EP2957679B1 - Système de commande placé en amont - Google Patents

Système de commande placé en amont Download PDF

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Publication number
EP2957679B1
EP2957679B1 EP14172965.7A EP14172965A EP2957679B1 EP 2957679 B1 EP2957679 B1 EP 2957679B1 EP 14172965 A EP14172965 A EP 14172965A EP 2957679 B1 EP2957679 B1 EP 2957679B1
Authority
EP
European Patent Office
Prior art keywords
attachment
receiver
carrier machine
remote control
accordance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14172965.7A
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German (de)
English (en)
Other versions
EP2957679A1 (fr
Inventor
Wolfgang Morath
Daniel Morath
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Morath GmbH
Original Assignee
Morath GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Morath GmbH filed Critical Morath GmbH
Priority to EP14172965.7A priority Critical patent/EP2957679B1/fr
Publication of EP2957679A1 publication Critical patent/EP2957679A1/fr
Application granted granted Critical
Publication of EP2957679B1 publication Critical patent/EP2957679B1/fr
Active legal-status Critical Current
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/306—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom with telescopic dipper-arm or boom
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation

Definitions

  • the present invention relates to a device with a carrier device and an attachment, such as a construction machine, such.
  • an attachment such as a construction machine, such.
  • a crawler excavator with a drill mount as an attachment, according to the preamble of claim 1.
  • Attachments such as drills, spray guns, grapples, harvesters, etc., for attachment to suitable carrier equipment, such as crawler excavators, walking excavators, wheeled excavators, mini and midi excavators, two-way excavators, mobile cranes, telescopic loaders, etc. are known in the art.
  • suitable carrier equipment such as crawler excavators, walking excavators, wheeled excavators, mini and midi excavators, two-way excavators, mobile cranes, telescopic loaders, etc.
  • the operation of the attachment is usually done by hand, cable or radio remote control, while the carrier device is conventionally operated in a cab, or by its own hand, cable, or radio remote control.
  • two or more persons for example one or more operators or instructors are required for positioning or operating the equipment (attachment and carrier device).
  • two operators are currently required in drilling application, a first operator for the drill and a second operator for the carrier.
  • this is uneconomical due to the increased use of personnel.
  • frequent change of location for example due to inadequate control of the drilling operations, is necessary, resulting in an additional loss of time.
  • there is often danger to life as the operator of the attachment must be within the danger zone, or because of visual problems such as dust, unclear terrain, structures, etc.
  • the object of the present invention is therefore to develop a holistic operating and control concept with universally applicable control systems and the associated actuators, such as directional valves, etc. for all known carrier devices and attachments, regardless of the control system of the carrier device and the attachment, wherein the Functions from the existing cab or from the control station on a central control unit are mapped.
  • all relevant safety and locking systems, such as brakes, emergency stop systems, etc. must be maintained and the economic implementation by using largely constant components, such as in a modular system can be done.
  • the inventive apparatus comprises an attachment and a carrier mechanically connected to the attachment, and first and second receivers mechanically fixed on or to the carrier, or mechanically attached to or on the attachment. Furthermore, the device has at least one radio remote control, which can communicate with the first and the second receiver and communicate with them if necessary, so that the first and / or the second receiver transmit electrical signals to the carrier device and / or to the attachment, if the at least one radio remote control communicates with the first and / or the second receiver.
  • the first receiver is mechanically fastened or arranged on or on the carrier device, it can thus transmit electrical signals to the attachment in the preferred embodiment.
  • the second receiver is mechanically fastened or arranged on or on the attachment, it can transmit electrical signals to the carrier device in the preferred embodiment. This allows radio remote control of the entire device, regardless of where the first and second receivers are located.
  • the electrical signals are preferably control signals that cause movement of the attachment and / or parts of the attachment and / or the carrier device, when the radio remote control transmits the first and / or the second receiver a designated first signal.
  • the carrier device is advantageously designed to move the attachment.
  • the radio remote control can, for example, communicate with a receiver mounted on the carrier and also control the attachment via already existing additional functions.
  • the radio remote control may have a transmitter, but possibly also several transmitters which transmit on different frequencies.
  • the device comprises an attachment, a carrier device which is mechanically connected to the attachment and may be adapted to move the attachment on, a first and a second receiver, as well as a radio remote control, with the one or more receivers, for example with the first receiver and / or with the second receiver, preferably possibly also simultaneously, can communicate.
  • the carrier device may be, for example, a hydraulic unit.
