CN103129586B - Based on locomotive position monitoring and safety control and the control method thereof of track circuit - Google Patents

Based on locomotive position monitoring and safety control and the control method thereof of track circuit Download PDF

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Publication number
CN103129586B
CN103129586B CN201310089311.5A CN201310089311A CN103129586B CN 103129586 B CN103129586 B CN 103129586B CN 201310089311 A CN201310089311 A CN 201310089311A CN 103129586 B CN103129586 B CN 103129586B
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locomotive
main frame
control main
track
peace
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CN201310089311.5A
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CN103129586A (en
Inventor
魏臻
陆阳
刘世刚
董炜
徐劲松
鲍红杰
诸葛战斌
程磊
王洪军
李超海
黄守强
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合肥工大高科信息科技股份有限公司
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Abstract

The present invention relates to the locomotive position monitoring based on track circuit and safety control and control method thereof, device is made up of fixed equipment part and mobile unit, fixed equipment is made up of the communication server, centralized traffic control main frame, data radio station base station, GPS time service equipment, computer interlock system, and mobile unit forms by pacifying control main frame, vehicle-mounted data radio station, vehicle GPS time service equipment, telltale, warning audio amplifier, brake equipment and sensor.The present invention is in conjunction with the said equipment, on the basis of current industry spot computer interlock system, utilize the taking of track circuit, floor time, in conjunction with gathered locomotive driving speed, calculate the accurate location that locomotive travels on railway in real time, and according to this position, the state of the various signalling sets such as reference signal machine, track switch, locomotive can be predicted whether travel by chapter, and carry out early warning prompting and brake processing before violating the regulations, and then reach the object ensuring safety and travel.

Description

Based on locomotive position monitoring and safety control and the control method thereof of track circuit
Technical field
The present invention relates to locomotive position to detect and driving safety control technology field, disclose a kind of locomotive position based on track circuit and detect and method of controlling security.
Background technology
The railroad track of current industry spot is made up of multistage merogenesis on electrically, each section is wherein called track section, every section of track section has and whether is pressed in track circuit detecting device in this section for detecting locomotive, when locomotive travels on railway, by track circuit detecting device, the computer interlock system matched can detect that locomotive is on some sections in real time, different patterns is shown afterwards according to the signal in field, interlocking of signals rule control station, the driver driving locomotive drives a vehicle according to the display format of signal, to reach the object of sacurity dispatching locomotive.But the method is passive security protection, and when driver sees signal or misoperation by mistake, native system cannot carry out further active safety protection, there is certain shortcoming.
For this situation, common on the market have employing GPS measure or on locomotive, install the accurate location of point type transponder device method for auxiliary detection locomotive head additional, to carry out active safety protection.
For the localization method adopting GPS, the position of locomotive can be oriented easily, but when locomotive is at factory building inside processing, GPS device cannot work, there is certain shortcoming, simultaneously based on cost, power supply, the aspects such as property easy to maintenance are considered, usual GPS fixing aid is only installed with locomotive head inner, be not arranged on railway carriage, so only to orient the position at headstock, the position of the tailstock having mounted compartment cannot be located, the method can not be adopted to detect the vehicle commander of a row locomotive, like this when locomotive is carrying out just being difficult to realize function of safety protection when operation is sent on top, for the hypervelocity of driver, the joy riding such as to make a dash across the red light cannot accomplish active defense.
Need, on each locomotive head, card reader is installed for installing dot-mode transponder method additional, and at ground ad-hoc location, dot-mode transponder is installed, at locomotive head by the position of locomotive can be detected during dot-mode transponder, this method has position probing advantage accurately, but there is the shortcoming being not easy to be arranged on railway carriage equally, the position of the tailstock having mounted compartment can not be located.Simultaneously based on equipment cost and installation and maintenance cost consideration, dot-mode transponder can not be installed continuously or too much, so the locomotive position that obtains of employing the method neither continuous print, cannot the position of all-the-way tracking positioning vehicle, and there is significant limitation.
In addition, a lot of locomotive has been installed locomotive running state and has been gathered black box device at present, but this device is general only for the record of Information Monitoring, can only be used for fault and accident analysis afterwards, the real-time protection in locomotive actual travel process can not be provided to remind.
