CN108945502A - A kind of unmanned plane automatic accomodation device that can reduce volume - Google Patents
A kind of unmanned plane automatic accomodation device that can reduce volume Download PDFInfo
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- CN108945502A CN108945502A CN201810700744.2A CN201810700744A CN108945502A CN 108945502 A CN108945502 A CN 108945502A CN 201810700744 A CN201810700744 A CN 201810700744A CN 108945502 A CN108945502 A CN 108945502A
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- control system
- parking area
- airplane parking
- unmanned plane
- blade
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/005—Protective coverings for aircraft not in use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
A kind of unmanned plane automatic accomodation device that can reduce volume is related to air vehicle technique field; solve the problems, such as that existing unmanned plane storage device space utilization rate is low, volume is big, weight is heavy and at high cost, which includes: that upper surface is used to park the airplane parking area of unmanned plane, is flexibly connected the airplane parking area cover of airplane parking area；The motor of airplane parking area cover is connected, motor shutdown level ground cover can cover on airplane parking area upper surface；Connect the control system of motor electrical connection；It is arranged on airplane parking area, connects the thermal camera of control system, the blade for shooting unmanned plane；Control system is used to receive the picture of thermal camera transmission and analysis picture obtains picture analyzing as a result, control system controls thermal camera shooting, electron speed regulator or motor according to picture analyzing result.By using the control blade rotation of control system, thermal camera and electron speed regulator, reaches space utilization rate height, reduce the volume of storage device significantly, reduce the weight of storage device and the effect of processing cost.
Description
Technical field
The present invention relates to air vehicle technique fields, and in particular to a kind of unmanned plane automatic accomodation device that can reduce volume.
Background technique
The existing automatic airport of unmanned plane, often volume is larger, essentially consist in unmanned plane horizontal direction itself area compared with
Greatly, and this area nearly half leaves blade for.That is, in order to store unmanned plane, there is most of sky in airplane parking area
Between be all the space reserved for movable blade, it is larger that the volume of airplane parking area cover with airplane parking area is arranged also volume, leads in this way
Cause that entire airport space utilization rate is low, volume is big, weight is heavy, cost is also high, unmanned plane on airplane parking area.
Summary of the invention
In order to solve the problems, such as that existing unmanned plane storage device space utilization rate is low, volume is big, weight is heavy and at high cost, this
Invention provides a kind of unmanned plane automatic accomodation device and accommodation method that can reduce volume.
Used technical solution is as follows in order to solve the technical problem by the present invention:
A kind of unmanned plane automatic accomodation device that can reduce volume, including upper surface be used for park unmanned plane airplane parking area,
It is flexibly connected airplane parking area and the airplane parking area cover for covering on airplane parking area upper surface；
Storage device further include:
It is arranged on airplane parking area, connects the motor of airplane parking area cover, operated by motor, airplane parking area cover can covers on shutdown
On the upper surface of level ground；
Connect the control system of motor, the electron speed regulator of the control system signal connection unmanned plane；
Multiple thermal cameras of control system are connected, the thermal camera is arranged on airplane parking area, for shooting
It states the blade of unmanned plane and the picture of shooting is sent to control system；
The control system be used for receive thermal camera transmission picture and analysis picture obtain picture analyzing as a result,
Control system controls thermal camera shooting, electron speed regulator work or motor according to picture analyzing result and operates.
A kind of accommodation method for the unmanned plane automatic accomodation device that can reduce volume, includes the following steps:
Step 1: unmanned plane is parked on airplane parking area when airplane parking area cover is in the state for not covering on airplane parking area upper surface,
Open thermal camera and control system；
Step 2: thermal camera shoots picture and sends to control system, control system receives picture and simultaneously analyzes and determines
Whether blade rotates, if it is, step 2 is repeated, if it has not, carrying out step 3；
Step 3: control system control thermal camera shoots picture, the picture of shooting is sent to control by thermal camera
System processed, control system receive the picture that thermal camera is sent, and whether control system analysis picture judges blade preset
In region, if it is, control system control motor operates so that airplane parking area cover covers on airplane parking area upper surface, closing infrared photography
Machine and control system complete storage；Otherwise, control system analysis picture show that blade adjustment Data Concurrent is sent to electronic speed regulation
Device carries out step 4；
Step 4: electron speed regulator, which receives blade, adjusts data, and data control unmanned plane blade rotation is adjusted according to blade
Turn, return step two.
