CN101639699A - Intelligent automatic searching and tracking golf cart - Google Patents
Intelligent automatic searching and tracking golf cart Download PDFInfo
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- CN101639699A CN101639699A CN 200810029912 CN200810029912A CN101639699A CN 101639699 A CN101639699 A CN 101639699A CN 200810029912 CN200810029912 CN 200810029912 CN 200810029912 A CN200810029912 A CN 200810029912A CN 101639699 A CN101639699 A CN 101639699A
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Abstract
The invention discloses an intelligent automatic searching and tracking golf cart, which comprises a cart body, wheels which are arranged on the cart body, a motor which is used for driving the wheelsto rotate, a control system and a remote controller. The control system comprises a master control CPU, an automatic search control circuit, an obstacle avoidance control circuit and a power supply circuit; the remote controller comprises a remote control CPU, a signal control circuit and a key circuit; wherein the signal control circuit and the key circuit are matched with the automatic search control circuit; the automatic search control circuit can search and identify the position of the remote controller and transmit the searched and identified signals to the master control CPU; the master control CPU generates control signals for controlling the operation of the motor according to the position signal of the remote controller so as to automatically control the cart body to follow theuser who holds the remote controller; the obstacle avoidance control circuit can detect the obstacle in the proceeding process and transmit the detected signals to the master control CPU; and the master control CPU can generate the control signals for controlling the operation of the motor according to the detected obstacle signals so that the user can avoid the obstacle.
Description
Technical field
The present invention relates to a kind of golf cart, relate in particular to a kind of intelligent automatic searching and tracking golf cart.
Background technology
Along with improving constantly of people's living standard, golf is more and more universal.The golf apparatus is many, and the long distance of user is born very difficult.In order to address this problem, occur some in the prior art and loaded the dolly of golf apparatus, this dolly generally has the user to spur or walks by motor-driven.As China Patent No. is the CN200520117180.8 utility model patent, its day for announcing is on January 3rd, 2007, notification number is CN2853485, a kind of double control-type electric golf cart is disclosed, it is characterized in that this double control-type electric golf cart, comprise left motor (1), right motor (2), vehicle frame (3), hand-held remote control unit (5), manual controller (6), support wheel (11), two driving wheels (12) and electronic circuit, wherein, on vehicle frame (3), be provided with electrical box (4), battery carrier (8), vertical rod (9), left side motor (1) and right motor (2) are contained in the left and right sides of vehicle frame (3), two driving wheels (12) are connected with right motor (2) with left motor (1) respectively, in the upper end of vertical rod (9) hand lever (10) is housed, manual controller (6) is contained on the handle of hand lever (10), battery (7) is contained on the battery carrier (8), and electronic circuit comprises left motor (1), right motor (2), hand-held remote control unit (5), manual controller (6) and controller circuitry (13).Technique scheme can realize control by the manual controller on the hand lever and two kinds of control modes of hand-held remote control unit, but this scheme needs the user attentively to its control, and it is convenient inadequately to use.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiency of above-mentioned prior art, provides a kind of and can search for the user automatically, also can follow the tracks of the intelligent automatic searching and tracking golf cart that the user travels.
According to a kind of intelligent automatic searching and tracking golf cart provided by the invention, comprise car body, be installed in the wheel on the described car body, drive described wheel motor rotating, control system and telepilot, it is characterized in that: described control system comprises master cpu, automatic search control circuit, obstacle is dodged control circuit and power circuit, described telepilot comprises remote control CPU, the signal control circuit and the key circuit that are complementary with described automatic search control circuit, described automatic search control circuit can be searched for the position of the described telepilot of identification, and the signal that will search for identification transfers in the described master cpu, described master cpu produces the control signal of the described motor rotation of control according to the position signalling of described telepilot, thereby control described car body automatically and follow the user who holds described telepilot, described obstacle is dodged control circuit can detect barrier in traveling process, and the signal that retrieves transferred in the described master cpu, described master cpu produces the control signal of controlling described motor rotation according to detected obstacle signal, with avoiding barrier.
