CN103203760B - Camera fixing device and panoramic vision system with same - Google Patents
Camera fixing device and panoramic vision system with same Download PDFInfo
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- CN103203760B CN103203760B CN201210013437.XA CN201210013437A CN103203760B CN 103203760 B CN103203760 B CN 103203760B CN 201210013437 A CN201210013437 A CN 201210013437A CN 103203760 B CN103203760 B CN 103203760B
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- camera fixing
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- 230000000007 visual effect Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 abstract description 8
- 238000009434 installation Methods 0.000 description 17
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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Abstract
The invention discloses a camera fixing device. The camera fixing device comprises a top plate, a supporting framework and a mounting component, wherein a reflecting mirror is fixedly connected with the lower end face of the top plate; the height of the mounting component can be adjusted; the top plate is fixedly arranged on the upper end face of the supporting framework so that the reflecting mirror is positioned in the supporting framework; a camera is fixedly arranged at the upper end of the mounting component; and the upper end of the mounting component is fixedly connected with the lower end face of the supporting framework, so that the camera and the reflecting mirror are on the same axial line. The invention also discloses a panoramic vision system. The panoramic vision system comprises the camera fixing device. By the camera fixing device, the problem that the camera and the reflecting mirror are not easily kept on the same axial line is effectively solved. The camera fixing device is simple in whole structure, convenient to assemble, relatively light in weight and low in price. The panoramic vision system with the camera fixing device is not affected by the skill level of a mounting worker, and the using effect of the panoramic vision system is guaranteed.
Description
Technical field
The present invention relates to a kind of fixture, particularly relate to a kind of camera fixing device and comprise its overall view visual system, be applicable to mobile robot.
Background technology
At present, overall view visual system is widely used in mobile robot field.In use, camera observes the ambient image of 360 ° around to overall view visual system by the projection of curved reflector, has more wide visual field scope than common non-panoramic vision system.
But this overall view visual system is very strict for the installation site concerns mandate of camera and speculum, and camera and speculum must keep certain distance, and on the same axis.In prior art, directly camera and speculum are arranged on mobile robot and hinder, this mounting means is easy to make the installation site of camera and speculum that deviation occurs, thus has a strong impact on picture quality, and overall view visual system effect is had a greatly reduced quality.
In addition, with the overall view visual system of camera position adjustment function, although can adjust according to installation situation, require high for installation personnel, be often difficult to meet.And in use there is the situations such as vibration due to unavoidable in moveable robot movement, the precision making camera install is difficult to keep.
In addition, for different overall view visual systems, because installation personnel operant level is different, also directly can affect the installation accuracy of camera, cause camera and speculum disalignment, the overall view visual system that the person that makes different operating installs, effect difference is very large, has had a strong impact on the effect of overall view visual system.
Summary of the invention
The technical problem to be solved in the present invention is large in order to overcome prior art camera and speculum installation difficulty, cannot ensure the defect of installation accuracy, provides a kind of camera fixing device and comprises its overall view visual system.
The present invention solves above-mentioned technical problem by following technical proposals: a kind of camera fixing device, and its feature is, it comprises: the top board of the affixed speculum in a lower surface, a support frame and a height-adjustable installing component; Described top board is fixed on the upper surface of described support frame, makes described speculum be arranged in described support frame; A camera is fixed in the upper end of described installing component, and the upper end of described installing component is fixedly connected with the lower surface of described support frame, and described camera and described speculum are positioned on same axis.
Preferably, described installing component comprises a mounting seat and a Camera fixing seat, and described mounting seat is arranged the female boss of a tool, the outer surface of described Camera fixing seat is provided with external screw thread, and described Camera fixing seat is threaded with described mounting seat.
Preferably, described Camera fixing seat is the cylinder that a upper end diameter is greater than bottom diameter, described external screw thread is positioned at the lower end of described Camera fixing seat, and described boss is a cylindrical cavity, makes to fit outside the upper end of described Camera fixing seat with inside described cylindrical cavity; The lower surface of described Camera fixing seat is provided with several screwed holes, makes described Camera fixing seat and described mounting seat screw locking.
Preferably, the bottom of described cylindrical cavity is three sections of cannelure through holes.
Preferably, the upper surface of described Camera fixing seat being offered one for installing the installing hole of described camera, making described camera just to described speculum.
Preferably, described installing hole is a square opening, and four drift angles of described square opening offer a groove respectively, and the side of described Camera fixing seat is provided with some screwed holes, and described camera is connected with described Camera fixing seat screw.