A kind of accommodation method for the unmanned plane automatic accomodation device that can reduce volume, includes the following steps:
Step 1: unmanned plane is parked on airplane parking area when airplane parking area cover is in the state for not covering on airplane parking area upper surface,
Open thermal camera and control system；
Step 2: unmanned plane is parked carries out step 3 after a certain period of time；
Step 3: control system control thermal camera shoots picture, the picture of shooting is sent to control by thermal camera
System processed, control system receive the picture that thermal camera is sent, and whether control system analysis picture judges blade preset
In region, if it is, control system control motor operates so that airplane parking area cover covers on airplane parking area upper surface, closing infrared photography
Machine and control system complete storage；Otherwise, control system analysis picture show that blade adjustment Data Concurrent is sent to electronic speed regulation
Device carries out step 4；
Step 4: electron speed regulator, which receives blade, adjusts data, and data control unmanned plane blade rotation is adjusted according to blade
Turn, from electron speed regulator control unmanned plane blade rotation after a certain period of time, return step three.
The beneficial effects of the present invention are:
1, electron speed regulator control blade rotation is made by using control system and thermal camera, so that the paddle of unmanned plane
Leaf all rests on most suitable position, to reduce unmanned plane in the horizontal direction area occupied of airplane parking area, space utilization rate is high,
The volume for reducing storage device significantly, reduces the weight and processing cost of storage device.
2, motor is controlled so that airplane parking area cover covers on airplane parking area upper surface, so that unmanned plane is received automatically by control system
Device of receiving is convenient to use.
3, thermal camera can be carried out at the night on the daytime of bright light and light difference and be clearly captured, and unmanned plane is certainly
Dynamic storage device can good completion storage under various light.
4, a kind of unmanned plane automatic accomodation device that can reduce volume of the invention realizes storage automation.
5, a kind of accommodation method of unmanned plane automatic accomodation device that can reduce volume of the invention is simple, storage is quick,
Storage area space is saved, space utilization rate is improved.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of unmanned plane automatic accomodation device that can reduce volume of the invention.
Fig. 2 is that a kind of unmanned plane of unmanned plane automatic accomodation device that can reduce volume of the invention lands on airplane parking area
Positional diagram.
Fig. 3 is a kind of flow chart of unmanned plane automatic accomodation device accommodation method that can reduce volume of the invention.
In figure: 1, airplane parking area, 2, airplane parking area cover, 3, thermal camera, 4, unmanned plane, 4.1, blade.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
A kind of unmanned plane automatic accomodation device that can reduce volume, as shown in Figure 1, include airplane parking area 1, airplane parking area cover 2,
Motor, thermal camera 3 and control system.Airplane parking area 1 can be a cuboid for parking unmanned plane 4, the shape of airplane parking area 1
Or cylindrical body etc., unmanned plane 4 be parked on airplane parking area 1 be specially airplane parking area 1 upper surface, airplane parking area 1 has storage area and non-
Storage area, all parts of unmanned plane 4 need to be respectively positioned on storage area, and (land occupation of the blade 4.1 of unmanned plane 4 is maximum, when blade 4.1
In storage area, then all parts of unmanned plane 4 are respectively positioned on storage area).Airplane parking area cover 2 is arranged on airplane parking area 1, even for activity
It connects, airplane parking area cover 2 can be realized opening and closing by movement, beat for covering on 1 upper surface of airplane parking area, airplane parking area cover 2
It is not covered on 1 upper surface of airplane parking area when opening for airplane parking area cover 2, unmanned plane 4 can fall in 1 upper surface of airplane parking area at this time；It closes
It covering on 1 upper surface of airplane parking area for airplane parking area cover 2, airplane parking area cover 2 and 1 upper surface of airplane parking area form a space at this time,
The space is used to store the space of unmanned plane 4, as storage area, if having parked unmanned plane 4 on airplane parking area 1, in airplane parking area cover
After body 2 is closed, which is located in space composed by airplane parking area cover 2 and airplane parking area 1.Motor is arranged in airplane parking area 1
On, motor connects airplane parking area cover 2, is operated by motor, drives airplane parking area cover 2 to move, so that airplane parking area cover 2 covers on and stops