Also have following attached technical characterictic according to a kind of intelligent automatic searching and tracking golf cart provided by the invention:
Described automatic search control circuit comprises wireless communication line and ultrasonic locating circuit, the signal control circuit of described telepilot comprises remote control radio road that is complementary with described wireless communication line and the ultrasonic output circuit that is complementary with described ultrasonic locating circuit, described wireless communication line can be carried out communication by specific coding with described remote control radio road, described ultrasonic locating circuit receives the ultrasonic signal that described ultrasonic output circuit sends, and calculates position signalling between car body and the user according to the ultrasonic signal that receives.
Described ultrasonic locating circuit comprises ultrasonic locating computing module, a plurality of ultrasonic distance measuring module and a plurality of ultrasound waves that are installed on the described car body receive heads, described ultrasonic locating computing module is collected by described ultrasound wave by described ultrasonic distance measuring module and is received the ultrasonic signal that head receives, and calculates.
Described ultrasonic output circuit comprises ultrasonic drive circuit and ultrasonic transmission device, and the ultrasonic signal that described ultrasonic drive circuit produces is launched by described ultrasonic transmission device.
Described ultrasonic generator is combined by a plurality of ultrasonic emitting heads.
Described obstacle is dodged control circuit and is comprised the infrared signal treatment circuit and be installed in described car body a plurality of infrared emission reception heads all around, described infrared signal treatment circuit will receive an infrared signal that receives by described infrared generation and handle, produce obstacle and dodge signal, and obstacle is dodged signal transfer to described master cpu.
Be connected with rotary encoder on the described wheel, the wheel rotating signal that described rotary encoder produces transfers to described master cpu.
Described motor is by electric machine speed regulation module and the control of motor drive direction handover module, and described electric machine speed regulation module and motor drive direction handover module are respectively by described master cpu control.
Described control system also is provided with pilot lamp and alarm buzzer.
Described key circuit is connected with described remote control CPU, described remote control CPU goes out the push button signalling that described key circuit produces by described remote control radio road, described wireless communication line receives push button signalling and transfers in the described master cpu, described master cpu interrupts the work of ultrasound wave potential circuit after receiving push button signalling, this moment, described master cpu produced control signal according to push button signalling, controlled described machine operation.
Compared with prior art has following advantage according to a kind of intelligent automatic searching and tracking golf cart provided by the invention: at first, be provided with automatic search control circuit in the control system of the present invention, the signal of holding according to the user that telepilot sent, position to the user is judged, the control golf cart is followed the user, uses convenient; Secondly, the present invention is provided with obstacle and dodges control circuit, can detect barrier automatically, and dodge, and to avoid danger or translates into; Once more, the present invention can make car body and user keep certain distance according to user's setting; At last, the present invention can also carry out remote control by the telepilot that the user holds, by travelling by key control.
Description of drawings
Fig. 1 is a system chart of the present invention.
Fig. 2 is the circuit theory diagrams of telepilot of the present invention.
Fig. 3 is the circuit theory diagrams of master cpu and ultrasonic locating computing module and infrared module interface in the control system of the present invention.
Fig. 4 is the circuit theory diagrams of electric machine speed regulation module in the control system of the present invention.
Fig. 5 is the circuit theory diagrams of motor drive direction handover module in the control system of the present invention.
Fig. 6 is the circuit theory diagrams of ultrasonic distance measuring module interface in the control system of the present invention.
Fig. 7 is the circuit theory diagrams of power circuit in the control system of the present invention.
Fig. 8 is a rotary encoder interface circuit schematic diagram in the control system of the present invention.
Fig. 9 is a wireless module interface circuit schematic diagram in the control system of the present invention.
Figure 10 is an indicator light circuit schematic diagram in the control system of the present invention.
Figure 11 is alarm buzzer circuit theory diagrams in the control system of the present invention.