Summary of the invention
The present invention is for solving above-mentioned problems of the prior art, provide the monitoring of a kind of locomotive position based on track circuit and method of controlling security, accurately can detect locomotive position, and adopt custom-designed method of controlling security to make the operation of locomotive more safe and reliable, improve locomotive shunting efficiency, alleviate the labour intensity of driver and conductor.
Technical scheme of the present invention is as follows:
Inspect and control device comprises fixed equipment part and mobile unit forms, fixed equipment is made up of the communication server (1), centralized traffic control main frame (2), data radio station base station (3), GPS time service equipment (4) and computer interlock system (5), and mobile unit forms by pacifying control main frame (6), vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), telltale (9), audio alert audio amplifier (10), brake equipment (11) and sensor (12);
Data radio station base station (3) and the centralized traffic control main frame (2) of the communication server (1) and each regional center are interconnected by ethernet, play unified management and all number of regions of scheduling and to conduct electricity the effect at stylobate station; Centralized traffic control main frame (2) and each computer interlock system (5) of each regional center adopt ethernet interconnected; Peace is controlled main frame (6) and passes through fieldbus between vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11) and sensor (12) interconnected;
Telltale (9) is for software for display interface and information, audio amplifier (10) is for playing alarm sound, brake equipment (11) is for excising tractive force to locomotive and brake, and sensor (12) is for gathering the locomotive operation work informations such as the speed of a motor vehicle, handle position, cylinder pressure.
The clock of centralized traffic control main frame (2) is calibrated by GPS time service equipment (4), the clock of computer interlock system (5) carries out synchronous with centralized traffic control main frame (2), the clock of peace control main frame (6) is calibrated by vehicle GPS time service equipment (8), thus the clock between three is consistent.
When centralized traffic control main frame (2) needs the peace control main frame (6) sent data on locomotive, first data are sent to the communication server (1) by ethernet, by the data radio station base station (3) of corresponding region, data are sent to vehicle-mounted data radio station (7) by after the unified process of the communication server (1) again, vehicle-mounted data radio station (7) controls main frame (6) data retransmission to locomotive peace again; Peace control main frame (6) reported data to the centralized traffic control main frame (2) on ground flow process in contrast.
Realized by the relative position of computing machine spacing track section two end (track insulation joint) to the detection of locomotive position; Locomotive is pressed in certain zone field and is obtained in real time by existing algorithm by centralized traffic control software, and timing gives peace control main frame (6) by wireless network transmissions; The length of locomotive distance track section two ends insulation joint is that the distance of being sailed in section by locomotive is carried out Equivalent Calculation and gone out, and the locomotive distance of sailing in a certain track section is carried out calculating by the speed of a motor vehicle and entry time and got, and its computing formula is as follows:
Wherein:
Ta is the moment that locomotive arrives a certain track section;
Tb is current time;
S (t) is the running velocity of t locomotive;
Send to centralized traffic control main frame (2) after the moment Ta that locomotive enters a certain track section is gathered by track circuit device by computer interlock system (5), centralized traffic control main frame (2) sends to corresponding peace control main frame (6) by data radio station base station (3) this information again;
The fortune moving velocity of locomotive gathers gained by pacifying control main frame (6) by the electro-optical pickoff be arranged on wheel shaft; Peace control main frame (6) gathers the running velocity of locomotive in units of 100 milliseconds, vehicle GPS time service equipment provides real-time time, the running velocity information flag collected is recorded in memory after real-time time, the velocity information in any tiny time section can be recalled in use easily;
The physical location of each fixed equipment in field and the length of standing is obtained by the mode of surveying and drawing, and when learning the position of locomotive on track section, conveniently can calculate the relative position of the locomotive equipment relevant with safety traffic to signal, tail track, factory building etc.