On 1 upper surface of machine level ground.Motor operating also can control airplane parking area cover 2 from closing to opening, i.e., in 2 open shape of airplane parking area cover
When state, starting motor is rotated forward by motor, and airplane parking area cover 2 is closed；In airplane parking area when 2 closed state of cover, starting motor allows electricity
Machine reversion, airplane parking area cover 2 are opened.Thermal camera 3 is arranged on airplane parking area 1, be specifically as follows in 1 upper surface of airplane parking area and
Camera lens is upward, and for shooting the blade 4.1 of unmanned plane 4, quantity is multiple, such as 4.1 quantity of blade of unmanned plane 4 is four,
The quantity of thermal camera 3 is four, and each thermal camera 3 is responsible for the shooting of a piece of blade 4.1；Such as the paddle of unmanned plane 4
4.1 quantity of leaf four, the quantity of thermal camera 3 are two, and each thermal camera 3 is responsible for the bat of adjacent two panels blade 4.1
It takes the photograph.In addition, multiple thermal cameras 3 can be evenly distributed on 1 upper surface of airplane parking area.Control system uses raspberry pie Raspberry
Pi, specific location do not limit, and can be set on airplane parking area 1 or outside airplane parking area 1.The connection relationship of control system are as follows: control system
The electron speed regulator of system connection motor, thermal camera 3 and unmanned plane 4, control system are electrically connected motor and thermal camera 3,
Signal connects electron speed regulator.When unmanned plane 4 drops on airplane parking area 1, control system signal connects electron speed regulator, or
For when unmanned plane 4 will drop on airplane parking area 1, control system signal connects electron speed regulator.Control system is for controlling
Motor operating covers on airplane parking area cover 2 on 1 upper surface of airplane parking area.Multiple thermal cameras 3 are all connected with control system, infrared to take the photograph
The picture of shooting is sent to control system by camera 3.Control system receives the picture that thermal camera 3 is sent and analysis picture obtains
To picture analyzing result.Control system controls thermal camera 3 according to picture analyzing result and shoots or according to picture analyzing result
Picture analyzing result is sent to electron speed regulator again or according to the control motor operating of picture analyzing result.Above-mentioned " picture
Analysis result " include judge whether blade 4.1 rotates, judge blade 4.1 whether in preset region (preset region
Inside refer to storage area) and show that blade adjusts data, picture analyzing result is one in three when different situations.Control system
When the picture that system analysis thermal camera 3 is sent judges whether blade 4.1 rotates, no matter judges whether blade 4.1 rotates, control
System processed controls thermal camera 3 and is shot again, and result is the rotation of blade 4.1, then thermal camera 3 is controlled after shooting again
System processed still analyzes and determines whether blade 4.1 rotates, if judging, blade 4.1 is not rotated, thermal camera 3 shoot again and
Whether control system analysis judges blade 4.1 in preset region.Whether control system analysis picture judges blade 4.1 pre-
If region in, if judge blade 4.1 in preset region, control system control motor operating so that airplane parking area cover 2
1 upper surface of airplane parking area is covered on, detector and control system are closed, completes storage；Otherwise, control system analysis show that blade adjusts
Data Concurrent is sent to electron speed regulator, and electron speed regulator receives blade and adjusts data, and control 4 blade 4.1 of unmanned plane rotation according to this
Turn, adjustment 4.1 position of blade even adjusts 4 integral position of unmanned plane.Above-mentioned " preset region " as shown in Fig. 2, Fig. 2 I
Signified boxed area is preset region in the upright projection of 1 upper surface of airplane parking area, and 4.1 position of blade does not fall within preset area
In domain, upright projection is not fallen in I yet.
Control system analysis picture judge blade 4.1 whether in preset region picture is used by Raspberry Pi
Opencv, 3 continuous capturing two field pictures of thermal camera, control system analysis similarity show blade 4.1 if being higher than threshold value
It stops operating.
Electron speed regulator is equipped on unmanned plane 4, electron speed regulator controls the brushless motor of unmanned plane 4, electron speed regulator
Blade 4.1 is controlled by brushless motor to rotate.Such as electron speed regulator uses PWM electron speed regulator, sending corresponding PWM (should
Value need to be determined according to brushless motor used and PWM electron speed regulator characteristic, can be found out by actual measurement.Since blade 4.1 is stable
Stop place is related with the number of magnetic poles of brushless motor, can substantially list corresponding table, obtains 4.1 rotational angle of blade and input
The relationship of value).Electron speed regulator controls blade 4.1 and moves, so that blade 4.1 can be located in storage area.
