JP2006284179A - Dimensional measuring apparatus and apparatus and method for measuring dimension of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a dimension measuring apparatus and an apparatus and a method for measuring dimensions of vehicles, capable of highly accurate dimension measurements. <P>SOLUTION: The dimension measuring apparatus is provided with a first projector 1 and a second projector 2 for projecting first slit light S1 and second slit light S2 distinguishable from each other from vertically different positions above the same light projection plane F from above a vehicle on a road surface; imaging devices 3A and 3B for detecting the positions of reflected light edges e1, e1', e2 and e2' of a road surface by the first slit light S1 and the second slit light S2 from above the vehicle M; and an arithmetic processing unit for determining the detected positions of the vehicle M on a light section plane on the basis of coordinates of two reflected light edges e1, e1', e2 and e2' of the vehicle detected by the imaging devices 3A and 3B and computing dimensions W of the vehicle M on the light section plane on the basis of the two detected positions. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a dimension measuring apparatus, a dimension measuring apparatus for a vehicle, and a method for measuring a dimension with high accuracy in order to determine whether or not an unspecified vehicle is stored in a garage having an allowable dimension, for example. .

2. Description of the Related Art Conventionally, in a mechanical parking facility in which an unspecified vehicle is stored, as shown in Patent Document 1, for example, dimensions such as a vehicle length, a vehicle width, and a height are measured before the storage. The vehicle width measurement sensor of Patent Document 1 is composed of a plurality of semiconductor lasers and CCD sensor cameras arranged in the width direction provided above a passage, and a diffuse reflector installed on a road surface.
Japanese Patent Laid-Open No. 11-7600

  However, in the above configuration, the vehicle width is measured by blocking the semiconductor laser by the vehicle body, but the maximum width of the vehicle width is between the left and right door mirrors, and the shape of the periphery of the door mirror is complicated, so the laser beam that is blocked is blocked. There is a problem that the number and quantity of light are small, stable measurement cannot be performed, and it is difficult to increase measurement accuracy.

  An object of the present invention is to solve the above-mentioned problems and to provide a dimension measuring apparatus, a dimension measuring apparatus for a vehicle, and a dimension measuring method for a vehicle that can measure dimensions with high accuracy.

  The dimension measuring apparatus according to claim 1, wherein the first slit light and the second slit light that are identifiable from above are projected on the measurement body on the mounting surface from above at different positions on the same light projection surface. A light projecting unit and a second light projecting unit; and an edge detecting unit for detecting the reflected light of the mounting surface by the first slit light and the second slit light from above the measuring body and determining the position of the reflected light edge, respectively. The detection position of the light cutting surface of the measuring body on the light projecting surface is obtained from the positions of the two reflected light edges detected by the edge detecting means, and the measuring body on the light cutting surface is detected from the plurality of detection positions. Computing means for computing dimensions.

According to a second aspect of the present invention, there is provided a light projecting scanning means for scanning the first slit light and the second slit light by integrally rotating the first light projecting means and the second light projecting means.
According to a third aspect of the present invention, there is provided a first light projecting means for projecting the first slit light and the second slit light from above onto the measuring body on the mounting surface from different positions on the light projecting surface parallel to each other. A second light projecting means; a moving means for moving the measuring body in the arrangement direction of the first light projecting means and the second light projecting means; a speed detecting means for detecting a moving speed of the measuring body; and the first slit. Based on the speed of the measuring body detected by the speed detecting means and edge detecting means for detecting the reflected light on the mounting surface of the light and the second slit light from above the measuring body and determining the position of the reflected light edge respectively. , The light cutting surface having two reflected light edges detected by the edge detection means is matched, the detection position of the light cutting surface of the measuring body is obtained from the position of the reflected light edge, and the plurality of detection positions from the detection position Dimensions of measuring object on the light section Calculating means for calculating, those provided with the.