The measuring method of the vehicle commander of one row locomotive is as follows:
Wherein:
Tc is the moment that locomotive arrives a certain track section;
Td is that locomotive is completely through the moment of front track insulation joint;
S (t) is the running velocity of t locomotive;
Locomotive enters the moment Tc of a certain track section and locomotive sends to centralized traffic control main frame (2) completely after the moment Td of front track insulation joint is gathered by track circuit device by computer interlock system (5), and centralized traffic control main frame (2) sends to corresponding peace control main frame (6) by data radio station base station (3) this information again;
Vehicle commander's information of measuring and calculating is uploaded to centralized traffic control main frame (2) by peace control main frame (6) timing, assemble concentrated main frame (2) a row locomotive to be conversed according to vehicle commander's information and mount railway carriage quantity, thus can contrast with the railway carriage quantity of planning to mount, judge whether mounting mistake.
Peace control main frame (6) can be carried out locomotive and to be made a dash across the red light early warning and braking, determination methods is: peace control main frame (6) can calculate the stopping distance of locomotive according to the gradient of the speed of locomotive, load-carrying and current orbit and camber information, then according to the relation between the distance between stopping distance and front red light, where necessary by report to the police in advance or the mode such as autobrake carries out safety control.
Peace control main frame (6) can judge the highest safety speed-limit of locomotive according to the motoring condition of the load condition of the current traveling-position of locomotive, locomotive, locomotive (railway carriage is sent on traction railway carriage or top), and carry out voice message when safety speed-limit changes, the safe handling measure such as warning or automatic excision tractive force can be implemented to the locomotive of hypervelocity according to configuration prediction scheme.
Peace control main frame (6) according to the locomotive operation work information collected, can judge whether each parts of locomotive are in normal working, carries out alarm when finding operation irregularity; Peace control main frame (6) simultaneously can according to the locomotive operation work information collected, through reasoning computing, judge that driver is meet working specification to the operations of locomotive in the startup of locomotive, traveling, docking process, when finding not meet specification, carry out alarm, and alarm message is reported assemble concentrated main frame (2), form form by assembling concentrated main frame (2).
The information such as the signal of locomotive periphery are sent to peace control main frame (6) by centralized traffic control main frame (2) in real time, ambient signal information is shown by telltale by peace control main frame (6), check for driver, and synchronously carry out voice message when coherent signal converts, remind driver operation; Peace control main frame (6) can carry out non-volatile recording to the locomotive operation work information collected, and can carry out recovering and analysis to the data of record.
The invention has the beneficial effects as follows: the present invention, compared with other similar inventions, can improve the accuracy that locomotive position detects, adopt method of controlling security of the present invention to make the operation of locomotive more safe and reliable, and realize with low cost.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of device in the present invention.
Fig. 2 is that in the present invention, locomotive position detects schematic diagram.
Fig. 3 is that locomotive calculates schematic diagram apart from front signal machine distance.
Detailed description of the invention
Shown in accompanying drawing 1.
Based on the locomotive position monitoring of track circuit and the device of safety, Inspect and control device comprises fixed equipment part and mobile unit forms, fixed equipment is made up of the communication server (1), centralized traffic control main frame (2), data radio station base station (3), GPS time service equipment (4) and computer interlock system (5), and mobile unit forms by pacifying control main frame (6), vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11) and sensor (12); Data radio station base station (3) and the centralized traffic control main frame (2) of the communication server (1) and each regional center are interconnected by ethernet, and the centralized traffic control main frame (2) of each regional center adopts ethernet interconnected with GPS time service equipment (4) and each computer interlock system (5); Peace control main frame (6) and vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11), to pass through fieldbus between sensor (12) interconnected.Mobile unit is provided with audio alert audio amplifier (10), and peace control main frame (6) is interconnected by fieldbus with audio alert audio amplifier (10).: mobile unit is provided with telltale (9), and peace control main frame (6) is interconnected by fieldbus with telltale (9).
Shown in accompanying drawing 2,3.
1, the building of system.
System sets up a communication server in control center, install a number of units to conduct electricity stylobate station at center, each centralized traffic control region, and a data radio station installed by every platform locomotive.The data radio station base station of the communication server and each regional center is interconnected by ethernet, plays unified management and all number of regions of scheduling and to conduct electricity the effect at stylobate station.
