC1 further includes a flight control sensor group 130 and a GPS receiver 140 (hereinafter also referred to as “sensors”), which are connected to the control unit CU1.
- the flight control sensor group 130 of the multicopter MC1 in the present embodiment includes an acceleration sensor, an angular velocity sensor, an atmospheric pressure sensor (altitude sensor), and a geomagnetic sensor (orientation sensor).
- the control unit CU1 uses these sensors and the like to position its own aircraft (hereinafter also referred to as “current position”) including the latitude and longitude of the aircraft, the altitude, and the azimuth angle of the nose, in addition to the tilt and rotation of the aircraft. Can be obtained.
- the memory ST1 of the control unit CU1 stores a flight control program 112, which is a program in which a flight control algorithm for controlling the attitude and basic flight operation of the multicopter MC1 during flight is stored.
- the flight control program 112 adjusts the rotation speed and rotation speed of each rotor 150 based on the current position acquired from the sensor or the like according to the instructions of the pilot (control terminal 600), and corrects the attitude and position disturbance of the aircraft. While flying the multicopter MC1.
- the multicopter MC1 may be manually operated by the operator using the operation terminal 600, or parameters such as latitude / longitude, altitude, and flight route are registered in advance in the flight control program 112, and then the destination is reached. You may fly autonomously (hereinafter, such autonomous flight is referred to as “autopilot”).
- the multicopter MC1 in the present embodiment uses a sensor or the like as its current position acquisition means, but the current position acquisition means of the present invention is not limited to these.
- beacons corresponding to Bluetooth (registered trademark) Low Energy proximity profiles are arranged in a large-scale facility at predetermined intervals, and map information for partitioning the space shape in the facility is registered in the memory ST1 in advance.
- the current position of the multicopter MC1 in the facility may be specified by measuring the relative distance to the beacon.
- the multicopter MC1 in the present embodiment assumes that the flight altitude is obtained by a barometric sensor, but other than the barometric sensor, for example, measurement using various methods such as infrared rays, ultrasonic waves, or lasers is used.
- the altitude is acquired by pointing the distance sensor toward the ground surface.
- the geographical feature is detected by scanning the surroundings of the aircraft with such a distance measuring sensor (or the geographical features are detected by image recognition from the video around the aircraft taken by the camera)
- the rough current position of the aircraft may be estimated by checking the registered geographical feature information on the flight route.
- the memory ST1 of the control unit CU1 further includes an emergency stop which is a program for automatically stopping all the rotors 150 and developing the parachute from the parachute injection device 400 when a collision between the aircraft and the obstacle is detected.
- a program ES1 (emergency stop means) is stored.
- the multicopter MC1 is provided with a rotor guard 300 (rotor guard part) that protects the rotor 150 from contact with an obstacle.
- the rotor guard 300 is subjected to a sudden external force applied to the rotor guard 300.
- An impact sensor 310 to detect is arranged.
- the impact sensor 310 is connected to the control unit CU1, and its output is monitored by the emergency stop program ES1.
- a pressure sensor can be used as the impact sensor 310.
- Such a pressure sensor may be a sensor that can electrically detect the deflection of the rotor guard 300 due to a collision with an obstacle.
- the acceleration sensor of the flight control sensor group 130 can be applied without providing a separate pressure sensor as the impact sensor 310.
- the acceleration sensor of the flight control sensor group 130 constantly detects a change in position such as the inclination of the multicopter MC1, and can detect a collision relatively easily from the change pattern.
- the rotor guards 300 are provided in the respective rotors 150, so that the rotor 150 does not damage the peripheral parts at least in the portions covered with the rotor guards 300.
- the rotor blades of unmanned airplanes are usually arranged at the top of the airframe and project to the outermost side in the horizontal direction of the airframe.
- the casing 190 of the multicopter MC1 has a structure that follows this (not shown). Therefore, when the multicopter MC1 in flight collides with an obstacle, it is assumed that the rotor guard 300 first contacts the obstacle.
- the multicopter MC1 of the present embodiment can detect a collision between the multicopter MC1 and an obstacle with high accuracy by providing an impact sensor 310 on the rotor guard 300 and monitoring its output with the emergency stop program ES1. It is said that.
- the method for stopping the rotor 150 is not particularly limited. In addition to electronically stopping the rotor 150 by a normal control method, for example, by operating the parachute injection device 400 with a power supply line that supplies power from the battery 180 to the ESC 153. It is good also as a structure cut
- a crash of an unmanned aerial vehicle may cause the dropped aircraft to damage the structure of the crash site or injure a passerby.
- the multicopter MC1 in the present embodiment is configured to stop the rotation of the rotor 150 by the emergency stop program ES1 and to automatically deploy the parachute, thereby reducing damage at the crash point of the aircraft. It is said that.
