CN214229561U - Many rotors spray lance structure - Google Patents

Abstract

The utility model discloses a many rotors spray lance structure, including bracing piece 10, be equipped with a plurality of rotors, motor, flange, liquid medicine pipeline, shower nozzle, GPS module, vision module 8, liquid medicine and battery box subassembly 11, millimeter wave radar 13 on the bracing piece 10. A plurality of pairs of rotors are symmetrically distributed on the support rod 10, each rotor comprises an auxiliary rotor, an adjusting rotor and a main rotor, and the GPS module is used for providing accurate GPS data for the controller in the path planning and flight phases; the vision modules are symmetrically fixed on two sides of the multi-rotor spray rod respectively as well as a millimeter wave radar, and extend downwards after being fixed by a connecting flange through a bracket for measuring the movement speed and the height of the spray rod; the utility model discloses a control it is in different gesture to the rotor many, when it is at farmland corner region during operation, can control the rotor and make its yawing motion, controls its a plurality of shower nozzles according to crop density degree simultaneously, realizes accurate variable spraying.

Description

Many rotors spray lance structure

Technical Field

The utility model relates to a farmland corner region during operation can control the rotor and make its yaw motion's many rotor spray lance structure, belongs to agricultural machine automation and flight control technical field.

Background

In the process of spraying pesticides on crops, the traditional ground agricultural machinery faces the difficulties of heavy machinery, special roads and the like, so that the plant protection unmanned aerial vehicle is more and more popular with growers in recent years. However, the plant protection unmanned aerial vehicle also encounters some difficulties in the operation process, such as waste of liquid medicine or repeated spraying in short-endurance and irregular operation areas.

SUMMERY OF THE UTILITY MODEL

Based on the not enough of above-mentioned prior art, the utility model discloses a make things convenient for, nimble and can control the rotor and make its driftage motion's many rotor spray lance structure.

The technical scheme of the utility model includes: a multi-rotor spray rod structure comprises a support rod (10), wherein a rotor, a motor (2), a connecting flange (3), a liquid medicine pipeline (4), a spray head (5), a GPS module, a vision module (8), a liquid medicine and battery box assembly (11) and a millimeter wave radar (13) are arranged on the support rod (10); a plurality of pairs of rotors are symmetrically distributed on the supporting rod (10), the rotors comprise an auxiliary rotor, an adjusting rotor and a main rotor, wherein the main rotor provides most of lifting force required by the flying of the spray rod, the angles of the auxiliary rotor and the adjusting rotor are adjustable, the auxiliary rotor and the adjusting rotor provide lifting force for the whole spray rod and control the posture of the spray rod, and meanwhile, the downward airflow generated by the auxiliary rotor and the adjusting rotor can accelerate the liquid medicine to be attached to the surface of crops; a liquid medicine and battery box component (11) is fixed at the center of the support rod (10), auxiliary rotors are arranged at two ends of the support rod (10), an adjusting rotor is arranged between the auxiliary rotor and a foot stool of the support rod (10), and main force rotors are symmetrically arranged at two adjacent ends of the liquid medicine and battery box component (11); when any one of the main rotor, the auxiliary rotor and the adjusting rotor adopts the layout of up-down pulp alignment, the spray heads corresponding to the lower ends of the rotors are replaced by rotors with the same type and opposite directions, so that a larger lift force is provided for the spray rod; when the main rotor wing, the auxiliary rotor wing and the adjusting rotor wing do not adopt the layout of up-down pulp alignment, the lower ends of the main rotor wing, the auxiliary rotor wing and the adjusting rotor wing are connected with the motor (2) to provide power for the rotor wings, the motor (2) is connected with the connecting flange (3), the lower end of the connecting flange (3) is provided with the liquid medicine pipeline (4), the connecting flange (3) tightly fixes the motor (2) and the liquid medicine pipeline (4), and the liquid medicine pipeline (4) connects the spray nozzles (5) and provides liquid medicine for the spray boom; the GPS module is tightly and symmetrically fixed on the multi-rotor spray rod through a connecting flange (3), and is used for providing accurate GPS data for the controller in the path planning and flight stages; the vision module (8) and the millimeter wave radar (13) are respectively and symmetrically fixed on two sides of the multi-rotor spray rod and extend downwards after being fixed by the connecting flange through the bracket; the vision module (8) estimates the movement information through images and obtains more accurate movement speed after being fused with data of the accelerometer, and meanwhile identifies crop information in the system operation process; the millimeter wave radar (13) is used together with a barometer to obtain the real-time height of the multi-rotor boom.