Preferably, described support frame comprises a upper head plate, a bottom plate and three support columns be fixed between described upper head plate and described bottom plate, and described support column is uniformly distributed around the axis of described upper head plate and described bottom plate.
Preferably, described upper head plate and described bottom plate are a ring; Or described upper head plate is the plate offering one first through hole in the middle of, and described bottom plate is the plate offering one second through hole in the middle of, and described first through hole is relative with described second through hole.
Preferably, the center, lower surface of described top board arranges the lug boss that offers a third through-hole vertically, fits inside the outside of described lug boss and described first through hole.
Preferably, the lower end of described speculum is a curved mirror, and upper end is provided with a threaded post, and described threaded post makes the upper end of described speculum and described top board fit through described third through-hole and fixes.
Preferably, a locating dowel is also provided with between the upper surface of described threaded post and described speculum.
Preferably, described camera fixing device also comprises the shadow shield that fits in described top board upper surface, and the area of described shadow shield is greater than the area of described top board.
Preferably, the mid portion of described support column is thinner than two end portions.
Preferably, described mounting seat has one first flange and one second flange, fit with the outside of described first flange inside described second through hole on described bottom plate, and described bottom plate is fixedly connected with described second flange.
Preferably, the upper surface of described top board, described support frame, the lower surface of described support frame and described mounting seat are fitted successively, and are bolted.
Present invention also offers a kind of overall view visual system, its feature is, it comprises camera fixing device as above.
In the present invention, above-mentioned optimum condition can be combined on the basis meeting this area general knowledge, obtains each preferred embodiment of the present invention.
Positive progressive effect of the present invention is: camera fixing device of the present invention is fixed by installation frame aims at speculum and camera, ensures installation accuracy, efficiently solve camera and be difficult to keep coaxial problem with speculum by machining accuracy.Its overall structure is simple, easy to assembly, lighter in weight, low price.By structural optimal design, adopt the overall view visual system of this camera fixing device not by the impact of installation personnel level, ensure that the result of use of overall view visual system.
Accompanying drawing explanation
Fig. 1 is the assembling schematic diagram one of the preferred embodiment of camera fixing device of the present invention.
Fig. 2 is the assembling schematic diagram two of the preferred embodiment of camera fixing device of the present invention.
Fig. 3 is the sectional view of the preferred embodiment of camera fixing device of the present invention.
Detailed description of the invention
Present pre-ferred embodiments is provided, to describe technical scheme of the present invention in detail below in conjunction with accompanying drawing.
As shown in Figure 1, Figure 2 and Figure 3, camera fixing device of the present invention comprises: top board 1, support frame 2, speculum 3, camera 4 and a height-adjustable installing component, top board 1, support frame 2 and described installing component are fixedly connected sequentially.Wherein, speculum 3 is fixed in the lower surface of top board 1, and top board 1 is fixed on the upper surface of support frame 2, makes speculum 3 be arranged in support frame 2.In the upper end fixed camera 4 of described installing component, the upper end of described installing component is fixedly connected with the lower surface of support frame 2, and camera 4 and speculum 3 are positioned on same axis.So just can ensure imaging effect, and not by the impact of installation personnel operation.
Preferably, described installing component comprises mounting seat 5 and a Camera fixing seat 6, and mounting seat 5 arranges the female boss 51 of a tool.Correspondingly, the outer surface of Camera fixing seat 6 is provided with external screw thread, during assembling, Camera fixing seat 6 is screwed in mounting seat 5, makes both mutually be threaded.Wherein, Camera fixing seat 6 can be the cylinder that upper end 61 diameter is greater than bottom 62 diameter.Now, external screw thread is positioned at the bottom 62 of Camera fixing seat 6.Further, boss 51 is a cylindrical cavity, makes outside the upper end 61 of Camera fixing seat 6 bonded to each other with the inner side of described cylindrical cavity.And the lower surface of Camera fixing seat 6 is provided with several screwed holes 63, Camera fixing seat 6 and mounting seat 5 are locked by screw thread.This connected mode can lock Camera fixing seat 6 further, prevents the position of camera 4 from offseting.