  According to a fourth aspect of the present invention, the first light projecting means and the first light projecting means for projecting the identifiable first slit light and second slit light from above and below on the same light projecting surface from above to the vehicle on the road surface. 2 light projecting means, edge detection means for detecting the reflected light of the road surface by the first slit light and the second slit light from above the vehicle and determining the position of the reflected light edge respectively, and detected by the edge detection means Calculating means for obtaining a detection position of the light cutting surface of the vehicle on the light projecting surface from the positions of the two reflected light edges, and calculating a dimension of the vehicle on the light cutting surface from the plurality of detection positions; It is what.

  According to the fifth aspect of the present invention, the first slit light and the second slit light are projected on the light projecting surfaces parallel to each other from above on the vehicle moving on the road surface, and at different positions in the vertical direction and the vehicle moving direction. The first light projecting means and the second light projecting means that are spaced apart from each other, the speed detecting means for detecting the moving speed of the vehicle, and the reflected light from the road surface of the first slit light and the second slit light Light having two reflected light edges detected by the edge detecting means based on the vehicle speed detected by the speed detecting means and edge detecting means for detecting the position of the reflected light edge respectively from above Computation means for obtaining a detection position of the light cutting surface of the vehicle from the position of the reflected light edge, calculating a vehicle dimension on the light cutting surface from a plurality of the detection positions A.

  According to a sixth aspect of the present invention, the first light projecting means and the second light projecting means are respectively arranged on both sides of the measurement dimension above the vehicle, and the first slit light and the second slit light on the left and right sides are arranged on both sides of the vehicle. The optical cutting plane on the same plane is measured.

  According to the seventh aspect of the present invention, the discriminating first slit light and the second slit light are projected from above on the same light projecting surface to the vehicle on the road surface from above, and the first slit light and the second slit light are projected from above the vehicle. The positions of the reflected light edges of the road surface by the 1 slit light and the second slit light are respectively detected, and the detection positions of the light cutting surfaces of the vehicle on the light projecting surface are obtained from the detected positions of the two reflected light edges. The size of the vehicle on the light cut surface is calculated from the detection position.

  According to the first aspect of the present invention, the first and second light projecting means project light from different height positions above the measurement body onto the measurement body along the same light projecting surface, and the edge detection means. Since the reflected light edges of the first and second slit lights on the mounting surface are respectively detected and the dimensions on the light cutting surface are measured by the arithmetic means, the dimensions of the measuring body can be detected with high accuracy.

  According to the second aspect of the present invention, the dimension of the stopped measuring body can be detected with high accuracy by scanning the first light projecting means and the second light projecting means together by the light projecting scanning means. can do.

  According to the third aspect of the invention, the first and second light projecting units project the first and second slit lights along the light projecting surfaces parallel to each other, and the edge detecting unit reflects the mounting surface. The edge of the light is detected, and the dimension of the measuring object on the light cutting surface is calculated by matching the light cutting surface based on the detection value of the speed detection means, so that the dimension of the moving measuring object is detected with higher accuracy. be able to.

  According to the invention described in claim 5, the first and second slit lights are projected along the light projecting surfaces parallel to each other, the reflected light edge of the road surface is detected, and the light is detected based on the detection value of the speed detecting means. Since the dimensions of the vehicle on the light cutting surface are calculated by matching the cut surfaces, the dimensions of the traveling vehicle can be detected with higher accuracy.

