CN204856222U - Omnidirectional movement platform control system based on internet of things - Google Patents

Omnidirectional movement platform control system based on internet of things Download PDF

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Publication number
CN204856222U
CN204856222U CN201520536742.6U CN201520536742U CN204856222U CN 204856222 U CN204856222 U CN 204856222U CN 201520536742 U CN201520536742 U CN 201520536742U CN 204856222 U CN204856222 U CN 204856222U
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China
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control
omni
mobile platform
internet
things
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Expired - Fee Related
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CN201520536742.6U
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Chinese (zh)
Inventor
高杉
范德辉
于志云
张磊
李元超
胡希勇
徐晓姗
辛颖秀
孙吉春
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QINGDAO VOCATIONAL TECHNOLOGY COLLEGE
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QINGDAO VOCATIONAL TECHNOLOGY COLLEGE
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Abstract

The utility model provides an omnidirectional movement platform control system based on internet of things, include the omnidirectional movement platform, install the electrical system on the omnidirectional movement platform and carry out the interactive remote control system of remote message with electrical system, remote control system passes through wireless router and electrical system internet access, electrical system include the mainboard and with mainboard connection's control drive plate, the control drive plate is still external to have step motor, sensor and a GPS receiver. The utility model discloses can pass through user's customer end remote control omnidirectional movement platform, make it realize 360 degrees all -round turning to of zero radius in the original place, have that control is simple, consumption and an advantage such as with low costs, reduce the working space dead angle, furthermore, the utility model discloses still have automatic barrier and an automatic positioning function of keeping away, family's environment not only can be applied to in the intellectuality that has improved the omnidirectional movement platform greatly, can also be applied to in the industrial automation production line.

Description

A kind of Omni-mobile platform control system based on technology of Internet of things
Technical field
The utility model relates to a kind of omni-directional moving platform, is specifically related to a kind of Omni-mobile platform control system based on technology of Internet of things.
Background technology
Along with the continuous lifting of scientific and technological level, robot all starts to show up prominently in Scientific Exploration, public service, industry manufacture, home entertaining etc., and it also will become the strongest helper of the following mankind and the most intimate partner.The develop rapidly of modern electronic technology, computer hardware technique, artificial intelligence technology, mode identification technology, automatic control technology, and deepening continuously of exploring in various field of the mankind, accelerate the development of Robotics, also propose many new requirements to robot development.
The move mode of current robot roughly has wheel type, crawler type, several form such as legged.Wherein, the advantage of caterpillar type robot can be rotated in original place, and on irregular road surface, performance is very good, very well, shortcoming slowly to be rotated for very stable and traction, speed and direction can not control separately and friction force is very large, energy loss is large, complicated in mechanical structure.Legged robot is also the focus of present development research, and his advantage is in rough road better performances, but can not rotate in original place, and speed slowly, controls complicated, mobile difficulty, and maneuverability is poor and machinery is complicated, and each pin may need multiple motor.Comparatively speaking, wheel type robot has more wide application prospect, as the service robot such as floor cleaning, guide, and is also expected to the party's surface technology to be applied in intelligent transportation system go to the further investigation of wheel type mobile robot.
At present, wheel type mobile robot is employing omni-directional moving platform mostly, in Chinese patent literature, publication number CN102346482A, title is a kind of wheel type robot base mechanism (see this application instructions embodiment part) of pivot stud, disclose a kind of wheel type robot base mechanism of pivot stud, this base mechanism includes housing assembly, wheel module, turn to and moving assembly three parts, wheel module is arranged on the below of housing assembly, turn to and moving assembly turning to and translation for drive train assembly, when carrier is arranged in frame, the motion of wheel module is transmitted by adaptor, the driving force of adaptor is by turning to and the motor of two in moving assembly, four Timing Belts and eight belt wheel cooperations realize, therefore ensure that steadily turning to and moving of frame.Turning to of base mechanism of the present invention has been driven separately by the first stepper motor, the movement of base mechanism has been driven separately by the second stepper motor, this base mechanism only both can realize turning to and locomotive function with two motors, and two kinds of motions can be made again full decoupled, controlled simple.But the prior art cannot moving and turning to and carry out Long-distance Control base mechanism, thus it is mutual to carry out remote human-machine, and this base mechanism also cannot realize the functions such as self-locating function, automatic obstacle avoidance functions and speech recognition.