Embodiment
Referring to Fig. 1 to Figure 11, embodiment according to a kind of intelligent automatic searching and tracking golf cart provided by the invention, comprise car body, be installed in wheel, driving described wheel motor rotating, control system and telepilot on the described car body, described wheel has a plurality of, present embodiment can adopt the scheme of three wheels, wherein two trailing wheels are respectively by two motor-driven, and front-wheel does not have driving mechanism.Can realize by two rotating speed of motor of control trailing wheel turning to and travel direction, speed like this.Described car body mainly is as loading the golf apparatus, for example club etc.These structures all belong to the prior art of comparative maturity, and the concrete structure to machinery repeats no more herein.The invention difference from existing technology is, described control system comprises master cpu 1, automatic search control circuit, obstacle is dodged control circuit and power circuit 2, described telepilot comprises remote control CPU9, the signal control circuit and the key circuit 8 that are complementary with described automatic search control circuit, described automatic search control circuit can be searched for the position of the described telepilot of identification, and the signal that will search for identification transfers in the described master cpu 1, described master cpu 1 produces the control signal of the described motor rotation of control according to the position signalling of described telepilot, thereby control described car body automatically and follow the user who holds described telepilot, described obstacle is dodged control circuit can detect barrier in traveling process, and the signal that retrieves transferred in the described master cpu 1, described master cpu 1 produces the control signal of controlling described motor rotation according to detected obstacle signal, with avoiding barrier.Described master cpu adopts MAINCPU, and master cpu is mainly used in the information that receives automatic search control circuit, makes comprehensive judgement according to this information, and computing machine goes out the action of the correspondence that the ball car should make, the direction of rotation, the angle and the distance of advancing etc.
In the foregoing description that the present invention provides, described automatic search control circuit comprises wireless communication line 3 and ultrasonic locating circuit 4, the signal control circuit of described telepilot comprises remote control radio road 7 that is complementary with described wireless communication line 3 and the ultrasonic output circuit 6 that is complementary with described ultrasonic locating circuit, described wireless communication line 3 can be carried out communication by specific coding with described remote control radio road 7, described ultrasonic locating circuit receives the ultrasonic signal that described ultrasonic output circuit 7 sends, and calculates position signalling between car body and the user according to the ultrasonic signal that receives.Described wireless communication line 3 is received master cpu by wireless module interface 31, be used to receive the radio command that telepilot sends, radio command is passed in the ultrasonic locating circuit 4, decode the actual telecommand that the user sends by it, telecommand is dealt into master cpu, master cpu can switch the ball car to remote state according to telecommand, directly controls ball garage and walks.The wireless signal that present embodiment adopts is a rf wireless signal, here radio-frequency transmissions receives the same with the principle of automobile key, has own unique encoding, therefore user and ball car are man-to-man relations, the signal that the ball car sends has only the user to receive, ball car and user are by electric wave and hyperacoustic transmission and receive and judge azimuth-range, and the motion accompanying user of control ball car.
In the foregoing description that the present invention provides, described ultrasonic locating circuit 4 comprises ultrasonic locating computing module 41, ultrasonic distance measuring module 43 and is installed in a plurality of ultrasound waves on the described car body and receives 42, each ultrasonic distance measuring module 43 is connected with described ultrasonic locating computing module 41 by a ultrasonic distance measuring module interface 44, collect by described ultrasound wave reception 42 ultrasonic signal that receive by described ultrasonic distance measuring module 43, and calculate.Described ultrasonic locating computing module 41 is the integrated process chip of STC5402AD-32, and described ultrasound wave receives 42 can adopt existing product ripe on the market.In the present embodiment, 4 ultrasound waves are installed on the described car body receive 42 and 4 corresponding ultrasonic distance measuring modules, be connected with described ultrasonic locating computing module 41 by ultrasonic distance measuring module 43.Can obtain on the ball car distance between 4 probes and the user's telepilot on one's body.These 4 accurate distance signals will be delivered to the ultrasonic locating computing module, use for its calculated direction.Ultrasonic locating computing module 41 utilizes the space geometry principle after receiving range data between 4 ultrasonic probes and the telepilot, solves the equation of the angle and distance between telepilot and the ball car.Thereby obtain the azimuth-range of telepilot with respect to dolly.Ultrasonic locating computer module 41 also receives wireless signal simultaneously, decodes the instruction that telepilot sends, and delivers to master cpu.The present invention is according to sonic transmissions speed and transmission time measuring distance, rather than measure by the measure signal intensity analog quantity, can avoid signal to be blocked effectively and when disturbing, produce error during signal weaker, as long as this mode is received useful signal, just can calculate distance accurately.