Furthermore, the support rod (10) is formed by connecting a hollow pipe and two foot rests, so that the support and bearing effects are provided for the whole spray rod structure, and the hollow structure of the support rod (10) is also used as a passing pipeline for liquid medicine and electric wires.

Further, the support rod (10) is a carbon fiber pipe.

Further, the liquid medicine and battery box assembly (11) comprises a battery, liquid medicine and control system hardware, and the battery provides power for the motor (2), the GPS module, the vision module (8) and the millimeter wave radar (13); and the control system hardware is used for realizing navigation and path planning and carrying out accurate estimation on the position and the attitude.

Furthermore, the control system hardware comprises a flight controller and an embedded processor, wherein the flight controller is respectively connected with a GPS module, a millimeter wave radar (13), a multi-sensor redundancy module and a plurality of electric regulators for controlling the rotor wing; the flight controller is also connected with an embedded processor, the embedded processor is simultaneously connected with the vision module (8) and the electromagnetic valve driver, the electromagnetic valve driver is connected with the electromagnetic valve for controlling the spray head (5), and the multi-sensor redundancy module is internally integrated with a magnetic compass, a barometer and two sets of gyroscopes and accelerometers.

Furthermore, when lifting and yawing motion of the spray rod are required to be realized, all the rotors provide upward lift force by adjusting the installation angles of the auxiliary rotors, the main rotor and the adjusting rotors to be axially and vertically arranged, so that the multi-rotor spray rod can have the maximum lift force;

when the spray rod lifting force is required to be achieved, and the load capacity is increased, the main rotor wing adopts the layout of up-down pulp alignment, the auxiliary rotor wing adopts the axial horizontal arrangement, and the adjusting rotor wing adopts the axial angle to be arranged in the adjusting range of 0-90 degrees.

The utility model discloses following technological effect has:

this design still possesses the characteristics that conventional plant protection unmanned aerial vehicle did not possess under taking into account that unmanned aerial vehicle is nimble, quick, with low costs etc. characteristics:

1. many are the linear arrangement to the shower nozzle, can spray bigger area in the unit interval, effectively promote the operating efficiency.

2. The accessible is many to the rotor of control makes it be in different gesture, when it is regional during work in farmland corner, can control the rotor and make its yawing motion, and its a plurality of shower nozzles of variable control simultaneously realize accurate spraying, reduce the loss and the waste of liquid medicine.

3. The carbon fiber material is adopted, the structure is simple, and the self weight is small. More lift can be used to dispense more medical fluid or larger capacity batteries at the same weight.

4. The design can adjust the load capacity of the auxiliary rotor wing by adopting methods such as aligning the propeller and adjusting the installation angle of the auxiliary rotor wing on the basis of the basic model, and the flexibility of the design is increased.

5. The utility model discloses can regard as a basic unit, when needs, can pass through quick-operation joint with a plurality of basic units and connect, realize the operation of bigger area.

6. The connecting part of main lift rotor and spray lance can adopt the connector that takes the damping for when many rotor spray lances were in operation, even if receive gust influence occasionally, the attitude change can also be weakened by the connector that takes the damping, increases the stability of equipment.