  • the first receiver communicates with the carrier via control signals which cause the implement to move with the carrier when the radio remote controller transmits to the first receiver a first signal intended therefor.
  • the second receiver transmits control signals to the attachment, the control signals causing movement of parts of the attachment when the radio remote control transmits to the second receiver a dedicated second signal, both the movement of the attachment and movement of the carrier with the same radio remote control be controlled, wherein advantageously still other auxiliary functions, such as engine start, pressure readings, oil pressure, temperatures, etc. are communicated with the above-mentioned radio remote control.
  • the movement of the attachment as a whole unit with the carrier device is advantageously controlled independently of the movement of, for example, parts of the attachment or the function of the attachment.
  • Such a device has a number of different advantages: for example, the operator can assume an operating position outside the danger zone, for example, outside of high voltage power lines, rockfall, landslides, contaminated areas, etc. without limiting the ease of use.
  • the operator can choose his operating position with an optimal view of the current events himself and move without restriction by noise and / or dust sources.
  • only a single operator is required, which results in increased economy due to the reduction in personnel, since e.g. a referrer is no longer required.
  • the device thus achieves an increased operating and positioning speed as well as an increased positioning accuracy by higher-level control, as well as an increased quality of operation, because only a single and higher-level operation is required.
  • the operator no longer has to enter the cab of, for example, an excavator in order to position the attachment.
  • the resulting lower physical load allows the operator to work safer and error-free.
  • an energy saving can be effected, for example, when engine start / stop functions, or speed reductions are provided.
  • the control unit is universally applicable to all known carrier devices and attachments, regardless of their respective control system.
  • the higher-level control also allows the operation of the carrier device in stand-alone mode, ie without attachment.
  • a connecting part is arranged between the carrier device and the attachment, which is mechanically connected to both the carrier device, and with the attachment.
  • the connecting part is preferably a support arm having at least one joint and / or at least one telescopic extension.
  • the carrier to move the attachment from a first location to a second location does not always have to be necessarily moved.
  • the first receiver is preferably mechanically connected to the carrier and the second receiver is advantageously mechanically connected to the attachment.
  • the first recipient thus controls the carrier, while the second receiver controls the attachment.
  • the first receiver transmits control signals to the attachment via one or more signal / control lines, for example electrically, hydraulically, pneumatically or by radio signal, thus initiating one or more movements and / or functions of the attachment.
  • the second receiver transmits control signals to the carrier via one or more signal / control lines, for example electrically, hydraulically, pneumatically or by radio signal, thus initiating one or more movements and / or functions of the carrier device become.
  • the carrier may be, for example, a crawler excavator, a walking excavator, a wheeled excavator, a mini or midi excavator, a two-way excavator, a mobile crane, a telehandler, or the like.
  • the carrier may also be a hydraulic excavator.
  • a hydraulic excavator is understood to be an excavator whose chassis and work equipment are moved mainly by hydraulic power transmission.
  • the hydraulic excavator may be e.g. a walking chain or wheeled excavator.
  • the attachment can be, for example, a drill, a sprayer, a gripper, a harvester or similar device, for example a drill, a drill mount, a mulcher, slope leveler, compactor, a vibratory plate and hydraulic quick-change devices, rotators, Tiltrotatoren, swivel quick coupler or the like or include.
  • each attachment advantageously has, in order to ensure universal applicability, its own second receiver, which can communicate with the existing radio remote control and which transmits or receives control signals to the respective implement, which movement of parts effect of the respective attachment, when the radio remote control transmits a signal intended for the second receiver.
  • the carrier device has a first receiver, which transmits control signals to the carrier device, which cause the implement to move with the carrier device when the radio remote control transmits a signal intended for this purpose to the first receiver.
  • the transmitter in the radio remote control can communicate, for example, in this manner either simultaneously with the two receivers, namely the receiver on the attachment and the receiver on the carrier, or alternatively alternately.
  • the carrier reports the electrical control signals to the implement.
  • the radio remote control itself can be designed in this way be that they can receive, for example, feedback signals or feedback signals from the first receiver and / or the second receiver, so that the respective state of the device, so both the carrier device and the attachment on or on the radio remote control recognizable or visible is.
  • the remote control is designed so that both the carrier and the attachment can be operated with the control unit alone and independently. If the first and / or second receiver sends feedback signals to the radio remote control, it is preferably also designed as a transmitter.
  • the carrier device can have, for example, hydraulic or electrical (CAN, PWM, digital, etc.) directional control valves (hydraulic block) or a combination of both.
