CN101639700B - Tracking rotation device and shooting system - Google Patents

Abstract

The invention is suitable for the electronic field, and provides a tracking rotation device and a shooting system. The tracking rotation device comprises a motor, a transmitting unit, a receiving unit, a central processing unit and an adapter unit, wherein the transmitting unit is used for transmitting a signal with fixed frequency; the receiving unit is fixedly connected with the motor, and is used for converting the received signal transmitted by the transmitting unit into a signal with target horizontal/vertical orientation information and outputting the signal; the central processing unit is used for analyzing the target horizontal/vertical orientation information from the signal outputted by the receiving unit, combining configuration parameters, generating a control signal according to the modulation relation and outputting the control signal; and the adapter unit is connected with the motor and the central processing unit, and is used for converting the control signal outputted by the central processing unit into control voltage and outputting the control voltage to the motor. The tracking rotation device has the advantages of high tracking accuracy and reliability, simple structure, strong real-time performance and easy realization.

Description

A kind of tracking rotation device and camera system

Technical field

The invention belongs to electronic applications, relate in particular to a kind of tracking rotation device and camera system.

Background technology

Present digital camera is used more and more widely in life, but generally is subjected to a restriction when using, and needs photographer's manual adjustment to find a view when taking exactly.If photographer need can only take the background that pre-sets, and not reach desirable effect mostly away from when shooting.If on digital camera, increase tracking rotation device, then can well solve and have the restriction that is subjected to when using digital camera now.Other for example increase tracking rotation device on video camera, can monitor old man, child etc. better.Though existing now tracking rotation device, the accuracy and the reliability of following the tracks of are relatively poor, and realize relatively difficulty.

Summary of the invention

The object of the present invention is to provide a kind of tracking rotation device, be intended to solve existing tracking rotation device accuracy and poor reliability, and realize the problem of difficulty.

The present invention is achieved in that a kind of tracking rotation device, and described tracking rotation device comprises motor, also comprises:

Transmitter unit is used to launch one and has fixed frequency signal;

Receiving element is fixedlyed connected with described motor, and the signal that the described transmitter unit that is used for receiving is launched changes into signal and the output that has target level/vertical direction information;

CPU (central processing unit) is used for parsing target level/vertical direction information from the signal of described receiving element output, in conjunction with configuration parameter, generates control signal and output according to the modulation relation; And

Adaptation unit is connected with described motor, CPU (central processing unit), is used for the control signal of described CPU (central processing unit) output is changed into control voltage and exports described motor to;

Described receiving element comprises:

Timer is used for producing and output vibration square wave; And

Antenna module is used for the vibration square wave switched antenna according to the output of described timer, artificial antenna on horizontal/with the relative motion of described transmitter unit, produce Doppler shift, output has the signal of target direction information.

Another object of the present invention is to provide a kind of camera system that comprises above-mentioned tracking rotation device, described camera system also comprises:

Filming apparatus is fixedlyed connected with described motor, and follows described motor and rotate.

In the present invention, by receiving element the signal that receives is changed into the signal that has target direction information, CPU (central processing unit) generates corresponding control signal according to the directional information that parses, and the control motor is followed target and rotated, and has realized the tracking to target.Adopt this tracking rotation device, to target following accuracy, reliability height, and simple in structure, real-time, be easy to realize.

Description of drawings

Fig. 1 is the structural drawing of the tracking rotation device that provides of the embodiment of the invention;

Fig. 2 is the circuit diagram of the receiving element that provides of the embodiment of the invention;

Fig. 3 is the synoptic diagram that the rotational angle that provides of the embodiment of the invention is resolved;

Fig. 4 is the circuit diagram of the adaptation unit that provides of the embodiment of the invention;

Fig. 5 is the structural drawing of the camera system that provides of the embodiment of the invention.

Embodiment

In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.

The embodiment of the invention changes into the signal that has target direction information by receiving element with the signal that receives, and CPU (central processing unit) generates corresponding control signal according to the directional information that parses, and the control motor is followed target and rotated.

Fig. 1 shows the structure of the tracking rotation device that the embodiment of the invention provides, and this tracking rotation device can be followed the tracks of target in the horizontal direction.For convenience of description, only show the part relevant with the embodiment of the invention.