Drawings

FIG. 1 is an overall structural view of a multi-rotor boom;

FIG. 2 is a diagram of the control system hardware architecture;

FIG. 3 is a cascade PID control chart;

FIG. 4 is a diagram of a PID controller architecture;

FIG. 5 is a system control logic diagram;

FIG. 6 is a schematic diagram of an optical flow algorithm;

fig. 7 is a multi-rotor boom variant 1;

fig. 8 is a multi-rotor boom variant 2;

in the figure, 1-auxiliary rotor a; 2, a motor; 3-a connecting flange; 4-a liquid medicine pipeline; 5-a spray head; 6-adjusting rotor a; 7-GPS module a; 8-a vision module; 9-main force rotor a; 10-a support bar; 11-liquid medicine and battery box assembly; 12-main rotor b; 13-millimeter wave radar; 14-GPS module b; 15-adjustment rotor b; 16-auxiliary rotor b;

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

As a specific embodiment of the present invention, the overall structure of the spray bar shown in fig. 1 is mainly composed of the following parts: 1-auxiliary rotor a; 2, a motor; 3-a connecting flange; 4-a liquid medicine pipeline; 5-a spray head; 6-adjusting rotor a; 7-GPS module a; 8-a vision module; 9-main force rotor a; 10-a support bar; 11-liquid medicine and battery box assembly; 12-main rotor b; 13-millimeter wave radar; 14-GPS module b; 15-adjustment rotor b; 16-auxiliary rotor b; in the whole structure, a plurality of rotors (1, 6, 9, 12, 15, 16) are uniformly distributed on the spray rod, and the installation angles of the rotors can be properly changed according to application scenes, such as that 1 and 16 are axially and horizontally arranged, 6 and 15 are axially arranged at 0-90 degrees, and 9 and 12 are axially and vertically arranged in the figure 1, and the installation angles are different from each other.

A plurality of pairs of rotors are symmetrically distributed on the support rod 10, and each rotor comprises an auxiliary rotor (an auxiliary rotor a1 and an auxiliary rotor b16), an adjusting rotor (an adjusting rotor a6 and an adjusting rotor b15) and a main rotor (a main rotor a9 and a main rotor b12), wherein the main rotors provide most of lift force required by spray rod flight and can be a plurality of rotors as required; the auxiliary rotor wing and the adjustable rotor wing are adjustable in angle, the auxiliary rotor wing and the adjustable rotor wing can be respectively multiple according to respective needs, lift force is provided for the whole spray rod, the posture of the spray rod is controlled, and meanwhile downward airflow generated by the auxiliary rotor wing can accelerate liquid medicine to be attached to the surface of crops.

The liquid medicine and battery box assembly 11 is tightly fixed through a bolt and a spray rod; the structural shape of the liquid medicine and the battery box component is in a shape of an upper triangle and a lower rectangle, and the shapes of the liquid medicine and the battery box are favorable for reducing the gravity center of the whole multi-rotor-wing spray rod and increasing the stability of the spray rod.

As shown in fig. 1, the GPS module (GPS module a7, GPS module b14) and the detail view of the vision module are composed of a GPS-RTK signal receiving module, which is firmly fixed with a support rod and a foot stand through a connecting flange 3, because the RTK technology is adopted, two GPS modules are symmetrically distributed. The vision module 8 is fixed with a bracket which is connected with the connecting flange and extends vertically downwards, and the spatial position of the vision module is symmetrically distributed with the millimeter wave radar 13.

The liquid medicine and the battery box are mainly divided into three parts in the liquid medicine and battery box assembly 11, and the functions of the three parts are mainly to accommodate a battery, control system hardware and store the liquid medicine.

Fig. 2 is a hardware structure diagram of a control system, which includes a flight controller and an embedded processor, wherein the flight controller is respectively connected to a GPS module, a millimeter wave radar 13, a multi-sensor redundancy module, and a plurality of electrical tunes for controlling a rotor; the flight controller is also connected with an embedded processor, the embedded processor is simultaneously connected with the vision module 8 and the electromagnetic valve driver, the electromagnetic valve driver is connected with the electromagnetic valve for controlling the spray head 5, and the multi-sensor redundancy module is internally integrated with a magnetic compass, a barometer, two sets of gyroscopes and accelerometers, so that when one set of sensors fails, the standby sensors are immediately switched to, and the stability and the reliability of the system are improved. The bottom driver is provided with an electric regulator and an electromagnetic valve driver; the actuating mechanism is provided with a plurality of rotor motors and electromagnetic valves with the number corresponding to that of the spray heads.

As shown in fig. 3, a cascade PID control diagram, because in the engineering field, PID control is still the most widely used in practical applications, and the four-rotor flight control system commonly available on the market at present also uses a PID control algorithm, this patent uses cascade PID to control the pose of the unmanned boom.