Therefore, in order to solve problems of the prior art, study a kind of intellectuality, networking and can become a vital task by the Omni-mobile platform control system based on technology of Internet of things of large-scale application in commercial production.
Utility model content
In order to solve traditional omni-directional moving platform, the utility model cannot realize that remote human-machine is mutual, self-align, the problem of automatic obstacle-avoiding, propose a kind of Omni-mobile platform control system based on technology of Internet of things.
The technical solution of the utility model is:
In order to solve the problems of the technologies described above, the utility model provides a kind of Omni-mobile platform control system based on technology of Internet of things, comprise Omni-mobile platform, be installed on the electric-control system on Omni-mobile platform and carry out the mutual tele-control system of remote information with electric-control system, described tele-control system is connected with electric-control system network by wireless router, the control drive plate that described electric-control system comprises mainboard and is connected with mainboard, described control drive plate is circumscribed with stepper motor, sensor and GPS.
Compared with prior art, the utility model adopts mainboard to add the control two-layer electric control structure of drive plate and tele-control system realizes man-machine interaction, and adopting special Omni-mobile mechanism to make mobile platform realize, original place no-radius 360 degree is comprehensive turns to, to reduce work space dead angle; Electric-control system on Omni-mobile platform not only will realize motion control function, also sensing function will be realized, therefore, the utility model adopts mainboard and controls drive plate double-layer structure, mainboard is mainly used to the command information receiving user, thus generate the movement instruction of Omni-mobile platform, and movement instruction is transferred to control drive plate by serial communication; After control drive plate receives the movement instruction of mainboard, by calculating the target rotation angle resolving into each stepper motor, then control each stepping motor synchronous to have moved the motor task of Omni-mobile platform, in addition, control drive plate in electric-control system also can gather information that various sensor information and GPS receive and to go forward side by side row relax, alleviate mainboard I/O port and take too much pressure, thus realize automatic obstacle-avoiding and the automatic positioning function of Omni-mobile platform, alleviate the burden of mainboard; Control drive plate simultaneously and also can send the information after process to mainboard, feed back to user terminal by mainboard.
Described tele-control system comprises client and for receiving client instructions and storing the far-end server of indoor map; Client in tele-control system is computing machine, mobile phone or panel computer, can running client software in client, and user and the mutual of Omni-mobile platform complete mainly through client software; Far-end server be mainly used to completing user maintenance of information, receive user instruction and by instruction by wireless network transmissions to the mainboard in electric-control system, in addition, far-end server, also for storing indoor map, calls for the mainboard in electric-control system.
Described client adopt in computing machine, mobile phone or panel computer any one; Running client software above client, user and the mutual of Omni-mobile platform complete mainly through client software, by computing machine, mobile phone or panel computer client software, the information such as schedule, plan, notepaper, book keeping operation that user at any time any one client records can be synchronized in the database of the operating system of the mainboard of Omni-mobile platform immediately, mainboard can provide reminding service to user according to the information of record, and user also can inquire about all information according to certain mode in any one client.
Memory module, bluetooth module, WiFi module, infrared transceiver module and interface module that described mainboard comprises arm processor and is connected with arm processor; Mainboard is used for providing information management and entertainment service to user, for user provides Man Machine Interface, is undertaken alternately by the network of WiFi, bluetooth, infrared receiving/transmission interface and long-distance user and indoor and electric equipment simultaneously.