  • a pilot hydraulic signal switching is installed, which is preferably electrically connected to the first receiver via a calculation unit.
  • control is via an electrical interface / computing unit that is electrically connected to the first receiver.
  • the carrier device can have a hydraulic pilot control signal changeover, which is electrically connected to the first receiver, preferably via a calculation unit.
  • the carrier device may also include a hydraulic block, which is preferably connected to the first receiver via a hydraulic pilot signal switching.
  • the carrier device may have an electrical interface, which via a calculation unit electrically connected to the first receiver.
  • the attachment may comprise a hydraulic block which is electrically connected to the second receiver, preferably via a calculation unit.
  • hydraulic controls of both the attachment and the carrier device can be effectively realized and / or in the case of electrically powered devices, these devices can be electrically switched and / or controlled accordingly.
  • the electrical switching or control pulses for example, motors in the attachment and / or in the carrier device on and off, but possibly also control, or for example switch valves and / or control, but also control hydraulic devices.
  • the remote control is a radio remote control having a single transmitter for both communication with the first receiver and communication with the second receiver.
  • the radio remote control has two transmission modules, of which a first transmission module communicates with the first receiver and a second transmission module with the second receiver.
  • the radio remote control may also have more than two transmitter modules.
  • both the carrier device and the attachment be controlled with a single radio remote control.
  • This radio remote control is advantageously housed in a single housing and preferably a portable remote control.
  • the radio remote control has only a single transmitter for communication with both the first receiver as well as with the second receiver, this communication can take place either on a single frequency band, for example in time-clocked mode, or on several frequency bands.
  • a power source for the radio remote control for example, a battery can be used.
  • a mechanical connection for releasably attaching the attachment is advantageously arranged on the carrier device on the carrier device and / or on the connecting part.
  • FIG. 1 shows a device 1 with a carrier device 2, an attachment 4, a remote control 5, a first receiver 6, and a second receiver 8.
  • the carrier device 2 is with the attachment 4 via a connecting part 10, which has a joint 12 connected. With the joint 12, the relative distance between the carrier 2 and the attachment be set.
  • the carrier 2 is in the present example a crawler excavator, comprising a chassis 14, a chassis structure 16 in the form of a driver's cab, and a pivot 18 arranged between the chassis 14 and the chassis structure 16 with which the chassis structure 16 can be rotated about the chassis 14 to implement the attachment 4, in this case a drill rig, from a first to a second location on a construction site.
  • the attachment 4 is detachably connected to the connecting part 10 via a mechanical connection 20.
  • the carrier device 2 has a computer unit 22 connected to the first receiver 6, which is electrically connected to a hydraulic block 28 both via a hydraulic pilot control signal changeover 24 and via an electrical interface 26.
  • the hydraulic block 28 controls, for example, the connecting part 10, the joint 12 of the connecting part 10 or the rotary joint 18.
  • the attachment 4 is mechanically connected to the second receiver 8 and has a computer unit 30 which is electrically connected to the second receiver 8 and a hydraulic block 32 connected is.
  • the hydraulic block 32 controls, for example, the movement of parts of the attachment 4, for example a lifting movement of a drill 34 of the drill mount 4 and / or the rotational movement of the drill 34.
  • the remote control 5 can communicate both with the first receiver 6 of the carrier device 2, and with the second receiver 8 of the attachment 4, to corresponding control signals via the computer unit 22 of the carrier device and / or the computer unit 30 of the attachment to the corresponding hydraulic blocks 28, 32nd to convey to the carrier 2 and the attachment 4, or parts of the attachment 4 to control.
  • FIG. 2 shows another example of a device 1 with a carrier device 2 and an attachment 4.
  • the carrier device 2 here also has the computer unit 22 connected to the first receiver, which is electrically connected to a hydraulic block 28 via a hydraulic pilot control signal changeover 24.
  • the computer unit 22 is connected to an electrical control system 36 via an electrical interface 26.
  • the electric control unit 36 here controls the hydraulic block carrier device 28 electrically.
  • the control signals which electrically control the hydraulic block 28 are therefore not provided directly by the electrical interface 26 in the present example.
  • FIG. 3 shows FIG. 3 , which differs from the second embodiment in that the control here takes place purely hydraulically by means of a hydraulic pilot signal switching 24.
  • the first receiver 6 controls for this purpose via the computer unit 22 of the carrier device 2, the hydraulic pilot signal switching 24 directly.
  • FIG. 4 shows a fourth embodiment in which only the electrical control branch 22, 26, 36 is formed.
  • the carrier device 2 has the computer unit 22 connected to the first receiver 6 via the electrical interface 26 electrical control system 36 to electrically control the hydraulic block 28.
  • the carrier device 2 may also be a crane
  • the connection part 10 may be a cable or a rope to which the attachment 4 is attached