Transmitter unit 101 is used to launch a signal with fixed frequency.

In the present embodiment, the frequency that this frequency is opened, can freely be used for country, for example the section according to frequency 409MHz is freely exempted from the continent.

Receiving element 102 is fixedlyed connected with motor 105, is used to receive the signal of transmitter unit 101 emissions, the signal that receives is changed into signal and the output that has the target level directional information.In embodiments of the present invention, receiving element 102 is fixed on the motor 105.

CPU (central processing unit) 103 is used for parsing the target level directional information from the signal of receiving element 102 outputs, in conjunction with configuration parameter, generates control signal and output according to the modulation relation.In embodiments of the present invention, configuration parameter is trigger voltage, maximum (top) speed voltage, the highest parameters such as power supply, rotation direction control of bearing of motor.

Adaptation unit 104 is used for the control signal of CPU (central processing unit) 103 outputs is changed into control voltage, and will controls the control port that horizontally rotates that voltage is exported to motor 105.

Motor 105 carries out the corresponding rotation of horizontal direction according to the control voltage of adaptation unit 104 outputs.In embodiments of the present invention, motor 105 adopts the direct current rotary electric machine.

Because the microwave emission is omnibearing, and convenient the detection, the microwave communication investment is little, applying flexible, transmission quality is reliable, antijamming capability is strong, transmission line is long, technology maturation, in embodiments of the present invention, transmitter unit 101 is a microwave transmitter unit 101, the microwave signal of emission certain frequency.

In embodiments of the present invention, receiving element 102 utilizes the antenna that switches the horizontal direction different spatial, and the relative motion of artificial antenna on wave line produces Doppler shift, and output has the signal of target level directional information.The circuit of receiving element as shown in Figure 2.Receiving element 102 comprises timer 1021 and antenna module 1022.

Timer 1021 is used for producing and output vibration square wave.

Antenna module 1022, be used for vibration square wave, switch the antenna of horizontal direction different spatial according to timer 1021 output, the simulation receiving antenna in the horizontal direction with the relative motion of transmitter unit 101, produce Doppler shift, output has the signal of target direction information.

In embodiments of the present invention, timer 1021 adopts time base circuit to realize, produces an audio oscillation square wave.Power end 8, the reset terminal 4 of time base circuit U1 meet power supply VCC; Discharge end 7 meets power supply VCC through resistance R 1, makes a start 2 through resistance R 2 contacts; Trigger end 2, threshold value control end 6 are through capacitor C 1 ground connection; Reference edge 1 ground connection.Certainly, timer 1021 also can adopt realizations such as single-chip microcomputer, crystal oscillator.

In embodiments of the present invention, antenna module 1022 comprises antenna E1, antenna E2, diode D1, diode D2, resistance R 3, resistance R 4 and capacitor C 4.Antenna E1 connects the positive pole of diode D1, and through resistance R 3 ground connection; Antenna E2 connects diode D2 negative pole, and through resistance R 4 ground connection; Diode D1 negative pole, diode D2 positive pole and capacitor C 4 one ends are connected with timer 1021 output terminals; Capacitor C 4 other ends are as the output terminal of receiving element 102.Vibration square wave control diode D1, diode D2 alternate conduction by 3 outputs of time base circuit output terminal, alternately receive with control antenna E1, antenna E2, the simulation single antenna is with respect to transmitter unit 101 motions, obtain having the frequency signal of Doppler shift, additional modulation has appearred in the signal frequency of output terminal output like this.Differentiate the frequency modulation (PFM) value according to the additional signals size, the signal of gathering and handle output just can obtain the directional information of target.

As a preferred embodiment of the present invention, receiving element 102 also comprises a coupling assembly that is connected on 1022 of timer 1021 and antenna modules, with the vibration square wave of coupling timer 1021 outputs.Coupling assembly is in series by capacitor C 2 and inductance RFC1, and capacitor C 2 positive poles are connected with the output terminal 3 of time base circuit U1, and inductance RFC1 one end is connected with capacitor C 2 negative poles, and the inductance RFC1 other end is connected with diode D1 negative pole.

As another preferred embodiment of the present invention, receiving element 102 also comprises a capacitor C 3, is used to improve the output waveform of timer 1021.Capacitor C 3 one ends are connected other end ground connection with the negative pole of capacitor C 2.