Described arm processor adopts TCC8803 chip as the main control chip of mainboard, and the operating system of arm processor adopts Android2.3 system; In order to provide to user and the experience using computing machine suitable, take into account again the requirement of low-power consumption and low cost simultaneously, the main control chip of mainboard have selected the TCC8803 chip of the arm processor-Korea S Telechips of the high-performance based on ARMCortex-A8 kernel up-to-date at present, this chip is except using up-to-date A8 kernel, maximum feature is its HD video hardware decode ability, and support that OpenGLESV2.0 hardware 3D accelerates, support that OpenVGV1.1 hardware 2D accelerates, there is intrepid video and graphics capability and abundant Peripheral Interface; Use Android operation system easily can process the underlying task of Omni-mobile platform on the one hand, abundant man-machine interface and personalized operating experience can be brought on the other hand to user, and user can be made to be easy to left-hand seat use, huge input need not be spent to start from scratch and to cultivate the use habit of user, increasing income property and the ripe developer community and market of android system make it have better open and expansivity, a large amount of exploitations can be saved drop into simultaneously, reduce costs.
Described interface module comprises RS232 serial ports, LCD Interface, utilizing camera interface, audio interface; Mainboard is connected with control drive plate by RS232 serial ports.
Described mainboard by LCD Interface and utilizing camera interface external liquid crystal display and camera respectively, and passes through audio interface External microphone and loudspeaker, camera is for obtaining image information and the memory module that the image information of acquisition transfers to mainboard by utilizing camera interface being stored, simultaneously also can by the WiFi module feedback of mainboard to tele-control system, thus the motion of mobile platform is controlled, microphone is for the phonetic order that obtains user and send and be transferred to arm processor by audio interface and carry out speech recognition, the voice signal of identification can be sent corresponding control signal by infrared transceiver module by arm processor, thus can the equipment of control cincture Infrared remote controller, loudspeaker carry out outer putting by audio interface to the audio-frequency information obtained, liquid crystal display is for showing the image information of acquisition, thus realize the amusement function of Omni-mobile platform, in addition Omni-mobile platform also has the ability of being moved by image or speech recognition, the virtual notepaper of gesture control is realized by camera, virtual drawing board, photo rotates the human-computer interaction functions such as convergent-divergent.
The stepper motor driving circuit that described control drive plate comprises single-chip microcomputer and is connected with single-chip microcomputer; The single-chip microcomputer controlled on drive plate receives after the command information that mainboard transmits just can the work of control step motor-drive circuit Driving Stepping Motor, thus effectively control the motor task of Omni-mobile platform.
Described single-chip microcomputer adopts STM32F103VBT6 chip as the control chip controlling drive plate, and described stepper motor driving circuit adopts THB7128 two-phase hybrid stepping motor driving chip; Because STM32F103VBT6 chip has abundant Resources on Chip and peripheral hardware, the data-handling capacity of 32 and the frequency of operation of 72MHz, thus effectively can control the motor task of Omni-mobile platform; The highest withstand voltage 40VDC of THB7128 two-phase hybrid stepping motor driving chip; the maximum drive current providing 3.3A, has 1-1/128 many kinds segmentation optional, automatic semi-fluid lock function; built-in temperature protection and current foldback circuit, cheap, be simple and easy to use.
Technique effect of the present utility model is:
The utility model provides a kind of Omni-mobile platform control system based on technology of Internet of things, by technology of Internet of things and Omni-mobile platform are combined, achieve the Long-distance Control to mobile platform, adopt special travel mechanism, mobile platform can be realized, and original place no-radius 360 degree is comprehensive turns to, have and control simple, power consumption and low cost and other advantages, but also decrease work space dead angle, in addition, the utility model gathers various sensor information by the control drive plate in electric-control system, control drive plate also to process the positional information that various sensor information and GPS receive simultaneously, reduce the burden of mainboard, thus realize automatic obstacle-avoiding and the automatic positioning function of Omni-mobile platform, substantially increase the intellectuality of Omni-mobile platform, the utility model not only can be applied in home environment and carry out remote monitoring to home appliance and provide entertainment service function for user, can also be applied in automatic industrial manufacturing line, substantially increase production efficiency.