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)

Claims (15)

  1. Dispositif (1) comprenant un appareil d'équipement (4) et un appareil porteur (2) qui est relié mécaniquement à l'appareil d'équipement (4),
    au moins un récepteur (6, 8) qui est monté sur l'appareil porteur (2) ou sur l'appareil d'équipement (4),
    ainsi qu'au moins une commande à distance (5) qui peut communiquer avec le récepteur (6, 8), le récepteur (6, 8) transmettant des signaux électriques à l'appareil porteur (2) et/ou à l'appareil d'équipement (4) lorsque la commande à distance (5) communique avec celui-ci, le récepteur (6, 8) étant un premier récepteur (6) et le dispositif (1) comprenant un second récepteur (8) qui peut communiquer avec la commande distance (5), le premier récepteur (6) transmettant, à l'appareil support (2) par l'intermédiaire d'une liaison électrique des signaux de commande qui provoquent un déplacement de l'appareil d'équipement (4) avec l'appareil porteur (2) lorsque la commande à distance (5) transmet au premier récepteur (6) un premier signal prévu à cet effet, et le second récepteur (8) transmettant à l'appareil d'équipement (4) des signaux de commande qui provoquent un déplacement de parties de cet appareil d'équipement (4) lorsque la commande à distance (5) transmet au second récepteur (8) un second signal prévu à cet effet, le déplacement de l'appareil d'équipement (4) avec l'appareil porteur (2) et le déplacement de parties de l'appareil d'équipement (4) étant commandés par la même commande à distance (5),
    caractérisé en ce que
    la commande à distance (5) est une commande radio qui comporte un seul émetteur pour permettre la communication avec le premier récepteur (6) et avec le second récepteur (8), ou comporte deux modules émetteurs dont un premier communique avec le premier récepteur (6) tandis que le second communique avec le second récepteur (8), et l'appareil porteur (2) est également l'appareil d'équipement (4) sont commandés la commande à distance unique (5).
  2. Dispositif (1) conforme à la revendication 1,
    caractérisé en ce que
    les signaux électriques sont des signaux de commande qui provoquent un déplacement de l'appareil d'équipement (4) et/ou de parties de l'appareil d'équipement (4) et/ou de l'appareil porteur (2) lorsque la commande à distance (5) transmet un premier signal prévu à cet effet au récepteur (6, 8), l'appareil porteur (2) étant réalisé pour permettre de déplacer l'appareil d'équipement (4).
  3. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce qu'
    entre l'appareil porteur (2) et l'appareil porteur (4) est monté un organe de liaison (10) à déploiement télescopique, l'organe de liaison (10) étant relié mécaniquement à l'appareil porteur (2) et à l'appareil d'équipement (4).
  4. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    entre l'appareil porteur (2) et l'appareil d'équipement (4) est monté un organe de liaison (10) qui comporte au moins une articulation (12), l'organe de liaison (10) étant relié mécaniquement à l'appareil porteur (2) et à l'appareil d'équipement (4).
  5. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    le déplacement de l'appareil d'équipement (4) peut être commandé indépendamment du déplacement des parties de cet appareil d'équipement (4).