In each centralized traffic control region, a GPS time dissemination system being installed, for calibrating the precise time of centralized traffic control main frame, at every platform locomotive, a GPS time dissemination system being installed simultaneously, for the time calibration to peace control main frame.After carrying out time calibration by gps time, ground maneuvers concentrates main frame to pacify the time controlling main frame be consistent with vehicle-mounted.The organization chart of system as shown in Figure 1.
2, wireless transmission function realizes.
When centralized traffic control main frame or other computing machine need the peace control main frame sent data on locomotive, it first sends to the communication server data by ethernet, by the data radio station base station of corresponding region, data are sent on locomotive by the communication server again, the peace control main frame reported data on locomotive to ground centralized traffic control main frame flow process in contrast.The separate unit data radio station base station in each centralized traffic control region uses 1 to (2) frequency, and use special 230M number to pass the frequency 1 of frequency range to (2), transmitting-receiving minimum interval is 7MHz.Channel transmission rate is 24000bps, is half duplex transmission.
3, locomotive position detects and realizes.
Realize by calculating the relative position of locomotive in section to the determination of locomotive position in the present invention, the i.e. length of the insulation joint at computing machine spacing track section two ends, because stand, in field, the position of each section and length GIS map information can be obtained by the mode of surveying and drawing, in advance as long as so learn that the relative position information of locomotive and section can know the accurate location in field, whole station of locomotive.Locomotive is pressed in certain zone field and is obtained in real time by existing algorithm by centralized traffic control software, and timing gives peace control main frame by wireless network transmissions; The length of locomotive distance track section two ends insulation joint carrys out Equivalent Calculation by the locomotive distance entered in a certain section to go out, and the distance that locomotive enters in a certain track section is calculated by the speed of a motor vehicle and entry time.Locomotive actual travel speed is by pacifying the speed in frequency amount signal gained controlled main frame and sent by the electro-optical pickoff DF8-200P/R (frequency signal, often turns pulse count: 200P/R) that detection locomotive axle is installed.Peace control main frame gathers the running velocity of locomotive in units of 100 milliseconds, and record in memory, carries out time mark to the speed of a motor vehicle of record simultaneously, conveniently can recall the velocity information in the random time section in storage data in use.
Locomotive in the process of moving, as shown in Figure 2, when crossing (moment Ta) when track insulation joint reaches next track B in front from section A, computer interlock system can detect that the track circuit in locomotive front takies situation, and report dispatcher and concentrate main frame, be more wirelessly sent to locomotive peace control main frame.Due to the propagation delay time of field, station status information, the occupied information of section B is transferred on locomotive in the Tb=Ta+Td moment (Td is propagation delay time), and now locomotive has entered into section B inner distance is the place of L1.In the Tc moment after the Tb moment, the position that locomotive enters section B can be expressed as: Lb=L1+L2, and wherein L2 represents the distance that locomotive travels within Ta+Td to the Tc time period, and distance locomotive being entered to section B divides 2 kinds of methods to carry out
(1) after the Tb moment, the computing formula of L is as follows;
L b = ∫ T a T C S ( t ) d t ≈ Σ i = 1 n S [ i ] * 0.1
Wherein, need the speed sampling value used between Ta to Tc, if the speed sampling value between Ta moment (comprising the Ta moment) and Tc moment be followed successively by S [1], S [2] ..., S [n], n=(Tc-Ta)/0.1.
(2) between Ta to the Tb moment, locomotive enters the distance of section B by following formulae discovery:
Lb=La-la
Wherein La is the distance that locomotive enters section A, and its method of measurement is the same, and la is the mapping length of section; Before the track section occupied information on ground is sent to locomotive, can judge that locomotive has entered front section in advance by this method, compensate the problem brought because of data transfer delay in this way.When peace control main frame is by when just starting shooting or recovered by faulty condition, require that locomotive a period of time at low speed crosses over front track insulation joint, the L1 produced to allow above-mentioned transmission delay distance is shorter as far as possible, to increase traffic safety.
4, locomotive peace control method realizes.
Sound and light alarm, the three step measure of excision tractive force, service braking etc. are taked in the defense controls of system.Concrete function has overrunning of signal when preventing locomotive shunting, prevent train running speed exceed permission Maximum speed limit, control car team and stop ahead at stub end siding safety distance.