Accompanying drawing explanation
Fig. 1 is the Omni-mobile platform control system structural representation of the utility model based on technology of Internet of things.
Fig. 2 is the utility model mainboard structure schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, embodiment of the present utility model is described:
Embodiment 1:
As Figure 1-Figure 2, the utility model provides a kind of Omni-mobile platform control system based on technology of Internet of things, comprise Omni-mobile platform, be installed on the electric-control system on Omni-mobile platform and carry out the mutual tele-control system of remote information with electric-control system, described tele-control system is connected with electric-control system network by wireless router, the control drive plate that described electric-control system comprises mainboard and is connected with mainboard, described control drive plate is circumscribed with stepper motor, sensor and GPS.Tele-control system comprises client and for receiving client instructions and storing the far-end server of indoor map, client adopt in computing machine, mobile phone or panel computer any one, the memory module that described mainboard comprises arm processor and is connected with arm processor, bluetooth module, WiFi module, infrared transceiver module and interface module, arm processor adopts TCC8803 chip as the main control chip of mainboard, operating system adopts Android2.3 system, use Android operation system easily can process the underlying task of Omni-mobile platform on the one hand, abundant man-machine interface and personalized operating experience can be brought on the other hand to user, and user can be made to be easy to left-hand seat use, huge input need not be spent to start from scratch and to cultivate the use habit of user, increasing income property and the ripe developer community and market of android system make it have better open and expansivity, a large amount of exploitations can be saved drop into simultaneously, reduce costs.Interface module comprises RS232 serial ports, LCD Interface, utilizing camera interface, audio interface, and mainboard by LCD Interface and utilizing camera interface external liquid crystal display and camera respectively, and passes through audio interface External microphone and loudspeaker; Mainboard is connected with control drive plate by RS232 serial ports; Control the stepper motor driving circuit that drive plate comprises single-chip microcomputer and is connected with single-chip microcomputer, described single-chip microcomputer adopts STM32F103VBT6 chip as the control chip controlling drive plate, and described stepper motor driving circuit adopts THB7128 two-phase hybrid stepping motor driving chip; Stepper motor is connected with stepper motor driving circuit, sensor is connected with single-chip microcomputer, described sensor comprises photoelectric encoder, sonac, infrared sensor, three-dimensional gyroscope and 3-axis acceleration sensor, also comprise smoke transducer and the Temperature Humidity Sensor of aware space environment, control drive plate gather various sensor information by single-chip microcomputer and carry out data processing, thus realize the functions such as self-align, the automatic obstacle avoiding of Omni-mobile platform and environmental monitoring; GPS is connected with single-chip microcomputer, for receiving the positional information of Omni-mobile platform and sending positional information to single-chip microcomputer, the data of process are also carried out data transmission by serial bus and mainboard by single-chip microcomputer, thus realize the accurate location of Omni-mobile platform; Control drive plate and also the data message after collection or process can be transferred to mainboard by serial bus, eventually through WiFi module feedback to user terminal.In addition, the utility model adopts wheel type mobile mode, devise a kind of new Omni-mobile platform, described Omni-mobile platform comprises base and is installed on the omni-directional wheel below described base, turning to and translation by driving stepper motor omni-directional wheel, turning to and moving of this Omni-mobile platform is respectively driven separately by a stepper motor, can realize that original place no-radius 360 degree is comprehensive to be turned to, decrease the dead angle of work space, and turn to one-movement-freedom-degree full decoupled, have and control simple, cost and low in energy consumption, the advantage such as movement locus can accurately control.User sends instruction by the client such as computing machine, mobile phone or panel computer, and far-end server then carries out user profile maintenance and forwards user instruction to electric-control system and help electric-control system to set up with subscription client and the task such as safeguard that UDP is connected.When Omni-mobile working platform is in home environment, undertaken alternately by Internet network and long-distance user on the one hand, the locomotive function of Omni-mobile platform is completed according to the instruction of user, on the other hand then undertaken alternately by the people of the Man Machine Interface such as bluetooth, infrared, LCD Interface, audio interface and family and electrical equipment, and the various information obtained by various sensor and GPS in family, thus realize location and automatic obstacle avoidance functions automatically.Camera can the current residing ambient image information of captured in real-time, and the real-time image information of shooting is passed through the WiFi module feedback of mainboard to tele-control system, thus Long-distance Control is carried