In embodiments of the present invention, CPU (central processing unit) 103 is the single-chip microcomputer that volume is little, speed is fast, cost is low, for example the 51f series monolithic.Single-chip microcomputer can parse the horizontal direction information of transmitter unit 101 according to the frequency values that receives signal, because receiving element 102 fixedly places on the motor 105, thereby calculates the angle in this direction and antenna E1, antenna E2 dead ahead, promptly obtains rotational angle.

The parsing synoptic diagram of rotational angle as shown in Figure 3, details are as follows to resolve the process of rotational angle:

In surface level, suppose that now transmitter unit 101 is static, antenna E1, antenna E2 are with certain frequency f ₁Alternately receive the signal of transmitter unit 101 emissions, artificial antenna E1, antenna E2 are with respect to transmitter unit 101 motions, and transmitter unit 101 is a to the distance of antenna E1, and transmitter unit 101 is b to the distance of antenna E2, and then speed of related movement is:

V＝(a-b)*f ₁------------(1)；

The frequency displacement that produces is:

$\mathrm{\Δf}=\frac{f*V}{C}---\left(2\right);$

Wherein, f is the frequency of the signal of reception transmitter unit 101 emissions, and C is the light velocity, f _OutIt is the frequency of the signal that receives of CPU (central processing unit) 103.

Again because frequency displacement Δ f=f _Out-f can be in the hope of relative velocity V by equation (2).Again by in the equation (1), the known switch frequency f ₁

If Δ d=(a-b) solves transmitter unit 101 positions on double curve.If only in 180 degree scopes, follow the tracks of, then hyperbolic curve only get one, the two quadrant part, hyp bifocal promptly is two antenna E1, E2 position.If focal length is 2c, be X-axis with bifocal place straight line, the bifocal perpendicular bisector is a Y-axis, then Hyperbolic Equation is:

$\frac{x^2}{{\left(\frac{\mathrm{\Δd}}{2}\right)}^2}-\frac{y^2}{[c^2-{\left(\frac{\mathrm{\Δd}}{2}\right)}^2]}=1;$

Wherein, c is half of two antenna distances, and what Δ d was two antenna E1, E2 to the distance of transmitter unit 101 is poor.

In actual applications, because the distance between two antenna E1, the E2 is little, is generally 10～20cm, and the distance of transmitter unit 101 distance two antenna E1, E2 is very big, generally greater than 200cm, so that the direction of transmitter unit 101 can be thought is identical with hyperbolic curve asymptotic line direction.If it is identical that the cotangent of angle of rotation θ correspondence equals the asymptotic line slope, that is:

$\tan (\frac{\mathrm{\&pi;}}{2}-\mathrm{\&theta;})=\&PlusMinus;\frac{\sqrt{c^2-{\left(\frac{\mathrm{\&Delta;d}}{2}\right)}^2}}{\frac{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="DEST\_PATH\_H200810142725901E00021.png"\; state="\{\{state\}\}">d</figure-callout>}}{2}};$

Wherein, choosing by the positive and negative of frequency displacement of sign decided, and promptly determined by the symbol of Δ f.(pi/2-θ), obtain angle of rotation θ again is a rotational angle to obtain angle by cotangent.

After drawing rotational angle,, concern the calculating voltage modulation value according to modulation in conjunction with configuration parameter, and the PWM modulating wave of output expression voltage modulated value, this PWM modulating wave is the control signal of output.Configuration parameter is trigger voltage, the maximum (top) speed voltage of motor 105, and it is the linear ratio relation that modulation is closed, and modulation algorithm is as follows:

$U=U_b+\frac{\mathrm{\&theta;}*(U_b-U_f)}{180};$

Wherein, U is the voltage modulated value, U _bBe electric motor starting voltage, U _fBe motor maximum (top) speed voltage, θ is a rotational angle.Certainly, CPU (central processing unit) 103 also can adopt other modulation algorithm calculating voltage modulation values.