In an assembling process, Camera fixing seat 6 is screwed in the described cylindrical cavity of mounting seat 5, fit with the inwall of described cylindrical cavity outside the upper end 61 of Camera fixing seat 6.The distance that Camera fixing seat 6 is threaded into the described cylindrical cavity of mounting seat 5 can adjust according to the focal length of camera, and the distance therefore between camera 4 and speculum 3 is adjustable.Especially, the bottom of described cylindrical cavity can be three sections of cannelure through hole 511 (as shown in Figure 3).The inwall of the upper end 61 of Camera fixing seat 6 and the top first paragraph cannelure of three sections of cannelure through holes 511 is fitted, and the threaded portion of the bottom 62 of Camera fixing seat 6 and the internal thread of second segment cannelure match, bottom 62 part is plugged in the 3rd section of cannelure.The mounting or dismounting of Camera fixing seat 6 are convenient in the setting of three sections of cannelure through holes 511, on the basis ensureing tautness, reduce the thread segment screwed, can effectively simplify assembly and disassembly Camera fixing seat 6.
In addition, the upper surface of Camera fixing seat 6 is offered one for installing the installing hole 611 of camera 4, usual installing hole 611 is a square opening, is plugged by camera 4 and is fixed in installing hole 611, and ensure camera 4 just to speculum 3, camera 4 and speculum 3 are kept on the same axis.Further, four drift angles of described square opening offer a groove respectively, camera 4 is plugged in after in described square opening, then screw in corresponding groove with screw, can effectively prevent camera 4 from moving up and down like this, avoid upper-lower position shift phenomenon occurs.Especially, some screwed holes 621 can also be set in the side of the bottom 62 of Camera fixing seat 6, be threaded connection and further fixed camera 4 be fixed in Camera fixing seat 6 from the side, can effectively prevent camera 4 from moving left and right like this, firmly fix its position, avoid any position shift phenomenon.
Wherein, support frame 2 comprises upper head plate 21, bottom plate 23 and three support columns 22 be fixed between upper head plate 21 and bottom plate 23, and support column 22 is uniformly distributed around the axis of upper head plate 21 and bottom plate 23.Especially, support column 22 is set to mid portion thinner than two end portions (as depicted in figs. 1 and 2), the wide bearing capacity effectively can strengthening support column 22 in two ends, blocking light carefully can be reduced in centre as far as possible, thus improves the integrality that speculum 3 gathers image.Adopt three support columns 22 in the present embodiment, and be evenly distributed on the surrounding of whole fixture, the load-bearing of support frame can be uniformly distributed, prevent bending support column 22.
Preferably, upper head plate 21 and bottom plate 23 can be a ring; Or upper head plate 21 is the plate offering one first through hole 211 in the middle of, bottom plate 23 is the plate offering one second through hole 231 in the middle of, and the first through hole 211 is relative with the second through hole 231, thus after ensureing that whole fixture has been assembled, speculum 3 and camera 4 are on the same axis.
Particularly, the center, lower surface of top board 1 arranges the lug boss 12 (as shown in Figure 2) that offers a third through-hole 11 vertically, the inner side of the outside of lug boss 12 and the first through hole 211 is fitted, thus the position of firmly stationary mirror 3, and installation site is unique, different installation sites can not be there is because of the difference of operating personnel.
In addition, top board 1 adopts aluminium sheet usually, and lightweight aluminium sheet can reduce the pressure to supporting frame 2, improves the overall steadiness of described fixture.Top board 1 can be circular, and when its cover-up surface is greater than the upper surface of support frame 2, top board 1 can also serve as the effect of shadow shield.Taking cost into account, an area of also can fitting in the upper surface of top board 1 is greater than the shadow shield 7 of the area of top board 1, and shadow shield 7 can adopt except aluminium sheet, can also adopt plastic plate, thus significantly reduced cost.Certain shadow shield 7 also can extend out from the periphery of top board 1, can reduced cost further.
Further, mounting seat 5 have one first flange 52 and one second flange 53.During assembling, fit, and bottom plate 23 is fixedly connected with the second flange 53 inside the second through hole 231 on bottom plate 23 with the outside of the first flange 52, such as bolt connects.First flange 52 and arranging of the second flange 53 can strengthen bonding strength; protection mounting seat 5 is from installation wearing and tearing; and second through hole 231 can improve with the socket of the first flange 52 tautness be connected, prevent mounting means in varied situations from support frame 2 is offset.In addition, the convenient processing of said structure, and contribute to improving assembly precision.
In addition, in order to obtain good imaging effect, in the present embodiment, the lower end of speculum 3 is a curved mirror.Be provided with a threaded post 31 in the upper end of speculum 3, during assembling, make threaded post 31 through third through-hole 11, the upper end of speculum 3 and top board 1 be fitted and fix.Preferably, can also a locating dowel 32 be set between threaded post 31 and the upper surface of speculum 3, makes the inner surface of the outer surface of locating dowel 32 and third through-hole 11 fit tightly and fix, contribute to the installation accuracy improving speculum 3.Locating dowel 32 herein can adopt cylinder or circular cone post etc. to be convenient to the cylinder of locating.In addition, can also arrange a secure component 33 between locating dowel 32 and the upper surface of speculum 3, secure component 33 is a polygon prism, is convenient to after spanner clamping the further fastening location of speculum 3.