out to Omni-mobile platform, also can be stored in the memory module of mainboard by image information, liquid crystal display also can show the image information obtained in real time simultaneously.In addition, some do not need to carry out mutual Omni-mobile platform intelligent control algolithm with user and complete on control drive plate, GPS is for receiving the positional information of Omni-mobile platform and positional information being sent to the single-chip microcomputer controlled in drive plate and carry out data processing, control drive plate and send the positional information of the Omni-mobile platform after process to mainboard again, mainboard can cook up an optimal motion path according to the indoor map stored, by whether sensor real-time detection path there being the interim barrier increased in Omni-mobile Platform movement process, when running into barrier, the positional information that mainboard will utilize control drive plate to send and the indoor map that far-end server stores re-start path planning, thus realize the automatic obstacle avoidance functions of Omni-mobile platform, liquid crystal display then shows the real time position map of Omni-mobile platform, the positional information of Omni-mobile platform also can be transferred to subscription client by WiFi module by mainboard, to realize the remote monitoring of user.The utility model also has speech identifying function, when user sends phonetic control command, obtain the phonetic order that sends of user by microphone and be transferred to arm processor by audio interface and carry out speech recognition, the voice signal of identification can be sent corresponding control signal by infrared transceiver module by arm processor, thus can the housed device of control cincture Infrared remote controller, loudspeaker carry out outer putting by audio interface to the audio-frequency information stored in the audio-frequency information obtained or memory module, liquid crystal display is for showing the image information stored in the image information of acquisition or memory module, thus realize the amusement function of Omni-mobile platform, in addition Omni-mobile platform also has the ability of being moved by image or speech recognition, the virtual notepaper of gesture control is realized by camera, virtual drawing board, photo rotates the human-computer interaction functions such as convergent-divergent.
Embodiment 2:
As Figure 1-Figure 2, the utility model provides a kind of Omni-mobile platform control system based on technology of Internet of things, comprise Omni-mobile platform, be installed on the electric-control system on Omni-mobile platform and carry out the mutual tele-control system of remote information with electric-control system, described tele-control system is connected with electric-control system network by wireless router, the control drive plate that described electric-control system comprises mainboard and is connected with mainboard, described control drive plate is circumscribed with stepper motor, sensor and GPS.Memory module, bluetooth module, WiFi module, infrared transceiver module and interface module that described mainboard comprises arm processor and is connected with arm processor, interface module comprises RS232 serial ports, LCD Interface, utilizing camera interface, audio interface.The utility model can also be applied in industrial production line, is connected respectively by the RS232 serial ports in arm processor interface module with the vision system in production line and PLC control system, thus the material handling realized in commercial production and sorting work; Vision system and PLC control system carry out data communication respectively by RS232 serial ports and arm processor; PLC control system adopts FX series of PLC, FX series of PLC is connected with the RS232 serial ports of arm processor row data communication of going forward side by side by FX-RS-232-BD, and vision system adopts Cognex 2D vision system to be connected with the RS232 serial ports of arm processor row data communication of going forward side by side.When Omni-mobile working platform in the industrial production, vision system in automatic production line finds that certain material of production and processing has lacked, the information of the kind lacking material information will be passed to PLC control system by Ethernet TCP/IP communication, the material information lacking kind is passed to electric-control system by PLC control system, then the arm processor in electric-control system sends over according to PLC control system, about the Frame of material variety in the communication protocol determined, which type of judge to lack material then by controlling the specific material delivery platform that drive plate control Omni-mobile platform movement is determined to pre-defined algorithm, after Omni-mobile platform movement to assigned address, the material platform arrived numbering is sent to PLC control system by Ethernet by arm processor again, the instruction that Omni-mobile platform then can arrive by PLC control system transfers to the industrial robot of the material platform of corresponding numbering by IO serial communication, industrial robot will by material handling to Omni-mobile platform, carry complete after, instruction complete for carrying material is transferred to PLC control system by IO serial communication by industrial robot, now PLC control system turns back to predetermined machining location by electric control system controls Omni-mobile platform again, complete the process of whole material handling.Other structure and fuction in the present embodiment are all identical with embodiment 1.