- the multicopter MC1 includes the parachute injection device 400, the parachute injection device 400 is not an essential component.
- the multicopter MC1 in the present embodiment operates the emergency stop program ES1 even during manual operation by the operator (control terminal 600), but the emergency stop program ES1 is executed only when autonomous flight is performed by an autopilot. It may be configured to operate.
- FIG. 2 is a block diagram showing a functional configuration of a multicopter MC2 (unmanned aerial vehicle) according to the second embodiment.
- components having the same functions as those of the previous embodiment are denoted by the same reference numerals as those of the previous embodiment, and detailed description thereof is omitted.
- the configuration in which the basic function is common to the previous embodiment only the end of the reference numeral of the previous embodiment is changed, and the description of the basic function is omitted.
- the rotor guard 300 (and the impact sensor 310) is removed from the multicopter MC1 according to the previous embodiment, and a current sensor 500 is newly disposed between each ESC 153 and the motor 151. It has been configured.
- the current sensor 500 is a sensor that measures the amount of current sent from the ESC 153 to the motor 151 and outputs it as a signal.
- the unmanned aerial vehicle's rotor blades are usually placed at the top of the airframe and project to the outermost side in the horizontal direction of the airframe.
- the casing 190 of the multicopter MC2 is also structured to follow this (not shown). Therefore, when the multicopter MC1 in flight collides with an obstacle, it is assumed that the rotor 150 first contacts the obstacle.
- the motor is characterized in that the amount of current increases or decreases depending on the load.
- the current sensor 500 is provided between each ESC 153 and the motor 151, and the output is monitored by the emergency stop program ES2. It is possible to detect a collision between the multicopter MC2 and an obstacle.
- the amount of current supplied to the motor 151 is monitored to indirectly detect a collision between the multicopter MC2 and an obstacle.
- Other methods for indirectly detecting a collision with an obstacle include, for example, a flight instruction from the control terminal 600 and the flight control program 112, and an output value of an acceleration sensor included in the flight control sensor group 130.
- a method of monitoring the consistency of the program with the emergency stop program ES2 is conceivable.
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- Aviation & Aerospace Engineering (AREA)
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- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
[構成概要]
図1は本実施形態にかかるマルチコプターMC1(無人航空機)の機能構成を示すブロック図である。マルチコプターMC1は、フライトコントローラFC1(制御部)、複数のローター150(回転翼)、ローター150ごとに配置されたESC153(Electric Speed Controller)、衝撃センサ310を有するローターガード300(ローターガード部)、パラシュート射出装置(パラシュートの射出機構)、操縦者の操縦端末600と無線通信を行う無線送受信器170、および電力供給源であるバッテリー180が筐体190に配設されることにより構成されている。
制御装置CU1のメモリST1にはさらに、自機と障害物との衝突を検知したときに、全てのローター150を自動的に停止させるとともに、パラシュート射出装置400からパラシュートを展開するプログラムである緊急停止プログラムES1(緊急停止手段)が記憶されている。
マルチコプターMC1の手動操縦時、またはオートパイロットによる自律飛行時に、マルチコプターMC1が障害物に衝突すると、ローターガード300に配置された衝撃センサ310は衝突の発生を示す信号を出力する。マルチコプターMC1の緊急停止プログラムES1はかかる出力を検知すると、ただちにすべてのローター150の回転を強制的に停止するとともに、パラシュート射出装置400からパラシュートを展開する。