According to the camera fixing device of said structure, its concrete assembling mode is as follows: first, is inserted by camera 4 in the installing hole 611 on Camera fixing seat 6, is fixed in Camera fixing seat 6 by camera 4.Its fixing concrete mode is by the groove screw fastening camera 4 of four on installing hole 611, and its upper-lower position is fixed; And by three screw fastening cameras 4 on the side of Camera fixing seat 6, its right position is fixed.
Then, Camera fixing seat 6 screws in the inner chamber of its boss 51 along the axis direction of mounting seat 5, by regulating the degree of screwing of screw thread, carry out adjusting the distance that Camera fixing seat 6 screws in boss 51 inner chamber according to the focal length of camera, thus the distance realized between camera and speculum is adjustment.
Then, the uniform three sections of cannelure through holes 511 in bottom of mounting seat 5 inner chamber, adopt screw through three sections of cannelure through holes 511 in boss 51 inner chamber, and screw in the screwed hole 63 on Camera fixing seat 6 lower surface, thus Camera fixing seat 6 is tightened in mounting seat 5.So both can realize camera 4 position adjustment and fastening.
Then, mounting seat 5 loads in the second through hole 231 of the bottom plate 23 of support frame 2 in the axial direction.Now, make to fit inside the side of the second flange 53 of mounting seat 5 and the second through hole 231 of the bottom plate 23 of support frame 2.Pass the through hole on the first flange 52 of mounting seat 5 again with three screws, tighten (as shown in Figures 2 and 3) with the screwed hole on the bottom plate 23 of support frame 2.
Then, top board 1 is inserted in the first through hole 211 of the upper head plate 21 of support frame 2, and make to fit inside the outside of the lug boss 12 at top board 1 center and the first through hole 211, again by three screws through the screwed hole on the upper head plate 21 of support frame 2 and top board 1, together with top board 1 is fastened with support frame 2.
Secondly, by speculum 3 along in the axis direction insertion top board 1 of top board 1, the threaded post 31 of speculum 3 rear end, through the third through-hole 11 at top board 1 center, is locked by nut.
Finally, around uniform three screwed holes of axis on shadow shield 7, its position is relative with the screwed hole of three on top board 1, together with being fastened with top board 1 by shadow shield 7 by three screws.This completes the assembling of whole camera fixing device.
Certainly, fit successively between top board 1, support frame 2 and mounting seat 5, and its mutual mode that is fixedly connected with is not limited to screw connection, all right with bolts or rivet interlacement or bonding etc., as long as the position of all parts can be fixed, and makes them all keep coaxial line.In addition, top board 1, upper head plate 21 and bottom plate 23 all can adopt arbitrary shape.
Above-mentioned camera fixing device is mainly used in a kind of overall view visual system, and it accurately can observe the ambient image of 360 ° around, and the visual field is more wide.And whole system does not limit by the installation of this camera fixing device, various situation can be met, as the Vibration Condition existed in moveable robot movement, effectively ensure the shooting effect of the precision that camera is installed and panorama system.
Although the foregoing describe the specific embodiment of the present invention, it will be understood by those of skill in the art that these only illustrate, protection scope of the present invention is defined by the appended claims.Those skilled in the art, under the prerequisite not deviating from principle of the present invention and essence, can make various changes or modifications to these embodiments, but these change and amendment all falls into protection scope of the present invention.
Claims (14)
1. a camera fixing device, is characterized in that, it comprises: the top board of the affixed speculum in a lower surface, a support frame and a height-adjustable installing component; Described top board is fixed on the upper surface of described support frame, makes described speculum be arranged in described support frame; A camera is fixed in the upper end of described installing component, and the upper end of described installing component is fixedly connected with the lower surface of described support frame, makes described camera and described speculum be positioned on same axis;
Described installing component comprises a mounting seat and a Camera fixing seat, and described mounting seat is arranged the female boss of a tool, the outer surface of described Camera fixing seat is provided with external screw thread, and described Camera fixing seat is threaded with described mounting seat;
Described Camera fixing seat is the cylinder that a upper end diameter is greater than bottom diameter, described external screw thread is positioned at the lower end of described Camera fixing seat, described boss is a cylindrical cavity, makes to fit outside the upper end of described Camera fixing seat with inside described cylindrical cavity; The lower surface of described Camera fixing seat is provided with several screwed holes, makes described Camera fixing seat and described mounting seat screw locking.
