JP2006154980A - Motion determining method and motion determining device for operating body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motion determining method for an operating body capable of easily deriving conditions for favorable work efficiency of the operating body while avoiding interference of the operating body. <P>SOLUTION: The motion determining method for the operating body is provided with a model creating process S100 of setting a shape and a position of the operating body, a motion setting process S200 of setting motion and motion timing of the operating body, a motion range detecting process S300 of detecting a motion range of the operating body, an interference range determining process S400 of determining existence/nonexistence of overlapping of motion ranges of a plurality of operating bodies, an interference time determining process S500 of detecting an interference time wherein an operating body occupies an overlapped portion of motion ranges in regard to an operating body related to overlapping of motion ranges when it is determined that there is overlapping of motion ranges, and determining existence/nonexistence of overlapping of interference times, and a motion timing shifting process S600 of shifting the motion timing of the operating body related to overlapping of interference times when it is determined that there is overlapping of interference times. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an operation determining method and an operation determining apparatus for an operating body.

Conventionally, a method for determining the operation of an operating body such as an industrial robot has been publicly known. Such an operation determination method determines the operation of the operating body capable of avoiding interference between the operating bodies when a plurality of operating bodies are arranged close to each other.
In the conventional method of determining the operation of the operating body, the operating body is arranged in a factory, etc., the operation of each operating body is set (so-called teaching), and the operator actually operates each operating body on the site to Check if it interferes with the actuator. When there is interference, (a) the operator appropriately shifts the operation timing of the operating body at the site, (b) changes the operation of the operating body, or (c) one operating body operates. While the other operating body is stopped, or (d) the interference preventing device is attached to one operating body, and when it interferes, the operating body is automatically stopped and the other operating body is stopped. When one of the operating bodies resumes from the predetermined area, or (e) when the operating body has a plurality of operations, the operation order is adjusted so that the operations do not interfere with each other. It is.

Also, in recent years, before placing an operating body such as an industrial robot in a factory or the like, the shape, arrangement, and operation of each operating body is set in advance on CAD (Computer-Aided Design) software to check for interference between the operating bodies. The method of grasping is also known. For example, it is as described in Patent Document 1 and Patent Document 2.
JP-A-1-3211131 JP-A-10-124126

However, in the conventional method of determining the operation of the operating body, when there is interference of the operating body, the operator appropriately shifts the operation timing of the operating body by trial and error at the site, so that the work is complicated. Further, when a plurality of operating bodies work together, it is difficult to accurately grasp the work efficiency (productivity) of the work in advance.
Furthermore, the conventional method for determining the operation of the operating body has a large part that depends on the experience and intuition of the operator when deriving the above-mentioned conditions with good working efficiency, and it is difficult to efficiently derive the conditions in a short time. was there.

  In view of the circumstances as described above, the present invention provides a method for determining the operation of an operating body that can easily derive a condition with good working efficiency of the operating body while avoiding interference of the operating body.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1,
A model creation process for setting the shape and arrangement of the operating body;
An operation setting process for setting the operation and operation timing of the operating body;
An operation range detection step for detecting the operation range of the operating body;
An interference range determination step for determining the presence or absence of overlapping of the operation ranges of a plurality of operating bodies;
When it is determined that there is an overlap in the operation range, the interference time in which the operation body occupies the portion where the operation range overlaps is detected for the operation body related to the overlap in the operation range, and the overlap of the interference time is detected. An interference time determination step of determining presence or absence;
An operation timing shift step of shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time;
It comprises.

In claim 2,
The operation timing shift step includes:
A first distance in which the closest distance between the pair of operating bodies becomes equal to or greater than a predetermined safety avoidance distance by shifting one operation timing of the pair of operating bodies having the overlap of the interference time forward with respect to the other operation timing. A first shift time detection step for detecting the shift time;
A second shift in which the closest distance of the pair of operating bodies is equal to or greater than a predetermined safety avoidance distance by shifting one operation timing of the pair of operating bodies having the overlap of the interference time later with respect to the other operation timing. A second shift time detecting step for detecting time;
An operation timing selection step of setting the operation timing corresponding to the shorter one of the first shift time and the second shift time as the operation timing of the pair of operating bodies with the overlap of the interference time;
It comprises.