According to the sixth aspect of the invention, since the first and second light projecting means are arranged on both sides above the vehicle, the range of the reflected light reflected on the road surface can be narrowed to make the whole compact. it can.
According to the seventh aspect of the present invention, the first and second slit lights are projected onto the vehicle along the same light projecting surface from different height positions above, and the edge of the reflected light on the road surface is detected to generate the light. Since the dimensions on the cut surface are measured, the dimensions of the light cut surface of the vehicle can be detected with high accuracy.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
This measuring device employs a so-called slit light projection method (also called a light cutting method), and as shown in FIG. Two slit lights S1 and S2 that can be distinguished from the projector 2 on the same projection surface F (for example, by time difference irradiation such as wavelength and pulse) are projected, and a detector having a CCD element, a CMOS element, etc. The imaging device 3 detects the reflected light on the road surface of these two slit lights S1 and S2, and obtains the positions (coordinates) of the reflected light edges e1, e1 ′, e2, and e2 ′ by image processing. Then, the respective distances (dimensions) w1, w1 ′, w2, between the reflected light edges e1, e1 ′, e2, e2 ′ and the reference positions (here, vertical lines passing through the first and second projectors 1, 2). The maximum vehicle width W (referred to here as the width between the left and right door mirrors) W of the vehicle M is measured by w2 ′ and the heights H1, H2 of the first projector 1 and the second projector 2. Here, the “reflected light edge” refers to an end portion of the reflected light that is light-cut by the vehicle on the road surface, and is not a terminal portion of the reflected light on the road surface. Here, the “light cutting surface” refers to a cross section of the vehicle M on the light projection surface F of the slit lights S1 and S2.

The calculation of the vehicle width W assumes, for example, the plane coordinates (x, z) in the vehicle width direction and the height direction, as shown in FIG. A straight line L1, L1 ′ connecting the coordinates (0, z1) of one projector 1 and the coordinates (x1, 0), (−x1 ′, 0) of the reflected light edges e1, e1 ′ and the coordinates of the second projector 2 ( 0, z2) and the coordinates (x2, 0), (−x2 ′, 0) of the reflected light edges e2, e2 ′, and the coordinates of the intersections (measurement target points) P, P ′ of the straight lines L2, L2 ′ (X, z) and (−x ′, −z ′) are respectively calculated, and the distance between the intersections P and P ′ on the light cutting plane, that is, the outer end dimension of the left and right door mirrors is obtained as the maximum vehicle width W. .
[Embodiment 1]
The first embodiment is a vehicle size measuring device installed at the entrance of a mechanical multi-story parking facility or the like, and detects the maximum width of the vehicle M so as to enter a parking room corresponding to the maximum vehicle width W. A description will be given with reference to FIGS.

  A first slit light S1 and a second slit light S2 that are identifiable from above on a vehicle (measuring body) M on the road surface (mounting surface) are first projected from different positions on the same light projection surface F. Road surface reflected light (mounting surface reflected light) by the first slit light S1 and the second slit light S2 from above the vehicle M, and the light projector (first light projecting means) 1 and the second light projector (second light projecting means) 2. 4), and image processing apparatuses 4A and 4B shown in FIG. 4 for detecting the positions of the reflected light edges e1, e2 and e1 ′, e2 ′, respectively, by processing the road surface reflected light image. 4 includes a calculation processing device (calculation means) 5 shown in FIG. 4 for calculating the vehicle width (dimension) on the light cutting surface of the vehicle M from the positions of the reflected light edges e1, e1 ′, e2, e2 ′ of the vehicle. ing. The imaging devices 3A and 3B and the image processing devices 4A and 4B constitute an edge detection means.

  Here, the first and second projectors 1 and 2 are arranged on a vertical line (reference position) O that passes through the vertical projection surface F, and the imaging devices 3A and 3B are also perpendicular to the first and second projectors 1 and 2, respectively. It is arranged at an upper position on the line O.

  In the first projector 1 and the second projector 2, for example, slit lights S1 and S2 are projected with light having different wavelengths (colors). For example, light from a laser light source is transmitted through a cylindrical lens or a polygon mirror. Projection is performed, or a white light source is projected through a slit mask and a light projection lens, or light from a line LED is formed through the light projection lens to form slit lights S1 and S2. Here, a lens that uses a cylindrical lens and generates slit light radially is used.

  The imaging devices 3A and 3B include filters corresponding to the wavelengths of the slit lights S1 and S2 having different wavelengths, and detect the slit lights S1 and S2 projected on the road surface through the filters.