In the foregoing description that the present invention provides, described ultrasonic output circuit 6 comprises ultrasonic drive circuit 61 and ultrasonic transmission device 62, and the ultrasonic signal that described ultrasonic drive circuit 61 produces is launched by described ultrasonic transmission device 62.Described ultrasonic generator 62 is combined by a plurality of ultrasonic emitting heads, and present embodiment is 9, and number in the figure is F1 to F9.Described ultrasonic drive circuit 61 is made up of 74LS04 integrated chip and CD4069 integrated chip, can produce ultrasound wave.
In the foregoing description that the present invention provides, described obstacle is dodged control circuit and is comprised infrared signal treatment circuit 5 and be installed in a plurality of infrared emission around the described car body and receive 51, described infrared signal treatment circuit 5 will receive 51 infrared signal that receive by described infrared generation and handle, produce obstacle and dodge signal, and obstacle is dodged signal transfer to described master cpu 1.Described infrared signal treatment circuit 5 is connected with described master cpu 1 by infrared module interface J10.The infrared emission that infrared module interface J10 receives ball car front end receives the signal that hair goes out.There is the signal of obstacle to pass to master cpu in the place ahead, makes its parking.Because it is shorter to keep away the barrier distance, has only 30cm, uses infrared ray to keep away barrier, 4 pairs of infrared emission are set around the ball car receive heads, constantly send the carrier signal of specific coding, when neighbouring when barrier is arranged, then can reflect and receive this signal, thereby control ball car stops to move.
In the foregoing description that the present invention provides, be connected with rotary encoder on the described wheel, the wheel rotating signal that described rotary encoder produces transfers to described master cpu.Described rotary encoder is connected with described master cpu 1 by rotary encoder interface 11, and described rotary encoder interface 11 is made up of photoelectric switch RPI-574 and integrated chip LM393.On two wheels, be connected with a rotary encoder respectively.Rotary encoder is to utilize the photoelectric encoder that is contained on the wheel, is transferred in the circuit, utilizes LM393 comparer reshaping signal, gives master cpu 1 again.Master cpu 1 receives the signal of rotary encoder, and computing machine goes out the current speed of two wheels, for the speed of advancing and turning of ball car provides benchmark.
In the foregoing description that the present invention provides, described motor is by electric machine speed regulation module 12 and 13 controls of motor drive direction handover module, and described electric machine speed regulation module 12 and motor drive direction handover module 13 are respectively by described master cpu 1 control.Master cpu also utilizes built-in PWM output module, and output pwm signal is given the electric machine speed regulation module, and drive motor rotates with certain speed.Electric machine speed regulation module 12 is power output modules, and the pwm signal according to input provides 256 grades of big or small electric currents to motor.Making 2 motors is 256 grades speed rotation with precision, thereby drives carriage walking or rotation.Motor drive direction handover module 13 utilizes relay assembly, switches the direction of current by motor, motor is just changeed or reverses.
In the foregoing description that the present invention provides, described control system also is provided with pilot lamp 14 and alarm buzzer 15.Pilot lamp indication 14 is when the driving states and the battery dump energy state of forecourt car.Alarm buzzer 15 measures fault or user when car is too far away in the ball car test, sends chimes of doom and reminds the user to note and handle.
In the foregoing description that the present invention provides, described key circuit 8 is connected with described remote control CPU9, described remote control CPU9 goes out the push button signalling that described key circuit 8 produces by described remote control radio road 7, described wireless communication line 3 receives push button signalling and transfers in the described master cpu 1, described master cpu 1 interrupts the ultrasonic locating circuit working after receiving push button signalling, this moment, described master cpu 1 produced control signal according to push button signalling, controlled described machine operation.Be provided with 5-8 button altogether, be used for remote control ball car front, rear, left and right, parking, from operations such as motion trackings, button is all received the interrupt pin of CPU.Be used to trigger the CPU awakening that is in dormant state, and handle actuation of keys.During without any actuation of keys, telepilot CPU can be in dormant state, saves battery electric quantity.