In order to solve the stability of tracking, as another preferred embodiment of the present invention, tracking rotation device also comprises modulation control module 107, and it is the modulation of speed change feedback that the modulation that is used to control CPU (central processing unit) 103 is closed.If the rotational angle θ deviation that can tolerate is θ _b, can be provided with when rotational angle θ greater than θ _eIn time, need to follow the tracks of at full speed, and promptly the voltage modulated value is motor 105 maximum (top) speed voltage U _fWhen rotational angle θ at θ _bTo θ _eThe time, can control tracking velocity with the linear ratio relation according to actual requirement; When rotational angle θ less than θ _bIn time, follow the tracks of with minimum speed, and promptly the voltage modulated value is the electric motor starting voltage U _bWhen rotational angle θ at θ _bTo θ _eThe time, modulation algorithm is as follows:

$U=U_b+\frac{(\mathrm{\&theta;}-{\mathrm{\&theta;}}_b)*(U_f-U_b)}{({\mathrm{\&theta;}}_e-{\mathrm{\&theta;}}_b)};$

Wherein, θ _b＜θ＜θ _e

If establishing the distance of on average taking pictures is 10 meters, the error of taking pictures that can tolerate is 0.5 meter, and the rotational angle θ deviation that then can tolerate is equivalent to 2.86 degree.Can be provided with needs to follow the tracks of at full speed when rotational angle θ spends greater than 10, and the voltage modulated value is 6V; When rotational angle θ spends when 10 spend by controlling tracking velocity with the linear ratio relation 2.86; Follow the tracks of with minimum speed when rotational angle θ spends less than 2.86, the voltage modulated value is 4 volts.Rotational angle θ spends when 2.86 spend 10, and the computing formula of voltage modulated value is:

$U=4+\frac{(\mathrm{\&theta;}-2.86)*2}{(10-2.86)};$

Wherein, 2.86＜θ＜10.

Certainly, aforementioned modulation algorithm, the rotational angle θ deviation that can tolerate are θ _b, the critical angle θ that follows the tracks of at full speed _eDeng resetting as required.

In order to prevent that non-steady state from appearring in target tracking rotation device when the critical zone, the saltus step of speed influences tracking effect when avoiding motor to rotate, cause following the tracks of unstable, as another preferred embodiment of the present invention, tracking rotation device also comprises boundary Control unit 108, control CPU (central processing unit) 103 starts the angle of following the tracks of and finishing tracking, to leave rational rich angle on the border of following the tracks of.In the present embodiment, because the reaction of this tracking rotation device is very fast, can make the tracking velocity continous-stable.Leave rational rich angle on the border of following the tracks of, it is inequality promptly to need to start the angle of following the tracks of and finish tracking, and for example, it is 2.86 degree that boundary Control unit 108 control CPU (central processing unit) 103 start the tracking angle, and finishing and following the tracks of angle is 1.5 degree.When rotational angle less than 1.5 degree, and motor is when rotating, boundary Control unit 108 control CPU (central processing unit) 103 are finished tracking, CPU (central processing unit) 103 is not exported the modulation voltage value; Have only when rotational angle greater than 2.86 degree, and motor is when stopping operating, boundary Control unit 108 is just controlled CPU (central processing unit) 103 and is started tracking, CPU (central processing unit) 103 is just exported the modulation voltage value.

For the center that makes tracking can be provided with, be convenient to follow the tracks of, as another preferred embodiment of the present invention, tracking rotation device also comprises trigger 106, as shown in Figure 1.Trigger 106 is used for sending the initial position trigger pip, following the tracks of the beginning trigger pip to CPU (central processing unit) 103 according to the trigger command of user's input.In the present embodiment, when single-chip microcomputer received the initial position trigger pip, control parsed target direction information from the signal of receiving element 102 outputs, calculate the angle in this direction and antenna E1, antenna E2 dead ahead, as misalignment angle; After single-chip microcomputer received tracking beginning trigger pip, control parsed the target level directional information from the signal that receives, calculate the angle in this direction and antenna E1, antenna E2 dead ahead, promptly interim angle.Again will this interim angle all change into rotational angle with respect to misalignment angle, after to be single-chip microcomputer according to the calculated signals of receiving element 102 outputs go out interim angle, should interim angle draw rotational angle, concern the calculating voltage modulation value in conjunction with configuration parameter according to modulation by the rotational angle that draws in conjunction with misalignment angle.