PID control is a generic term for proportional control, integral control, and derivative control. In practical application, P, I, D three kinds of control are combined differently by selecting a method meeting requirements in the face of different controlled objects to achieve the optimal control purpose, and the freely combined controllers are generally called as PID controllers. The PID controller is essentially a second-order linear low-pass filter, which can effectively reduce the influence of interference and error on the output result. The following diagram is the structure of a conventional PID controller:

as shown in fig. 4, r (t) in the upper graph is the input quantity of the system at the time t, and y (t) is the output quantity of the system at the time t; e (t) as the deviation is the input quantity of the regulator, which is the difference between the input quantity and the output quantity of the system at the time t, and comprises:

e(t)＝y(t)-r(t) (1)

u (t) is the output quantity of the regulator at the time t, and is obtained by performing proportional, integral and differential calculation on the deviation e (t) and then performing linear summation. The expression for a conventional PID controller is given here as:

in the formula T_iAnd T_dRespectively representing the integral time constant and the differential time constant at time t, let K_p/T_i＝K_i， K_p*Td＝K_d. The expression for the PID controller can be written as:

in the formula K_pRepresents the proportionality coefficient, K_iRepresents the integral coefficient, K_dRepresents a differential systemAnd (4) counting. The discretization formula can be expressed as:

in the practical use process, in order to optimize the performance of the PID control system, three parameter values of proportion, integration and differentiation need to be continuously adjusted. And the cascade PID controller is adopted to control the system, so that the error influence caused by external interference can be effectively reduced, and the robustness of the system is improved. The principle of cascade PID control is that a plurality of single-loop feedback control are nested.

As shown in fig. 3, we use angular velocity as the first inner loop, and the angular velocity is measured by a gyroscope; then, the angle control is used as a second inner ring, and the angle estimation is obtained through the estimation of a gyroscope, a magnetic compass and other sensors; the third inner loop is a speed control loop, and the speed estimation is obtained by fusing image data and IMU data; the final outer ring is height control, and data of sensors such as a millimeter wave radar, a barometer and a gyroscope are also fused to obtain a more accurate height value. Through the cascade PID controller, the poses and the motions of the multi-rotor-wing spray rods can be well controlled, and the spraying operation based on path planning is realized.

As shown in fig. 5, which is a system control flow chart, after the system is powered on, an initialization operation is performed first, then a path planning is performed according to the operation area GPS data collected in advance, a takeoff program is executed after the path planning is completed and a takeoff instruction is received, and after takeoff and before landing, the attitude, speed, height, and the like of the multi-rotor spray bar are controlled by the cascade PID controller so as to fly along the planned path. After the takeoff is successful, the image processing of the image data returned by the embedded processor to the visual module is divided into two threads: firstly, obtaining motion information through an optical flow method, fusing the motion information with IMU data to obtain more accurate motion speed of a multi-rotor-wing spray rod, and returning the motion speed to a flight controller; secondly, identifying whether crops exist or not and dense information after image processing, and preparing for accurate variable spraying later. The atomized liquid medicine is easy to run off in the air, so the multi-rotor spray rod is required to keep a proper height for stable flight during operation, and the flight controller estimates an accurate height value through data of sensors such as a millimeter wave radar and a barometer and controls the self height to keep a proper operation height. After judging whether the working area is standard or not, different operations are carried out according to results. In the normal spraying link, the processor controls all the spray heads to operate through the electromagnetic valve drivers; in the corner area, the processor only controls part of the electromagnetic valves to work according to the calculation result to realize variable spraying.