In claim 3,
The operating body is:
The object handled by the operating body is included.

In claim 4,
A model creation process for setting the shape and arrangement of the operating body;
An operation setting process for setting the operation and operation timing of the operating body;
An operation range detection step for detecting the operation range of the operating body;
An interference range determination step for determining the presence or absence of overlapping of the operation ranges of a plurality of operating bodies;
When it is determined that there is an overlap in the operation range, the interference time in which the operation body occupies the portion where the operation range overlaps is detected for the operation body related to the overlap in the operation range, and the overlap of the interference time is detected. An interference time determination step of determining presence or absence;
An operation timing shift step of shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time;
A control unit for determining the operation of the operating body,
An input unit for inputting the shape, arrangement, operation and operation timing of the operating body;
A display unit for displaying a result of operation of the operating body determined by the control unit;
It comprises.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect, it is possible to grasp in advance whether or not there is interference between the operating bodies, and how to shift the operation timing of the operating bodies when there is interference to avoid the interference. Therefore, it is possible to easily derive a condition where the working efficiency of the operating body is good while avoiding the interference of the operating body.

  According to the second aspect of the present invention, it is possible to easily obtain a condition in which the working efficiency of the operating body is good by minimizing the shift amount of the operation timing of the pair of operating bodies related to the interference while avoiding the interference of the operating body.

  In claim 3, not only the interference between the operating bodies, but also the interference between the operating body and the object, the presence or absence of interference between the objects, and the operation timing of the operating body and the object when there is interference. It is possible to know in advance how to shift to avoid interference. Therefore, it is possible to easily derive a condition with good working efficiency of the operating body while avoiding interference between the operating body and the object.

  According to the fourth aspect, it is possible to grasp in advance whether or not there is interference between the operating bodies, and how to shift the operation timing of the operating bodies when there is interference to avoid the interference. Therefore, it is possible to easily derive a condition where the working efficiency of the operating body is good while avoiding the interference of the operating body.

Below, the Example of the operation | movement determination method of the operating body of this invention is described using FIGS. 1-9.
Note that the “actuating body” in the present application is arranged so as to be fixed or movable at a predetermined position and performs a predetermined operation, and specific examples thereof include an industrial robot arranged in a factory.

As shown in FIG. 1, the operation determination method of the working body of this embodiment includes a model creation step S100, an operation setting step S200, an operation range detection step S300, an interference range determination step S400, an interference time determination step S500, and an operation timing shift step. S600, operation | movement determination process S700, etc. are comprised.
The operation determination method of the working body of the present embodiment is achieved as a program that operates on CAD software stored in control means such as a commercially available electronic computer.
In the following, for convenience, each process will be described using the operating body 10, the operating body 20, and the object 30 shown in FIGS. 3, 4, 5, 8, and 9 as appropriate.

Below, model creation process S100 is demonstrated.
The model creation step S100 is a step of setting the shape and arrangement of the operating body.
In addition, when an operation body handles (for example, conveys) a predetermined object, between the operation body (including both the operation body that conveys the object and other operation bodies) and the object. Therefore, it is necessary to handle the target object in the same manner as the operating body. That is, the operating body in the present application includes objects handled by the operating body.
When the model creation step S100 ends, the process proceeds to the operation setting step S200.

  In the case of the present embodiment, as shown in FIG. 3, in the model creation step S100, by inputting information on the shape and arrangement of the operating body 10, the operating body 20 and the object 30 to the control means, a predetermined virtual space is determined. The actuating body 10, the actuating body 20, and the target object 30 are arranged at the positions.

Hereinafter, the operation setting step S200 will be described.
The operation setting step S200 is a step of setting the operation and operation timing of the operating body.
When the operation setting process S200 is completed, the process proceeds to an operation range detection process S300.