Claims (9)

1. the Omni-mobile platform control system based on technology of Internet of things, comprise Omni-mobile platform, be installed on the electric-control system on Omni-mobile platform and carry out the mutual tele-control system of remote information with electric-control system, it is characterized in that: described tele-control system is connected with electric-control system network by wireless router, the control drive plate that described electric-control system comprises mainboard and is connected with mainboard, described control drive plate is circumscribed with stepper motor, sensor and GPS.
2. as claimed in claim 1 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: described tele-control system comprises client and for receiving client instructions and storing the far-end server of indoor map.
3., as claimed in claim 2 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: described client adopt in computing machine, mobile phone or panel computer any one.
4., as claimed in claim 1 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: memory module, bluetooth module, WiFi module, infrared transceiver module and interface module that described mainboard comprises arm processor and is connected with arm processor.
5. as claimed in claim 4 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: described arm processor adopts TCC8803 chip as the main control chip of mainboard, the operating system of arm processor adopts Android2.3 system.
6., as claimed in claim 4 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: described interface module comprises RS232 serial ports, LCD Interface, utilizing camera interface, audio interface.
7. as claimed in claim 6 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: described mainboard by LCD Interface and utilizing camera interface external liquid crystal display and camera respectively, and passes through audio interface External microphone and loudspeaker.
8., as claimed in claim 1 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: the stepper motor driving circuit that described control drive plate comprises single-chip microcomputer and is connected with single-chip microcomputer.
9. as claimed in claim 8 based on the Omni-mobile platform control system of technology of Internet of things, it is characterized in that: described single-chip microcomputer adopts STM32F103VBT6 chip as the control chip controlling drive plate, described stepper motor driving circuit adopts THB7128 two-phase hybrid stepping motor driving chip as the driving chip controlling drive plate.
CN201520536742.6U 2015-07-22 2015-07-22 Omnidirectional movement platform control system based on internet of things Expired - Fee Related CN204856222U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105912105A (en) * 2016-03-31 2016-08-31 河北工业大学 Remote control system of mobile platform based on gestures
CN106371361A (en) * 2016-09-14 2017-02-01 芜湖扬展新材料科技服务有限公司 Wireless communication system of multifunctional robot
CN107991941A (en) * 2017-12-27 2018-05-04 北京卫星制造厂 A kind of II bus-type driving control systems of MECHATROLINK-
CN108494839A (en) * 2018-03-12 2018-09-04 深圳市碧华智能科技有限公司 A kind of mobile high in the clouds data collecting system suitable for a variety of PLC
WO2019171154A1 (en) * 2018-03-09 2019-09-12 Pratik Sharma Gesture feed logger

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105912105A (en) * 2016-03-31 2016-08-31 河北工业大学 Remote control system of mobile platform based on gestures
CN106371361A (en) * 2016-09-14 2017-02-01 芜湖扬展新材料科技服务有限公司 Wireless communication system of multifunctional robot
CN107991941A (en) * 2017-12-27 2018-05-04 北京卫星制造厂 A kind of II bus-type driving control systems of MECHATROLINK-
CN107991941B (en) * 2017-12-27 2020-03-24 北京卫星制造厂 MECHANTROLINK-II bus type drive control system
WO2019171154A1 (en) * 2018-03-09 2019-09-12 Pratik Sharma Gesture feed logger
CN108494839A (en) * 2018-03-12 2018-09-04 深圳市碧华智能科技有限公司 A kind of mobile high in the clouds data collecting system suitable for a variety of PLC

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