以下に、本発明にかかる無人航空機の第2実施形態について図面を用いて説明する。図2は第2実施形態にかかるマルチコプターMC2(無人航空機)の機能構成を示すブロック図である。なお、以下の説明では、先の実施形態と同一の機能を有する構成については、先の実施形態と同一の符号を付してその詳細な説明を省略する。また、先の実施形態と基本的な機能が共通する構成については、先の実施形態の符号の末尾のみを変更し、その基本的な機能についての説明を省略する。
本実施形態にかかるマルチコプターMC2の構成は、先の実施形態にかかるマルチコプターMC1からローターガード300(および衝撃センサ310)を取り除き、各ESC153とモータ151との間に新たに電流センサ500を配置した構成とされている。電流センサ500は、これらESC153からモータ151へ送られる電流量を測定し、それを信号として出力するセンサである。フライトコントローラFC2が備える制御装置CU2のメモリST2には、飛行制御プログラム112のほか、自機と障害物との衝突を検知したときに、全てのローター150を自動的に停止させるとともに、パラシュート射出装置400からパラシュートを展開するプログラムである緊急停止プログラムES2(緊急停止手段)が記憶されている。電流センサ500は制御装置CU2に接続されており、緊急停止プログラムES2によりその出力が監視されている。
無人飛行機の回転翼は通常、機体の上部に配置され、機体の水平方向における最も外側まで張り出している。マルチコプターMC2の筐体190もこれに倣う構造とされている(不図示)。そのため、飛行中のマルチコプターMC1が障害物と衝突するときには、最初にローター150が障害物に接触することが想定される。また、モータはその負荷に応じて電流量が増減するという特徴がある。本実施形態のマルチコプターMC2は、各ESC153とモータ151との間に電流センサ500を設け、その出力を緊急停止プログラムES2で監視することにより、モータ151への電流量の通常とは異なる増減からマルチコプターMC2と障害物との衝突を検知することが可能とされている。
マルチコプターMC2の手動操縦時、またはオートパイロットによる自律飛行時に、マルチコプターMC2のローター150が障害物に衝突すると、そのモータ151への電流量が突発的に変化し、通常とは異なる値が継続する。マルチコプターMC2の緊急停止プログラムES2は電流量の異常な変化、および、または、異常値の継続を検知すると、すべてのローター150の回転を強制的に停止するとともに、パラシュート射出装置400からパラシュートを展開する。
本実施形態ではモータ151に供給される電流量を監視することでマルチコプターMC2と障害物との衝突を間接的に検知している。障害物との衝突を間接的に検知する方法としては、この他にも、例えば、操縦端末600や飛行制御プログラム112からの飛行指示と、飛行制御センサ群130に含まれる加速度センサの出力値との整合性を緊急停止プログラムES2で監視する方法が考えられる。
Claims (5)
- 複数の回転翼と、該複数の回転翼による飛行を制御する制御部と、を備える無人航空機であって、
前記制御部は、自機と障害物との衝突を検知して前記複数の回転翼を自動的に停止させる緊急停止手段を有することを特徴とする無人航空機。 - パラシュートの射出機構をさらに備え、
前記緊急停止手段は、自機と障害物との衝突を検知したときに、前記複数の回転翼を自動的に停止させるとともに前記パラシュートを展開することを特徴とする請求項1に記載の無人航空機。 - 前記各回転翼を障害物との接触から保護するローターガード部をさらに備え、
前記緊急停止手段は、前記ローターガード部に加えられた外力を監視することにより、自機と障害物との衝突を検知することを特徴とする請求項1または請求項2に記載の無人航空機。 - 前記各回転翼はモータおよびブレードにより構成され、
前記緊急停止手段は、前記各モータの消費電流を監視することにより、自機と障害物との衝突を検知することを特徴とする請求項1または請求項2に記載の無人航空機。 - 前記制御部は加速度センサを有しており、
前記制御部は、操縦者またはプログラムからの飛行指示と、前記加速度センサの出力値との整合性を監視し、これらの不整合を検知したときに、前記緊急停止手段により前記複数の回転翼を自動的に停止させることを特徴とする請求項1または請求項2に記載の無人航空機。
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2019044842A1 (ja) * | 2017-09-04 | 2019-03-07 | Necエナジーデバイス株式会社 | 電池パック、制御装置、制御方法、及びプログラム |
WO2019135848A1 (en) * | 2018-01-03 | 2019-07-11 | Qualcomm Incorporated | Adjusting flight parameters of an aerial robotic vehicle based on presence of propeller guard(s) |
WO2019168079A1 (ja) * | 2018-02-28 | 2019-09-06 | 株式会社ナイルワークス | 安全性を向上した農業用ドローン |
WO2019172061A1 (ja) * | 2018-03-07 | 2019-09-12 | 株式会社ナイルワークス | 無人飛行体、移動体 |
JP2020104803A (ja) * | 2018-12-28 | 2020-07-09 | キヤノンマーケティングジャパン株式会社 | 無人航空機、無人航空機の制御方法、およびプログラム |
US10720070B2 (en) | 2018-01-03 | 2020-07-21 | Qualcomm Incorporated | Adjustable object avoidance proximity threshold of a robotic vehicle based on presence of detected payload(s) |
US10719705B2 (en) | 2018-01-03 | 2020-07-21 | Qualcomm Incorporated | Adjustable object avoidance proximity threshold based on predictability of the environment |
US10717435B2 (en) | 2018-01-03 | 2020-07-21 | Qualcomm Incorporated | Adjustable object avoidance proximity threshold based on classification of detected objects |
US10803759B2 (en) | 2018-01-03 | 2020-10-13 | Qualcomm Incorporated | Adjustable object avoidance proximity threshold based on presence of propeller guard(s) |
WO2021019655A1 (ja) | 2019-07-29 | 2021-02-04 | 楽天株式会社 | 無人飛行装置 |
JP2022001483A (ja) * | 2018-03-07 | 2022-01-06 | 株式会社ナイルワークス | 無人飛行体 |
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