In the case of the present embodiment, as shown in FIG. 4, in the operation setting step S <b> 200, the operation arranged in the virtual space based on the information related to the operation and operation timing of the operating body 10, the operating body 20, and the object 30. The operations and operation timings of the body 10, the operating body 20, and the object 30 are set.
The operating body 10 of the present embodiment is an operating body that performs an operation of turning clockwise in a plan view around the rotation shaft 10a. The operating body 20 is an operating body that conveys the object 30 from the left to the right in FIG.
Furthermore, in the case of the present embodiment, the operating body 10 is swung above the operating body 20 and does not interfere between the operating body 10 and the operating body 20.

Below, operation range detection process S300 is demonstrated.
The operation range detection step S300 is a step of detecting the operation range of the operating body.
Here, the “operation range” refers to a range (usually a three-dimensional space) that the operating body may occupy when the operating body operates.
When the operation range detection step S300 is completed, the process proceeds to the interference range determination step S400.

In the case of the present embodiment, as shown in FIG. 5, in the operation range detection step S <b> 300, the operation body 10 is based on information on the shape, arrangement, operation, and operation timing of the operation body 10, the operation body 20, and the object 30. The operating range of the operating body 20 and the object 30 is detected.
An operation range 11 in FIG. 5 is an operation range of the operating body 10, and an operation range 31 is an operation range of the object 30 conveyed by the operating body 20.

Below, interference range determination process S400 is demonstrated.
The interference range determination step S400 is a step of determining whether or not the operation ranges of the plurality of operating bodies detected in the operation range detection step S300 are overlapped.
As a result, when it is determined that there is an overlapping operation range, the process proceeds to the interference time determination step S500, and when it is determined that there is no overlapping operation range, the process proceeds to the operation determination step S700.

  In the case of the present embodiment, as shown in FIG. 5, in the interference range determination step S <b> 400, a part of the operating range 11 of the operating body 10 and a part of the operating range 31 of the object 30 conveyed by the operating body 20 overlapping. Therefore, it is determined that there is an overlap of operation ranges, and the process proceeds to the interference time determination step S500.

  It should be noted that the interference between the operating bodies or the operating body and the object does not necessarily actually occur if the operating ranges overlap. In other words, in order for interference to occur, it is a requirement that a plurality of operating bodies occupy the same position within the range where the operating ranges overlap “at the same time”.

Below, interference time determination process S500 is demonstrated.
The interference time determination step S500 detects an interference time in which the operating body occupies a portion where the operating ranges overlap with respect to the operating bodies related to the overlapping operating ranges when it is determined that the operating ranges overlap. And determining whether or not the interference times overlap.
As a result, when it is determined that there is an overlap of interference times, the process proceeds to an operation timing shift process S600, and when it is determined that there is no overlap of interference times, the process proceeds to an operation determination process S700.

In the case of the present embodiment, as shown in FIGS. 5 and 6, in the interference time determination step S500, the interference time 12 that is the time during which the operating body 10 occupies the portion where the operation range 11 and the operation range 31 overlap. , And an interference time 32 that is a time during which the object 30 occupies a portion where the motion range 11 and the motion range 31 overlap each other.
In the case of the present embodiment, for the convenience of explanation, the time required for one rotation of the operating body 10 and the next object after the object 30 conveyed by the operating body 20 passes a predetermined position on the operating body 20. It is assumed that the time until 30 passes through the predetermined position is the same (Te). Further, as a result of the operating body 10 and the operating body 20 operating at the operation timing set in the operation setting step S200, the interference time 12 of the operating body 10 is changed from the time Tas to the time Tae, and the object 30 conveyed by the operating body 20 The interference time 32 is changed from the time Tbs to the time Tbe, and the interference time 12 and the interference time 32 overlap between the time Tbs and the time Tae.

Hereinafter, the operation timing shift process S600 will be described.
The operation timing shift step S600 is a step of shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time.
When the operation timing shift process S600 ends, the process proceeds to the operation determination process S700.

  As shown in FIG. 2, the operation timing shift step S600 of the present embodiment further includes a first shift time detection step S610, a second shift time detection step S620, and an operation timing selection step S630.

Below, 1st shift time detection process S610 is demonstrated.
In the first shift time detection step S610, the closest distance between the pair of operating bodies is determined by shifting one operation timing of the pair of operating bodies having overlapping interference times forward with respect to the other operation timing. This is a step of detecting a first shift time that is equal to or greater than the safety avoidance distance.
If 1st shift time detection process S610 is complete | finished, it will transfer to 2nd shift time detection process S620.