In embodiments of the present invention, adaptation unit 104 receives the PWM modulating wave of the expression voltage modulated value of single-chip microcomputer output, changes into control voltage and exports to motor 105, and the circuit of adaptation unit 104 as shown in Figure 4.Adaptation unit 104 comprises D/A switch assembly 1041 and amplifier module 1042.

D/A switch assembly 1041 is used for the PWM modulating wave of single-chip microcomputer output is changed into aanalogvoltage and output, is determined the amplitude of aanalogvoltage by the width of PWM modulating wave.

Amplifier module 1042 is used for that aanalogvoltage with D/A switch assembly 1041 output boosts, export after step-down or the voltage stabilizing.

As shown in Figure 4, D/A switch assembly 1041 comprises triode Q1, diode D2, resistance R 1, resistance R 2, resistance R 3, resistance R 4, capacitor C 1, capacitor C 2.The PWM modulating wave of single-chip microcomputer output exports triode Q1 base stage to through resistance R 1, and control triode Q1 break-make can be exported stable PWM waveform, and the collector of triode Q1 meets power supply VCC through resistance R 2, the grounded emitter of triode Q1; Diode D2 plus earth, negative pole connect triode Q1 collector; 3 series capacitance C1 are in parallel with diode D2 for resistance R; 4 series capacitance C2 are in parallel with capacitor C 1 for resistance R.

Amplifier module 1042 comprises amplifier AD820 and resistance R 5, forms voltage follower circuit.Amplifier AD820 in-phase input end connects the output terminal of D/A switch assembly 1041, and promptly amplifier AD820 in-phase input end connects the collector of triode Q1 through resistance R 4, resistance R 3; Resistance R 5 one termination amplifier AD820 inverting inputs, another termination amplifier AD820 output terminal.

Certainly, above-mentioned receiving element 102 can change into the signal of transmitter unit 101 emissions signal and the output that has the target vertical direction information.CPU (central processing unit) 103 parses the target vertical direction information from the signal that receives, change into control signal.Control signal is given motor 105 through the adaptation unit 104 adaptive control voltages that change into, and rotates in vertical direction with the control motor.

Further, above-mentioned receiving element 102 can adopt three antennas, has signal on target level and the vertical direction with output.CPU (central processing unit) can go out target level, vertical direction information according to the signal resolution that receives, and change into respective horizontal, the vertical direction control signal is exported to horizontal direction adaptation unit, vertical direction adaptation unit.Horizontal direction adaptation unit, vertical direction adaptation unit carry out adaptive conversion with the control signal that receives, and obtain corresponding horizontal, vertical direction control voltage and export to motor corresponding horizontal/vertical rotation control port.Rotor rotates on respective horizontal, vertical direction according to the corresponding control voltage that receives.

The embodiment of the invention also provides a kind of camera system that comprises above-mentioned tracking rotation device, as shown in Figure 5, for convenience of explanation, only shows the part relevant with the embodiment of the invention.

Transmitter unit 501 is used to launch one and has fixed frequency signal.In embodiments of the present invention, the microwave signal of transmitter unit 501 emissions one fixed frequency.

Receiving element 502 is fixedlyed connected with motor 505, is used to receive the signal of transmitter unit 501 emissions, the signal that receives is changed into signal and the output that has the target level directional information.In embodiments of the present invention, receiving element 102 is fixed on the motor 105.

CPU (central processing unit) 503 is used for parsing the target level directional information from the signal of receiving element 502 outputs, in conjunction with configuration parameter, according to the modulation relation, generates control signal and exports to adaptation unit 504.In embodiments of the present invention, configuration parameter is trigger voltage, maximum (top) speed voltage, the highest parameters such as power supply, rotation direction control of bearing of motor.Realize repeating no more as mentioned above.

Adaptation unit 504 changes into the control port that horizontally rotates that control voltage is exported to motor 505 with the control signal of CPU (central processing unit) 503 outputs.

The control voltage that motor 505 is exported according to adaptation unit 504 carries out the corresponding rotation on the horizontal direction.

Filming apparatus 506 is fixedlyed connected with motor 505, follows motor 505 and rotates, and can be digital camera, Digital Video etc.In embodiments of the present invention, when initial, the angle in the antenna E1 of filming apparatus 506 camera lenses and receiving element 502, antenna E2 dead ahead is 0 degree.