2. camera fixing device as claimed in claim 1, it is characterized in that, the bottom of described cylindrical cavity is three sections of cannelure through holes.
3. camera fixing device as claimed in claim 1, is characterized in that, the upper surface of described Camera fixing seat being offered one for installing the installing hole of described camera, making described camera just to described speculum.
4. camera fixing device as claimed in claim 3, it is characterized in that, described installing hole is a square opening, and four drift angles of described square opening offer a groove respectively, the side of described Camera fixing seat is provided with some screwed holes, and described camera is connected with described Camera fixing seat screw.
5. camera fixing device as claimed in claim 1, it is characterized in that, described support frame comprises a upper head plate, a bottom plate and three support columns be fixed between described upper head plate and described bottom plate, and described support column is uniformly distributed around the axis of described upper head plate and described bottom plate.
6. camera fixing device as claimed in claim 5, it is characterized in that, described upper head plate and described bottom plate are a ring; Or described upper head plate is the plate offering one first through hole in the middle of, and described bottom plate is the plate offering one second through hole in the middle of, and described first through hole is relative with described second through hole.
7. camera fixing device as claimed in claim 6, it is characterized in that, the center, lower surface of described top board arranges the lug boss that offers a third through-hole vertically, fits inside the outside of described lug boss and described first through hole.
8. camera fixing device as claimed in claim 7, it is characterized in that, the lower end of described speculum is a curved mirror, and upper end is provided with a threaded post, and described threaded post makes the upper end of described speculum and described top board fit through described third through-hole and fixes.
9. camera fixing device as claimed in claim 8, is characterized in that, be also provided with a locating dowel between the upper surface of described threaded post and described speculum.
10. camera fixing device as claimed in claim 1, it is characterized in that, described camera fixing device also comprises the shadow shield that fits in described top board upper surface, and the area of described shadow shield is greater than the area of described top board.
11. camera fixing devices as claimed in claim 5, it is characterized in that, the mid portion of described support column is thinner than two end portions.
12. camera fixing devices as claimed in claim 6, it is characterized in that, described mounting seat has one first flange and one second flange, fit with the outside of described first flange inside described second through hole on described bottom plate, and described bottom plate is fixedly connected with described second flange.
13. camera fixing devices as described in any one of claim 1-12, it is characterized in that, the upper surface of described top board, described support frame, the lower surface of described support frame and described mounting seat are fitted successively, and are bolted.
14. 1 kinds of overall view visual systems, is characterized in that, it comprises the camera fixing device as described in any one of the claims 1-13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013437.XA CN103203760B (en) | 2012-01-17 | 2012-01-17 | Camera fixing device and panoramic vision system with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210013437.XA CN103203760B (en) | 2012-01-17 | 2012-01-17 | Camera fixing device and panoramic vision system with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103203760A CN103203760A (en) | 2013-07-17 |
| CN103203760B true CN103203760B (en) | 2015-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210013437.XA Expired - Fee Related CN103203760B (en) | 2012-01-17 | 2012-01-17 | Camera fixing device and panoramic vision system with same |
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| CN (1) | CN103203760B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108366224B (en) * | 2017-12-31 | 2020-09-11 | 北京机械设备研究所 | Panoramic imaging device |
| CN109685758B (en) * | 2018-10-29 | 2020-10-16 | 中国化学工程第六建设有限公司 | Weld visual positioning method based on multi-template matching |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1975554A (en) * | 2006-12-14 | 2007-06-06 | 上海交通大学 | Overall view visual system based on double-curve viewfinder |
| CN101183208A (en) * | 2007-11-21 | 2008-05-21 | 张洪 | Panoramic displaying device and panoramic displaying method |
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2012
- 2012-01-17 CN CN201210013437.XA patent/CN103203760B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1975554A (en) * | 2006-12-14 | 2007-06-06 | 上海交通大学 | Overall view visual system based on double-curve viewfinder |
| CN101183208A (en) * | 2007-11-21 | 2008-05-21 | 张洪 | Panoramic displaying device and panoramic displaying method |
Non-Patent Citations (2)
| Title |
|---|
| 2009机器人大赛曁robocup公开赛;星光设计官方网站;《美与时代》;20100115;全文 * |
| AS-ROII用户手册;上海未来伙伴机器人有限公司;《AS-ROII用户手册》;20100826;手册第9页，第16页图9 * |
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| CN103203760A (en) | 2013-07-17 |
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