In the case of the present embodiment, as shown in FIG. 7A, in the first shift time detection step S610, the operation timing of the operating body 10 is set to the object 30 (more precisely, the operating body 20 that conveys the object 30). ) Gradually shifts to the previous operation timing.
As a result, when the operation timing of the operating body 10 is shifted by ΔT1 before the operation timing of the target object 30, the range in which the operating range of the operating body 10 and the operation range of the target object 30 overlap as shown in FIG. First, the operating body 10 and then the target object 30 enter, and both occupy a range where the operating range of the operating body 10 and the operating range of the target object 30 overlap. It operates while maintaining the distance, and leaves the range where the operating range of the operating body 10 and the operating range of the object 30 overlap without interfering with each other. ΔT1 detected in this way is referred to as a first shift time.
Note that the safety avoidance distance L is a value set in advance according to the shape, operation, and the like of the operating body and the object.

Below, 2nd shift time detection process S620 is demonstrated.
In the second shift time detecting step S620, the closest distance between the pair of operating bodies is determined to be a predetermined safety by shifting one operation timing of the pair of operating bodies having overlapping interference times later with respect to the other operation timing. This is a step of detecting a second shift time that is equal to or longer than the avoidance distance.
When the second shift time detection step S620 ends, the process proceeds to the operation timing selection step S630.

In the case of the present embodiment, as shown in FIG. 7B, in the second shift time detection step S620, the operation timing of the operating body 10 is set to the object 30 (more precisely, the operating body 20 that conveys the object 30). ) And gradually shift later.
As a result, when the operation timing of the operating body 10 is later shifted by ΔT2 with respect to the operation timing of the object 30, as shown in FIG. 9, the operation range of the operating body 10 and the operation range of the object 30 overlap. The object 30 and then the operating body 10 enter first, and both of them occupy a range where the operating range of the operating body 10 and the operating range of the object 30 overlap, but they are at least a safety avoidance distance L. The movement range of the operating body 10 and the movement range of the object 30 are separated from each other without interfering with each other. ΔT2 detected in this way is referred to as a second shift time.

Hereinafter, the operation timing selection step S630 will be described.
The operation timing selection step S630 is a step in which the operation timing corresponding to the shorter one of the first shift time and the second shift time is set as the operation timing of the pair of operating bodies with the overlap of the interference time.
By configuring in this way, it is possible to easily obtain a condition in which the working efficiency of the operating body is good while minimizing the shift amount of the operation timing of the pair of operating bodies related to the interference while avoiding the interference of the operating body. is there.
In addition, since the distance between the operating bodies and the distance between the operating body and the target object or the target object is always maintained at a distance equal to or greater than the safety avoidance distance L, it is possible to reliably prevent interference.
When the operation timing selection step S630 ends, the process proceeds to the operation determination step S700.

In the case of the present embodiment, ΔT1 <ΔT2 as shown in FIG. 7, and therefore the shortest of the first shift time and the second shift time is the first shift time.
Therefore, the operation timing corresponding to the first shift time, that is, the object 30 (more precisely, the operation body 20 that conveys the object 30) starts to operate after ΔT <b> 1 elapses after the operation body 10 starts to operate. The operation timing of performing is set as the operation timing of the operating body 10 and the object 30.

Hereinafter, the operation determination step S700 will be described.
The operation determination step S700 is a step of determining the final operation timing of the operating body.

  When the process proceeds from the interference range determination step S400 to the operation determination step S700, there is no overlap in the operation range between the operating bodies or between the operating body and the object, and interference occurs regardless of the operation timing of each operating body. It corresponds to the situation where there is no. Therefore, in this case, the operation timing of the operating body set in the operation setting step S200 is employed as it is.

  In the case of transition from the interference time determination step S500 to the operation determination step S700, there is an overlap in the operation range between the operating bodies or between the operating body and the object, but the operating body set in the operation setting process S200 It shows that no interference occurs even if each operating body is operated at the operation timing. Therefore, also in this case, the operation timing of the operating body set in the operation setting step S200 is adopted as it is.