In conjunction with the foregoing description, now the course of work of ball car of the present invention is done following introduction:
The ball car probably constantly sends band coding wireless pulse with the interval of per second 3 times, and the telepilot that carries as the user receives this signal, sends a specific ultrasonic pulse string immediately.4 ultrasound waves on the ball car receive in the head 3 receive this signal after, judge the signal that the person of being to use returns, promptly calculate electric wave and be issued to the time (t) of receiving infrared signal, according to fixing velocity of sound (S), by equation (L=t*S) calculate 3 ultrasound waves receive distance between head and the user (L1, L2, L3), radio wave propagation speed is the light velocity, so electric wave can be ignored launch time.Be blocked owing to have 1 all the time in 4 ultrasound wave reception heads, therefore, as long as there are 3 can receive.
Know 3 distances (L1, L2, L3) after, again according to 3 ultrasound waves receive head the fixed position (X1, Y1), (X2, Y2), (X3, Y3), just can by Equation for Calculating go out the residing orientation of user and coordinate (X, Y).
After knowing the user orientation, 2 direct current generators of may command, forward or reverse makes dolly aim at user's direction.Simultaneously according to the distance L of measuring=(L1+L2)/2, judge whether greater than setpoint distance, if greater than drive motor would advance to the setpoint distance place.If L is less than setpoint distance then be failure to actuate.
For infrared obstacle avoidance, every pair of infrared emission receives head and separates with baffle plate, can directly not receive the signal that oneself sends.Infrared tube is contained in ball car bottom, suitably covers top light, disturbs to avoid sunshine..When so only barrier occurring on ground, barrier reflects the signal of launching, and is received pipe and receives and go interference analysis more just to judge whether barrier is arranged.Master cpu is found can send instruction out of service after direct of travel has barrier, and the prompting of sounding.Regulate the orientation and the receiving sensitivity of infrared emission reception head, can set and keep away the barrier distance for about 30cm, when the discovery barrier disappeared, the ball car can continue to advance automatically.
Wherein to activity barrier foreign object,, run into the people who stands when ball car during in walking work, it is fixed to stop in regulation (0.3-0.5 rice) scope before the barrier foreign object, sends alerting signal simultaneously, when the people who stands leaves, the ball car can search the user, and follows the tracks of walking by user's direction.
Fixing barrier foreign object, when the ball car is walked work in the court when, the ball car must stop deciding in regulation (0.3-0.5 rice) scope before the barrier foreign object when running into trees or stone, the user can adopt telepilot control ball car to turn and turn out, the ball car can be searched for the user subsequently then, and follows the tracks of user's direction walking.
When the ball car is followed the user and is climbed up massif, the user stand on the massif top, the ball car is then out of service within the limits prescribed, because the ball car is not taked machinery control, the ball car has the possibility that slides voluntarily when the inclined-plane, need to consider in design, must in the time will testing out the ball car, slide voluntarily, send one ' signal ' and controlled by machinery on the inclined-plane.
Claims (10)
1, a kind of intelligent automatic searching and tracking golf cart, comprise car body, be installed in the wheel on the described car body, drive described wheel motor rotating, control system and telepilot, it is characterized in that: described control system comprises master cpu, automatic search control circuit, obstacle is dodged control circuit and power circuit, described telepilot comprises remote control CPU, the signal control circuit and the key circuit that are complementary with described automatic search control circuit, described automatic search control circuit can be searched for the position of the described telepilot of identification, and the signal that will search for identification transfers in the described master cpu, described master cpu produces the control signal of the described motor rotation of control according to the position signalling of described telepilot, thereby control described car body automatically and follow the user who holds described telepilot, described obstacle is dodged control circuit can detect barrier in traveling process, and the signal that retrieves transferred in the described master cpu, described master cpu produces the control signal of controlling described motor rotation according to detected obstacle signal, with avoiding barrier.
2, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 1, it is characterized in that: described automatic search control circuit comprises wireless communication line and ultrasonic locating circuit, the signal control circuit of described telepilot comprises remote control radio road that is complementary with described wireless communication line and the ultrasonic output circuit that is complementary with described ultrasonic locating circuit, described wireless communication line can be carried out communication by specific coding with described remote control radio road, described ultrasonic locating circuit receives the ultrasonic signal that described ultrasonic output circuit sends, and calculates position signalling between car body and the user according to the ultrasonic signal that receives.
3, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 2, it is characterized in that: described ultrasonic locating circuit comprises ultrasonic locating computing module, a plurality of ultrasonic distance measuring module and a plurality of ultrasound waves that are installed on the described car body receive heads, described ultrasonic locating computing module is collected by described ultrasound wave by described ultrasonic distance measuring module and is received the ultrasonic signal that head receives, and calculates.
4, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 2, it is characterized in that: described ultrasonic output circuit comprises ultrasonic drive circuit and ultrasonic transmission device, and the ultrasonic signal that described ultrasonic drive circuit produces is launched by described ultrasonic transmission device.
5, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 4 is characterized in that: described ultrasonic generator is combined by a plurality of ultrasonic emitting heads.
6, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 1, it is characterized in that: described obstacle is dodged control circuit and is comprised the infrared signal treatment circuit and be installed in described car body a plurality of infrared emission reception heads all around, described infrared signal treatment circuit will receive an infrared signal that receives by described infrared generation and handle, produce obstacle and dodge signal, and obstacle is dodged signal transfer to described master cpu.
7, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 1 is characterized in that: be connected with rotary encoder on the described wheel, the wheel rotating signal that described rotary encoder produces transfers to described master cpu.
8, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 1, it is characterized in that: described motor is by electric machine speed regulation module and the control of motor drive direction handover module, and described electric machine speed regulation module and motor drive direction handover module are respectively by described master cpu control.
9, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 1, it is characterized in that: described control system also is provided with pilot lamp and alarm buzzer.
10, a kind of intelligent automatic searching and tracking golf cart as claimed in claim 1, it is characterized in that: described key circuit is connected with described remote control CPU, described remote control CPU goes out the push button signalling that described key circuit produces by described remote control radio road, described wireless communication line receives push button signalling and transfers in the described master cpu, described master cpu interrupts the ultrasonic locating circuit working after receiving push button signalling, this moment, described master cpu produced control signal according to push button signalling, controlled described machine operation.
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| CN 200810029912 CN101639699B (en) | 2008-08-01 | 2008-08-01 | Intelligent automatic searching and tracking golf cart |
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| CN 200810029912 CN101639699B (en) | 2008-08-01 | 2008-08-01 | Intelligent automatic searching and tracking golf cart |
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| CN101639699A true CN101639699A (en) | 2010-02-03 |
| CN101639699B CN101639699B (en) | 2011-11-30 |
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| CN 200810029912 Expired - Fee Related CN101639699B (en) | 2008-08-01 | 2008-08-01 | Intelligent automatic searching and tracking golf cart |
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| CN102915008A (en) * | 2012-09-13 | 2013-02-06 | 湘潭大学 | Intelligent scheduling system of unmanned conveyers in workshop |
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| CN103657019A (en) * | 2012-09-21 | 2014-03-26 | 同致电子企业股份有限公司 | Remote control type electric golf bag car |
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| CN2191013Y (en) * | 1993-11-26 | 1995-03-08 | 林春成 | Self-walking remote-electric wheeled carrier for golf bag |
| CN2853485Y (en) * | 2005-12-09 | 2007-01-03 | 陈秋田 | Double-control electric golf cart |
| CN201237738Y (en) * | 2008-08-01 | 2009-05-13 | 邓伟雄 | Golf cart with intelligent automatic searching and tracing function |
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