Take in order to make the convenient control of user, as another preferred embodiment of the present invention, camera system also comprises takes trigger 507, be used for sending the shooting control signal to receiving element 502 according to the shooting order of user's input, for example begin to take control signal, finish to take control signal etc., this shooting control signal can be a microwave signal.The shooting control signal that receiving element 502 will receive is transmitted to CPU (central processing unit) 503.CPU (central processing unit) 503 will receive the shooting control signal and change into the shooting control command, export to filming apparatus 506.Filming apparatus 506 is taken according to receiving the shooting control command.Here, available by single-chip microcomputer to trigger pulse of filming apparatus 506 output, take to trigger filming apparatus 506.Certainly, taking trigger 507 can be integrated in the transmitter unit 501.

Further, in order to improve the stability of track up, this camera system can also comprise modulation control module 509 and/or boundary Control unit 410, and implementation method repeats no more as mentioned above.

The tracking rotation device that the embodiment of the invention provides, the signal that receives is changed into the signal that has target direction information by receiving element, CPU (central processing unit) generates corresponding control signal according to the directional information that parses, and the control motor is followed target and rotated, and has realized the tracking to target.Adopt this tracking rotation device, to target following accuracy, reliability height, simple in structure, real-time, be easy to realize, cost is low.

Simultaneously, it is the modulation of speed change feedback that the embodiment of the invention is closed by the control modulation of modulation Control Component, and boundary component is controlled on the border of tracking and leaves rational rich angle to carry out the stable control in border, has improved the stability of tracing process greatly.

The above only is the preferred embodiment of the embodiment of the invention; not in order to the restriction embodiment of the invention; all in the embodiment of the invention spirit and principle within done any modification, be equal to and replace and improvement etc., all should be included within the protection domain of the embodiment of the invention.

Claims (7)

1. a tracking rotation device comprises motor, it is characterized in that, described tracking rotation device comprises:

Transmitter unit is used to launch one and has fixed frequency signal;

Receiving element is fixedlyed connected with described motor, and the signal that the described transmitter unit that is used for receiving is launched changes into signal and the output that has target level/vertical direction information;

CPU (central processing unit) is used for parsing target level/vertical direction information from the signal of described receiving element output, in conjunction with configuration parameter, generates control signal and output according to the modulation relation; And

Adaptation unit is connected with described motor, CPU (central processing unit), is used for the control signal of described CPU (central processing unit) output is changed into control voltage and exports described motor to;

Described receiving element comprises:

Timer is used for producing and output vibration square wave; And

Antenna module is used for the vibration square wave switched antenna according to the output of described timer, artificial antenna on horizontal/with the relative motion of described transmitter unit, produce Doppler shift, output has the signal of target direction information.

2. tracking rotation device as claimed in claim 1 is characterized in that, described transmitter unit is the microwave transmitter unit.

3. tracking rotation device as claimed in claim 1 is characterized in that, described CPU (central processing unit) is the single-chip microcomputer of output PWM modulating wave.

4. tracking rotation device as claimed in claim 3 is characterized in that, described adaptation unit comprises:

The D/A switch assembly is used for the PWM modulating wave of described single-chip microcomputer output is changed into aanalogvoltage and output; And

Amplifier module is used for that aanalogvoltage with the output of described D/A switch assembly boosts, exports after step-down or the voltage stabilizing.

5. tracking rotation device as claimed in claim 1 is characterized in that, described tracking rotation device also comprises:

The modulation control module, it is speed change feedback modulation control that the modulation that is used to control described CPU (central processing unit) is closed;

The boundary Control unit is used to control described CPU (central processing unit) and starts the angle of following the tracks of and finishing tracking;

Trigger is used for sending the initial position trigger pip, following the tracks of the beginning trigger pip to described CPU (central processing unit) according to the trigger command of user's input.

6. camera system that comprises the described tracking rotation device of the arbitrary claim of claim 1 to 5 is characterized in that described camera system also comprises:

Filming apparatus is fixedlyed connected with described motor, and follows described motor and rotate.

7. camera system as claimed in claim 6 is characterized in that, described camera system also comprises:

Take trigger, be used for sending the shooting control signal to described receiving element according to the shooting order of user's input.

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