  When the operation timing shift process S600 is shifted to the operation determination process S700, it is shown that interference occurs when each operating body is operated at the operation timing of the operating body set in the operation setting process S200. Therefore, in this case, the operation timing of the operating body shifted in the operation timing shift step S600 is adopted.

As described above, the embodiment of the operation determination method of the working body of the present invention is
A model creation step S100 for setting the shape and arrangement of the operating body;
An operation setting step S200 for setting the operation and operation timing of the operating body;
An operation range detection step S300 for detecting an operation range of the operating body;
An interference range determination step S400 for determining the presence or absence of overlapping of the operation ranges of a plurality of operating bodies;
When it is determined that there is an overlap in the operation range, an interference time in which the operation body occupies a portion where the operation range overlaps is detected for the operation body related to the overlap in the operation range, and the overlap of the interference time is detected. Interference time determination step S500 for determining the presence or absence of
An operation timing shift step S600 for shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time;
It comprises.

  With this configuration, it is possible to grasp in advance whether or not there is interference between the operating bodies and how the operation timing of the operating bodies can be shifted when there is interference to avoid the interference. . Therefore, it is possible to easily derive a condition where the working efficiency of the operating body is good while avoiding the interference of the operating body.

In addition, the operation timing shift step S600 in the embodiment of the operation determination method of the operating body of the present invention includes:
By shifting the operation timing of one of the pair of operating bodies having the overlap of the interference time forward with respect to the other operation timing, the closest distance between the pair of operating bodies becomes a predetermined safety avoidance distance L or more. A first shift time detecting step S610 for detecting one shift time;
A second distance in which the closest distance between the pair of operating bodies becomes equal to or greater than a predetermined safety avoidance distance L by shifting one operation timing of the pair of operating bodies having the overlapped interference time later with respect to the other operation timing. A second shift time detection step S620 for detecting the shift time;
An operation timing selection step S630 in which the operation timing corresponding to the shorter one of the first shift time and the second shift time is the operation timing of the pair of operating bodies with the overlap of the interference time;
It comprises.

  By configuring in this way, it is possible to easily obtain a condition in which the working efficiency of the operating body is good while minimizing the shift amount of the operation timing of the pair of operating bodies related to the interference while avoiding the interference of the operating body. is there.

Moreover, the operating body in the embodiment of the operation determining method of the operating body of the present invention includes an object handled by the operating body.
By configuring in this way, not only the interference between the operating bodies, but also the presence of interference between the operating body and the object and the interference between the objects, and the operation of the operating body and the object when there is interference. It is possible to know in advance how the timing can be shifted to avoid interference. Therefore, it is possible to easily derive a condition with good working efficiency of the operating body while avoiding interference between the operating body and the object.

Below, the structure of the operation | movement determination apparatus 100 which performs the operation | movement determination method of the said operating body is demonstrated using FIG.
As shown in FIG. 10, the operation determining apparatus 100 mainly includes a control unit 101, an input unit 102, a display unit 103, and the like.

The control unit 101 stores a program and data relating to the operation determination method of the operating body, and creates a model creation step S100, an operation setting step S200, an operation range detection step S300, an interference range determination determination step S400, an interference time determination step S500, Calculations relating to each of the operation timing shift step S600 and the operation determination step S700 are performed to determine the operation of the operating body.
Specifically, the control unit 101 may be configured such that a CPU, a ROM, a RAM, and the like are connected by a bus, or may be configured by a one-chip LSI or the like. A commercially available personal computer or the like can also be used as the control unit 101.

  The input unit 102 is for the operator to input data related to the method for determining the operation of the operating body, for example, data related to the shape, arrangement, operation, and operation timing of the operating body. Specifically, the input unit 102 includes a keyboard, a touch panel, and the like.

  The display unit 103 displays a result of the operation determination method of the operating body performed by the control unit 101. The display unit 103 is specifically composed of a monitor or the like.