(1) condition adjudgement
1.. the distance apart from front signal: as shown in Figure 3, the distance La that locomotive enters section A can be calculated by said method, and general signal machine is identical with track insulation installation site, so the distance Lx of locomotive distance front signal machine can be calculated as: Lx=la-La; Wherein la is the mapping length of section A;
2.. speed limit data acquisition: speed limit table is made up of traction state, section, speed limit, the peace control main frame judgement locomotive passable according to handle position is in traction or state is sent on top, currently be in certain section according to position judgment is known, then get speed limit according to speed limit Biao Kecha;
(2) Control for Speed Limitation measure mainly contains:
3.. train speed carries out voice reminder " attention speed " when reaching 90% of speed limit.
4.. exceed the speed limit and carry out audio alert in 5 seconds, bus attendant must have response;
5.. report to the police after 5 seconds, if driver is without response (speed does not change), carry out excision tractive effort operation, train pipe decompression 100kpa.
6.. apart from blue lamp or red light " 15 meters+stopping distance Sz " place, if speed is non-vanishing, then carry out conventional brake.
7.. " 15 meters+stopping distance Sz " place before distance fouling post, stub end siding, if speed is non-vanishing, then carries out conventional brake.
Train braking distance Sz is tried to achieve by following formula:
Circular is see " TBT1407-1998 train traction computing code ".
(3) signal speech prompting function
1.. front route signal is continuous two white lamp then voice messages: white lamp.
2.. front route signal is a white blue lamp then voice message: caution signal.Voice message opportunity: remind when can be set to timed reminding or signal intensity be detected.
(4) automatic safe manipulation checks
Peace control main frame can by the locomotive floor data situation of change collected, and whether prediction driver travels by regulations, below enumerates an example:
According to usual moving operation code, after locomotive stops traveling more than 30 minutes, restart mule carriage and must do brake performance (braking quality) checkout test, brake experiment standard is:
1.. single valve full application of brake: brake-cylinder pressure rises to the 300kpa time by 0 should within 3S;
2.. single valve is alleviated: brake-cylinder pressure drops to below the 35kpa time within 4S by 300kpa.
Peace control main frame Real-time Collection brake cylinder pressure, detecting after locomotive stops 30 substations to restart again, if above data variation process (process of the test) do not detected, just judge locomotive violation operation, will audio alert prompting be carried out and carry out data logging.
(5) data logging
Peace control main frame is for the locomotive floor data gathered by inner SD card record, and SD capacity is 8G byte, and writing time can more than one week.

Claims (8)

1. based on locomotive position monitoring and the method for controlling security of track circuit, it is characterized in that: this method is by the reference position of track circuit determination locomotive, the distance travelled of locomotive is calculated by the running velocity of locomotive, thus calculate the exact location of locomotive in railroad track, condition adjudgement again in conjunction with the signalling set in rail yard reminds driver to travel by chapter, when meeting configuration prediction scheme condition, brake regulation being carried out to locomotive, ensureing that motorcycle safety travels;
This method accurately can be calculated the vehicle commander of a row locomotive, and measuring method is as follows:
Wherein:
Tc is the moment that locomotive arrives a certain track section;
Td is that locomotive is completely through the moment of front track insulation joint;
S (t) is the running velocity of t locomotive;
Locomotive enters the moment Tc of a certain track section and locomotive sends to centralized traffic control main frame completely after the moment Td of front track insulation joint is gathered by track circuit device by computer interlock system, and centralized traffic control main frame sends to corresponding peace control main frame by data radio station base station this information again;
Vehicle commander's information of measuring and calculating is uploaded to centralized traffic control main frame by the timing of peace control main frame, centralized traffic control main frame can converse a row locomotive according to vehicle commander's information and mount railway carriage quantity, thus can contrast with the railway carriage quantity of planning to mount, judge whether mounting mistake.
2. the monitoring of the locomotive position based on track circuit according to claim 1 and method of controlling security, it is characterized in that: the clock of centralized traffic control main frame is calibrated by GPS time service equipment, the clock of computer interlock system carries out synchronous with centralized traffic control main frame, the clock of peace control main frame is calibrated by vehicle GPS time service equipment (8), thus the clock between three is consistent.