Analyze and determine that control system sends instructions to electron speed regulator by thermal camera 3 and control system cooperation, electricity
Sub- governor work is to control the rotation of blade 4.1, so that the blade 4.1 of unmanned plane 4 all rests on most suitable position, to subtract
For small unmanned plane 4 in the horizontal direction area occupied of airplane parking area 1, space utilization rate is high, reduces the volume of storage device significantly, reduces
The weight and processing cost of storage device.By motor control airplane parking area cover 2, automation of the invention is further increased.Together
When thermal camera 3 can be carried out and be clearly captured at the night on the daytime of bright light and light difference.Unmanned plane automatic accomodation
Device realizes storage automation.
A kind of accommodation method for the unmanned plane automatic accomodation device that can reduce volume, includes the following steps:
Step 1: airplane parking area cover 2 is in the state for not covering on 1 upper surface of airplane parking area, unmanned plane 4 is parked in airplane parking area 1
On, open thermal camera 3 and control system.
Step 2: thermal camera 3 shoots picture and sends to control system, control system receives picture and analyzes and determines
Whether blade 4.1 rotates, and step 3 is carried out when blade 4.1 does not rotate until analyzing and determining out if it is, repeating step 2, if
It is no, carry out step 3；
Step 3: control system control thermal camera 3 shoots picture, the picture of shooting is sent to by thermal camera 3
Control system, control system receive thermal camera 3 send picture, control system analysis picture judge blade 4.1 whether
In preset region, if it is, control system control motor operates so that airplane parking area cover 2 covers on 1 upper surface of airplane parking area, close
Thermal camera 3 and control system complete storage；Otherwise, analysis picture is obtained blade adjustment data and by paddle by control system
Leaf adjustment data are sent to electron speed regulator, carry out step 4；
Step 4: electron speed regulator, which receives blade, adjusts data, and data are adjusted according to blade and control 4 blade of unmanned plane
4.1 rotations, return step two.
The unlatching thermal camera 3 and control system of the corresponding Fig. 3 of above-mentioned step one, the judgement of step 2 corresponding diagram 3 is simultaneously
Determine that blade 4.1 stops operating, step 3 corresponding diagram 3 judges blade 4.1 whether in preset region, motor operating completion
Storage, sub- governor control 4 blade 4.1 of the unmanned plane rotation of step 4 corresponding diagram 3.
Accommodation method can be with are as follows:
Step 1: unmanned plane 4 is parked in airplane parking area when airplane parking area cover 2 is in the state for not covering on 1 upper surface of airplane parking area
On 1, thermal camera 3 and control system are opened；
Step 2: unmanned plane 4 is parked carries out step 3 after a certain period of time；
Step 3: control system control thermal camera 3 shoots picture, the picture of shooting is sent to by thermal camera 3
Control system, control system receive thermal camera 3 send picture, control system analysis picture judge blade 4.1 whether
In preset region, if it is, control system control motor operates so that airplane parking area cover 2 covers on 1 upper surface of airplane parking area, close
Thermal camera 3 and control system complete storage；Otherwise, control system analysis picture obtain blade adjustment Data Concurrent send to
Electron speed regulator carries out step 4；
Step 4: electron speed regulator, which receives blade, adjusts data, and data are adjusted according to blade and control 4 blade of unmanned plane
4.1 rotations, from electron speed regulator control 4 blade 4.1 of unmanned plane rotation after a certain period of time, return step three.
The judgement whether blade 4.1 of namely unmanned plane 4 rotates, which determines, has two methods, and one kind is thermal camera
3 shoot picture control system analyses judgement, and another kind is to wait for a period of time --- and unmanned plane 4 is parked after a certain period of time or certainly electric
Sub- governor control 4 blade 4.1 of unmanned plane rotate after a certain period of time, and presetting unmanned plane 4 and parking certain time is 5 seconds, recognizes
It is that blade 4.1 stops rotating after 5 seconds, it is default to think paddle after 20s from electron speed regulator control 4 blade 4.1 of unmanned plane rotation
Leaf 4.1 stops rotating.
The accommodation method based on storage device, realize storage automation, it is not only easy to use, storage quickly, Er Qiejie
Space utilization rate is improved in about storage area space.