The visual module 8 detects the motion of an object in the field of view by using an optical flow method, which is based on the following principle:

optical flow is a method of describing the motion of a pixel between images over time, as shown in fig. 6, the same pixel moves in an image over time, and we want to track its motion. Wherein calculating the motion of some pixels is called sparse optical flow and calculating the motion of all pixels is called dense optical flow. We take a representation in sparse optical flow: LK (Lucas-Kanade) luminous flux. Schematic diagram of LK optical flow in LK optical flow we consider the image from the camera to be time varying. The image can be viewed as a function of time: i (t); then, at a time t

The pixel of (b), whose gray scale can be written as:

I(x，y，t). (5)

we consider an image as a function of position and time, whose range is the gray scale of the pixels in the image. Now consider a fixed spatial point whose pixel coordinates at time t are x, y. Due to the motion of the camera, its image coordinates will change. Gray-invariant assumption: the pixel gray values of the same spatial point are fixed and invariant in each image. For a pixel at (x, y) at time t, let t + dt move to (x + dx, y + dy), since the gray scale is unchanged, we have:

I(x+dx，y+dy，t+dt)＝I(x，y，t) (6)

taylor expansion is performed on the left side of the above equation, and a first order term is retained, to obtain:

thus, there are:

both sides are divided by dt to give:

wherein

Is the speed of movement of the pixel in the x-axis, and

the velocities on the y-axis are denoted as u, v. At the same time

The gradient of the image at the point in the x direction and the gradient of the other term in the y direction are recorded as I_x，I_y. The time variation of the image gradation is represented as I_tWritten as a matrix, having:

we want to get u, v, but since this equation is a one-time equation with two variables, u, v cannot be calculated by it alone. Therefore, we assume that pixels within a certain window have the same motion.

Consider one

Window of (a), which contains omega²The pixel of (2). Since the pixels within the window have the same motion, we have a common ω²The equation:

recording:

the whole equation is then:

this over-determined linear equation for u, v can be solved with the least squares method:

in this way, the motion velocity u, v of the pixel between the images can be obtained.

The main functions of the rotor wing are to provide lift force and control the posture of the spray rod, and meanwhile, the downward airflow generated by the rotor wing can accelerate the liquid medicine to be attached to the surface of crops, so that the loss of the liquid medicine in the air is reduced; the connection relation of the rotor wings and the spray rod and the spray head is as follows:

as a specific embodiment of the utility model, for many rotor spray lance structure deformation diagram as figure 7, when the lift and the yawing motion of spray lance are realized to needs, through the installation angular adjustment with supplementary rotor, main force rotor, regulation rotor for the axial vertical setting, all rotors provide ascending lift, can make many rotor spray lances possess the biggest lift. At this moment, the lower extreme of main power rotor, supplementary rotor and regulation rotor all is connected with motor 2, for the rotor provides power, and motor 2 is connected with flange 3, and 3 lower extremes of flange are liquid medicine pipeline 4, and flange 3 is motor 2, liquid medicine pipeline 4 closely fixed, and liquid medicine pipeline 4 couples together shower nozzle 5 and provides the liquid medicine for the spray lance.

As another specific embodiment of the utility model, when needs realize spray lance lift (as shown in fig. 8), when increasing the loading capacity and considering, the main force rotor adopts the overall arrangement of upper and lower pair thick liquid, and supplementary rotor adopts the axial level to set up, adjusts the rotor and adopts axial angle to set up in the control range of 0-90 degrees. When the main force rotor wing, the auxiliary rotor wing and the adjusting rotor wing are in any one layout of up-down pulp alignment (as shown in fig. 8), the spray heads corresponding to the lower ends of the rotor wings are replaced by the rotor wings with the same type and opposite directions, and larger lift force is provided for the spray rod (at the moment, the spray heads are not connected below the pulp, and the up-down pulp alignment is respectively connected with a motor).

At this time, the auxiliary rotor a1 and the auxiliary rotor b16 are arranged axially horizontally, the adjustment rotor a6 and the adjustment rotor b15 are arranged axially at an angle of 0 to 90 degrees, and the main force rotor a9 and the main force rotor b12 are arranged axially vertically.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (6)