As described above, the operation determining apparatus 100 is
A model creation process for setting the shape and arrangement of the operating body;
An operation setting process for setting the operation and operation timing of the operating body;
An operation range detection step for detecting the operation range of the operating body;
An interference range determination step for determining the presence or absence of overlapping of the operation ranges of a plurality of operating bodies;
When it is determined that there is an overlap in the operation range, the interference time in which the operation body occupies the portion where the operation range overlaps is detected for the operation body related to the overlap in the operation range, and the overlap of the interference time is detected. An interference time determination step of determining presence or absence;
An operation timing shift step of shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time;
Control unit 101 for determining the operation of the operating body,
An input unit 102 for inputting the shape, arrangement, operation, and operation timing of the operating body;
And a display unit 103 that displays a result of the operation of the operating body determined by the control unit 101.

  By configuring in this way, the motion determining device 100 grasps in advance whether or not there is interference between the operating bodies and how the operation timing of the operating bodies can be shifted if there is interference. Is possible. Therefore, it is possible to easily derive a condition where the working efficiency of the operating body is good while avoiding the interference of the operating body.

The flowchart which shows the Example of the operation | movement determination method of the operating body of this invention. The flowchart which shows the Example of operation | movement timing shift. The schematic diagram which shows the action body to which the shape and arrangement | positioning were set. The schematic diagram which shows the action body to which operation | movement and operation | movement timing were set. The schematic diagram which shows the operation | movement range of an action body. The schematic diagram which shows the interference time of an action body. The schematic diagram which shows the sum total of the operation time at the time of shifting the operation timing of an action body. The schematic diagram which shows the positional relationship of an action body and a target object when the operation timing of an action body is shifted based on 1st shift time. The schematic diagram which shows the positional relationship of an action body and a target object when the operation timing of an action body is shifted based on 2nd shift time. The schematic diagram which shows the structure of an operation | movement determination apparatus.

Explanation of symbols

10 Actuator 20 Actuator 30 Object

Claims (4)

A model creation process for setting the shape and arrangement of the operating body;
An operation setting process for setting the operation and operation timing of the operating body;
An operation range detection step for detecting the operation range of the operating body;
An interference range determination step for determining the presence or absence of overlapping of the operation ranges of a plurality of operating bodies;
When it is determined that there is an overlap in the operation range, the interference time in which the operation body occupies the portion where the operation range overlaps is detected for the operation body related to the overlap in the operation range, and the overlap of the interference time is detected. An interference time determination step of determining presence or absence;
An operation timing shift step of shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time;
A method for determining the operation of an operating body, comprising: The operation timing shift step includes:
A first distance in which the closest distance between the pair of operating bodies becomes equal to or greater than a predetermined safety avoidance distance by shifting one operation timing of the pair of operating bodies having the overlap of the interference time forward with respect to the other operation timing. A first shift time detection step for detecting the shift time;
A second shift in which the closest distance of the pair of operating bodies is equal to or greater than a predetermined safety avoidance distance by shifting one operation timing of the pair of operating bodies having the overlap of the interference time later with respect to the other operation timing. A second shift time detecting step for detecting time;
An operation timing selection step of setting the operation timing corresponding to the shorter one of the first shift time and the second shift time as the operation timing of the pair of operating bodies with the overlap of the interference time;
The operation determining method for an actuator according to claim 1, comprising:   The method according to claim 1, wherein the operating body includes an object handled by the operating body. A model creation process for setting the shape and arrangement of the operating body;
An operation setting process for setting the operation and operation timing of the operating body;
An operation range detection step for detecting the operation range of the operating body;
An interference range determination step for determining the presence or absence of overlapping of the operation ranges of a plurality of operating bodies;
When it is determined that there is an overlap in the operation range, the interference time in which the operation body occupies the portion where the operation range overlaps is detected for the operation body related to the overlap in the operation range, and the overlap of the interference time is detected. An interference time determination step of determining presence or absence;
An operation timing shift step of shifting the operation timing of the operating body related to the overlap of the interference time when it is determined that there is an overlap of the interference time;
A control unit for determining the operation of the operating body,
An input unit for inputting the shape, arrangement, operation and operation timing of the operating body;
A display unit for displaying a result of operation of the operating body determined by the control unit;
An operation determining apparatus for an operating body, comprising:

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