Claims (6)
1. a kind of unmanned plane automatic accomodation device that can reduce volume is used to park the airplane parking area of unmanned plane (4) including upper surface
(1), airplane parking area (1) and the airplane parking area cover (2) for covering on airplane parking area (1) upper surface are flexibly connected；
It is characterized in that, storage device further include:
It is arranged on airplane parking area (1), connects the motor of airplane parking area cover (2), operated by motor, airplane parking area cover (2) can covers
On airplane parking area (1) upper surface；
Connect the control system of motor, the electron speed regulator of control system signal connection unmanned plane (4)；
Multiple thermal cameras (3) of control system are connected, the thermal camera (3) is arranged on airplane parking area (1), for clapping
It takes the photograph the blade (4.1) of the unmanned plane (4) and the picture of shooting is sent to control system；
The control system is used to receive the picture of thermal camera (3) transmission and analysis picture obtains picture analyzing as a result, control
System processed controls thermal camera (3) shooting, electron speed regulator work or motor according to picture analyzing result and operates.
2. a kind of unmanned plane automatic accomodation device that can reduce volume as described in claim 1, which is characterized in that the picture
Analysis result is to judge whether blade (4.1) rotates, judges blade (4.1) whether in preset region or to obtain blade
Adjust data.
3. a kind of unmanned plane automatic accomodation device that can reduce volume as described in claim 1, which is characterized in that described infrared
Video camera (3) is two or four, is evenly distributed on airplane parking area (1) upper surface.
4. a kind of unmanned plane automatic accomodation device that can reduce volume as described in claim 1, which is characterized in that the control
System uses raspberry pie.
5. a kind of storage of unmanned plane automatic accomodation device that can reduce volume as described in any one of Claims 1-4
Method, which comprises the steps of:
Step 1: unmanned plane (4) is parked in shutdown when airplane parking area cover (2) is in the state for not covering on airplane parking area (1) upper surface
On level ground (1), thermal camera (3) and control system are opened；
Step 2: thermal camera (3) shoots picture and sends to control system, control system receives picture and simultaneously analyzes and determines paddle
Whether leaf (4.1) rotates, if it is, step 2 is repeated, if it has not, carrying out step 3；
Step 3: control system control thermal camera (3) shoots picture, the picture of shooting is sent to by thermal camera (3)
Control system, control system receive the picture that thermal camera (3) are sent, and control system analysis picture judges that blade (4.1) is
It is no in preset region, if it is, control system control motor operating so that airplane parking area cover (2) covers on airplane parking area (1)
Thermal camera (3) and control system are closed in surface, complete storage；Otherwise, control system analysis picture show that blade adjusts number
According to and be sent to electron speed regulator, carry out step 4；
Step 4: electron speed regulator, which receives blade, adjusts data, and data are adjusted according to blade and control unmanned plane (4) blade
(4.1) it rotates, return step two.
6. a kind of storage of unmanned plane automatic accomodation device that can reduce volume as described in any one of Claims 1-4
Method, which comprises the steps of:
Step 1: unmanned plane (4) is parked in shutdown when airplane parking area cover (2) is in the state for not covering on airplane parking area (1) upper surface
On level ground (1), thermal camera (3) and control system are opened；
Step 2: unmanned plane (4) is parked and carries out step 3 after a certain period of time；
Step 3: control system control thermal camera (3) shoots picture, the picture of shooting is sent to by thermal camera (3)
Control system, control system receive the picture that thermal camera (3) are sent, and control system analysis picture judges that blade (4.1) is
It is no in preset region, if it is, control system control motor operating so that airplane parking area cover (2) covers on airplane parking area (1)
Thermal camera (3) and control system are closed in surface, complete storage；Otherwise, control system analysis picture show that blade adjusts number
According to and be sent to electron speed regulator, carry out step 4；
Step 4: electron speed regulator, which receives blade, adjusts data, and data are adjusted according to blade and control unmanned plane (4) blade
(4.1) it rotates, from electron speed regulator control unmanned plane (4) blade (4.1) rotation after a certain period of time, return step three.
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| CN110667869A (en) * | 2019-10-11 | 2020-01-10 | 北京京东乾石科技有限公司 | Airport of stopping |
| CN111776237A (en) * | 2019-10-28 | 2020-10-16 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle airport and unmanned aerial vehicle system |
| CN111874249A (en) * | 2020-07-20 | 2020-11-03 | 复亚智能科技(太仓)有限公司 | Unmanned aerial vehicle receives oar device |
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