1. The multi-rotor spray rod structure is characterized by comprising a support rod (10), wherein a rotor, a motor (2), a connecting flange (3), a liquid medicine pipeline (4), a spray head (5), a GPS module, a vision module (8), a liquid medicine and battery box assembly (11) and a millimeter wave radar (13) are arranged on the support rod (10);

a plurality of pairs of rotors are symmetrically distributed on the supporting rod (10), the rotors comprise an auxiliary rotor, an adjusting rotor and a main rotor, wherein the main rotor provides most of lifting force required by the flying of the spray rod, the angles of the auxiliary rotor and the adjusting rotor are adjustable, the auxiliary rotor and the adjusting rotor provide lifting force for the whole spray rod and control the posture of the spray rod, and meanwhile, the downward airflow generated by the auxiliary rotor and the adjusting rotor can accelerate the liquid medicine to be attached to the surface of crops; a liquid medicine and battery box component (11) is fixed at the center of the support rod (10), auxiliary rotors are arranged at two ends of the support rod (10), an adjusting rotor is arranged between the auxiliary rotor and a foot stool of the support rod (10), and main force rotors are symmetrically arranged at two adjacent ends of the liquid medicine and battery box component (11);

when any one of the main rotor, the auxiliary rotor and the adjusting rotor adopts the layout of up-down pulp alignment, the spray heads corresponding to the lower ends of the rotors are replaced by rotors with the same type and opposite directions, so that a larger lift force is provided for the spray rod;

when the main rotor wing, the auxiliary rotor wing and the adjusting rotor wing do not adopt the layout of up-down pulp alignment, the lower ends of the main rotor wing, the auxiliary rotor wing and the adjusting rotor wing are connected with the motor (2) to provide power for the rotor wings, the motor (2) is connected with the connecting flange (3), the lower end of the connecting flange (3) is provided with the liquid medicine pipeline (4), the connecting flange (3) tightly fixes the motor (2) and the liquid medicine pipeline (4), and the liquid medicine pipeline (4) connects the spray nozzles (5) and provides liquid medicine for the spray boom;

the GPS module is tightly and symmetrically fixed on the multi-rotor spray rod through a connecting flange (3), and is used for providing GPS data for the controller in the path planning and flight stages; the vision module (8) and the millimeter wave radar (13) are respectively and symmetrically fixed on two sides of the multi-rotor spray rod and extend downwards after being fixed by the connecting flange through the bracket; the vision module (8) estimates motion information through images and obtains motion speed after being combined with an accelerometer, and meanwhile identifies crop information in the system operation process; the millimeter wave radar (13) is used together with a barometer to obtain the real-time height of the multi-rotor boom.

2. A multi-rotor boom structure according to claim 1, characterized in that the support rod (10) is formed by connecting a hollow tube and two foot rests, providing support and load bearing for the whole boom structure, and the hollow structure of the support rod (10) also serves as a conduit for the passage of chemicals and electrical wires.

3. A multi-rotor boom structure according to claim 2, characterized in that the support rods (10) are carbon fiber pipes.

4. The multi-rotor boom structure of claim 1, wherein the chemical solution and battery box assembly (11) comprises a battery, a chemical solution and control system hardware, the battery providing power to the motor (2), the GPS module, the vision module (8), the millimeter wave radar (13); and the control system hardware is used for realizing navigation and path planning and carrying out accurate estimation on the position and the attitude.

5. The multi-rotor boom structure of claim 4, wherein the control system hardware comprises a flight controller and an embedded processor, the flight controller being connected to the GPS module, the millimeter wave radar (13), the multi-sensor redundancy module, and the plurality of electrical tunes for controlling the rotors, respectively; the flight controller is also connected with an embedded processor, the embedded processor is simultaneously connected with the vision module (8) and the electromagnetic valve driver, the electromagnetic valve driver is connected with the electromagnetic valve for controlling the spray head (5), and the multi-sensor redundancy module is internally integrated with a magnetic compass, a barometer and two sets of gyroscopes and accelerometers.

6. The multi-rotor boom structure of claim 1, wherein,

when lifting and yawing motion of the spray rod are required to be realized, all the rotors provide upward lift force by adjusting the mounting angles of the auxiliary rotor, the main rotor and the adjusting rotor to be axially and vertically arranged, so that the multi-rotor spray rod has the maximum lift force;

when the spray rod lifting force is required to be achieved, and the load capacity is increased, the main rotor wing adopts the layout of up-down pulp alignment, the auxiliary rotor wing adopts the axial horizontal arrangement, and the adjusting rotor wing adopts the axial angle to be arranged in the adjusting range of 0-90 degrees.

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