3. the monitoring of the locomotive position based on track circuit according to claim 1 and method of controlling security, it is characterized in that: when centralized traffic control main frame needs the peace control main frame sent data on locomotive, first data are sent to the communication server by ethernet, by the data radio station base station of corresponding region, data are sent to vehicle-mounted data radio station by after the unified process of the communication server again, vehicle-mounted data radio station controls main frame data retransmission to locomotive peace again; Peace control main frame reported data to the centralized traffic control main frame on ground flow process in contrast.
4. the monitoring of the locomotive position based on track circuit according to claim 1 and method of controlling security, is characterized in that: detect each locomotive place particular location in orbit; Realized by the relative position of computing machine spacing track section two end to the detection of locomotive position; Certain zone field of locomotive place is obtained by existing algorithm in real time by centralized traffic control software, and timing gives peace control main frame by wireless network transmissions; The length of locomotive distance track section two ends insulation joint is that the distance of being sailed in section by locomotive is carried out Equivalent Calculation and gone out, and the locomotive distance of sailing in a certain track section is carried out calculating by the speed of a motor vehicle and entry time and got, and its computing formula is as follows:
Wherein:
Ta is the moment that locomotive arrives a certain track section;
Tb is current time;
S (t) is the running velocity of t locomotive;
Send to centralized traffic control main frame after the moment Ta that locomotive enters a certain track section is gathered by track circuit device by computer interlock system, centralized traffic control main frame sends to corresponding peace control main frame by data radio station base station this information again;
The fortune moving velocity of locomotive gathers gained by pacifying control main frame by the electro-optical pickoff be arranged on wheel shaft; Peace control main frame gathers the running velocity of locomotive in units of 100 milliseconds, vehicle GPS time service equipment provides real-time time, the running velocity information flag collected is recorded in memory after real-time time, the velocity information in any tiny time section can be recalled in use.
5. the monitoring of the locomotive position based on track circuit according to claim 1 and method of controlling security, it is characterized in that: peace control main frame carries out locomotive and to make a dash across the red light early warning and braking, determination methods is: peace control main frame can calculate the stopping distance of locomotive according to the gradient of the speed of locomotive, load-carrying and current orbit and camber information, then according to the relation between the distance between stopping distance and front red light, when meeting configuration prediction scheme condition by report to the police in advance or autobrake mode carries out safety control.
6. the monitoring of the locomotive position based on track circuit according to claim 1 and method of controlling security, it is characterized in that: peace controls the highest safety speed-limit that main frame traveling-position, the load condition of locomotive and the motoring condition of locomotive current according to locomotive judge locomotive, and carry out voice message when safety speed-limit changes, can implement to report to the police or excision tractive force safe handling measure automatically to the locomotive of hypervelocity according to configuration prediction scheme.
7. the monitoring of the locomotive position based on track circuit according to claim 1 and method of controlling security, it is characterized in that: peace control main frame is according to the locomotive operation work information collected, judging whether each parts of locomotive are in normal working, carrying out alarm when finding operation irregularity; Peace control main frame simultaneously can according to the locomotive operation work information collected, through reasoning computing, judge that driver is meet working specification to the operations of locomotive in the startup of locomotive, traveling, docking process, when finding not meet specification, carry out alarm, and alarm message is reported centralized traffic control main frame, form form by centralized traffic control main frame.
8. the monitoring of the locomotive position based on track circuit according to claim 2 and method of controlling security, it is characterized in that: the signal information of locomotive periphery is sent to peace control main frame by centralized traffic control main frame in real time, ambient signal information is shown by telltale by peace control main frame, check for driver, and synchronously carry out voice message when coherent signal converts, remind driver operation; Peace control main frame carries out non-volatile recording to the locomotive operation work information collected, and can carry out recovering and analysis to the data of record.
CN201310089311.5A 2013-03-19 2013-03-19 Based on locomotive position monitoring and safety control and the control method thereof of track circuit CN103129586B (en)

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