  6. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    la position de l'appareil porteur (2) par rapport à l'appareil d'équipement (4) peut être modifiée, et de préférence l'appareil d'équipement (4) est mobile en rotation autour de l'appareil porteur (2).
  7. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    le premier récepteur (6) est relié mécaniquement à l'appareil porteur (2) et le second récepteur (8) est relié mécaniquement à l'appareil d'équipement (4).
  8. Dispositif (1) conforme l'une des revendications précédentes,
    caractérisé en ce que
    l'appareil porteur (2) est une pelle hydraulique en particulier une pelle sur roues, une pelle araignée ou une pelle sur chenilles.
  9. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    l'appareil d'équipement est un affût de forage.
  10. Dispositif (1) conforme à l'une quelconque des revendications précédentes,
    caractérisé en ce que
    l'appareil porteur (2) comporte un commutateur de signal pilote hydraulique (24) qui est relié électriquement au premier récepteur (6) de préférence par l'intermédiaire d'une unité de calcul (22).
  11. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    l'appareil porteur (2) comporte un bloc hydraulique (28) qui est relié de préférence électriquement au premier récepteur (6) de préférence par l'intermédiaire d'un commutateur de signal pilote hydraulique (24).
  12. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    l'appareil porteur (2) comporte une interface électrique (26) qui est relié électriquement au premier récepteur (6) par l'intermédiaire d'une unité de calcul (22).
  13. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    l'appareil d'équipement (4) comporte un bloc hydraulique (32) qui est relié électriquement au second récepteur (8) de préférence par l'intermédiaire d'une unité de calcul (30).
  14. Dispositif (1) conforme à l'une des revendications précédentes,
    caractérisé en ce que
    la commande à distance (5) est une commande à distance par câble.
  15. Dispositif (1) conforme à l'une des revendications 3 à 14,
    caractérisé en ce que
    sur l'appareil porteur (2) et/ou sur l'organe de liaison (10) est monté un raccord mécanique (20) pour permettre la fixation amovible de l'appareil d'équipement (4) sur l'appareil porteur (2).
EP14172965.7A 2014-06-18 2014-06-18 Système de commande placé en amont Active EP2957679B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP14172965.7A EP2957679B1 (fr) 2014-06-18 2014-06-18 Système de commande placé en amont

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP14172965.7A EP2957679B1 (fr) 2014-06-18 2014-06-18 Système de commande placé en amont

Publications (2)

Publication Number Publication Date
EP2957679A1 EP2957679A1 (fr) 2015-12-23
EP2957679B1 true EP2957679B1 (fr) 2018-12-26

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CN105908797A (zh) * 2016-02-29 2016-08-31 江苏耐维思通科技股份有限公司 一种无人值守装载机的控制系统
EP3374571B1 (fr) 2016-10-10 2021-08-11 Ålö Ab Système de surveillance d'opération agricole et procédé de surveillance
CN112885064B (zh) * 2021-01-11 2022-07-29 中国煤炭科工集团太原研究院有限公司 机载多钻架的视距遥控操作系统

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