It should be noted that pulsed light having different irradiation timings may be used for the slit light S1 and S2, and the slit light S1 and S2 may be identified through a pulse period detector provided in the imaging apparatus.
As shown in FIG. 4, the image signals from the two imaging devices 3A and 3B are detected by the edge detection unit in the image processing devices 4A and 4B, and the positions of the reflected light edges e1, e2, e1 ′, and e2 ′ are detected. The coordinate positions x1, x2, x1 ′, x2 ′ of the reflected light edges e1, e2, e1 ′, e2 ′ are respectively determined by the unit. And it inputs into the arithmetic processing unit 5, and the largest vehicle width W is calculated. In addition, an operation signal is output from the arithmetic processing unit 5 to the first and second projectors 1 and 2 via the slit light irradiation processing units 9A and 9B.

  By the way, the maximum width W differs greatly depending on the vehicle type. Therefore, the slit light S1 and S2 are projected on the vehicle M from the first projector 1 and the second projector 2 at regular intervals, and the arithmetic processing unit 5 acquires a plurality of measurement images to obtain the same vehicle M. The vehicle width is obtained by using the measurement images whose positions are cut by the slit light, and the vehicle width W is obtained by comparing them. Then, based on the calculated value of the maximum vehicle width W, whether or not the vehicle M can be stored is determined. If the storage is possible, the parking room to be stored is determined, and after the occupant gets off after being guided to the storage berth, To the parking room. Here, an operation signal is output to the warehousing operation device 6 that operates the warehousing elevating device, the transport carriage, and the like. For example, when it is confirmed that the door mirror is open, an operation signal is output to the door mirror opening / closing warning device 7 when the driver is riding. The obtained vehicle data is recorded in the vehicle data recording device 8.

In addition, although the light projection surface F on which the slit lights S1 and S2 are projected is a vertical surface, it may be an inclined plane.
[Embodiment 2]
The second embodiment will be described with reference to FIGS. The same members as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. In the second embodiment, the light projection surfaces F1 and F2 of the slit lights S1 and S2 are provided at two locations.

  In other words, the light projecting surfaces F1 and F2 are spaced apart by L in the front-rear traveling direction of the vehicle M and are arranged in parallel with each other, and the vehicle speed at which the images of the imaging devices 3A and 3B imaged at a predetermined cycle are processed. A detection device (movement speed detection means) 31 is provided.

  As shown in FIG. 8, the vehicle speed detection device 31 includes a vehicle front end detection unit 32A. 32B selects an image in which the front end of the vehicle M is first captured from the images captured by the imaging devices 3A and 3B, and specifies the coordinates of the front end of the vehicle M from the images by the coordinate calculation units 33A and 33B. The time difference detection unit 34 calculates the time difference and the distance from the installation position data of the imaging devices 3A and 3B and the coordinate position, and the speed detection unit 35 calculates the speed of the vehicle M.

  Therefore, in the arithmetic processing unit 5, the reflected light edge detected first among the images captured at predetermined intervals by the imaging devices 3 </ b> A and 3 </ b> B from the speed of the vehicle M detected by the vehicle speed detection device 31. Select the image of the maximum width of e2 and e2 'and the image of the same position of the vehicle M that will be the same light cut surface, and use the coordinates of the light cut surface image to be the coordinates of the reflected light edge Thus, the maximum vehicle width W on the light section is calculated.

  Note that the imaging timings of the imaging devices 3A and 3B of the slit lights S1 and S2 on the front and rear projection surfaces F1 and F2 are set so as to obtain the same light section, but the traveling speeds of the vehicles M are different. Then, there is a possibility that the light cut surface is displaced. Therefore, the imaging timing of the slit light S1 on the projection surface F1 forward in the traveling direction is calculated from the separation distance L between the projection surfaces F1 and F2 and the detection speed of the vehicle M by the vehicle speed detection device 31, and the imaging device 3A By adjusting the time for shifting the imaging timing of the slit light S1 with respect to the imaging timing of the imaging device 3B (however, the imaging cycles of the imaging devices 3A and 3B are the same), the optical cutting planes are matched.

  In the second embodiment, it is assumed that the slit lights S1 and S2 having different wavelengths are identified and detected by filters corresponding to the respective wavelengths as in the first embodiment, and the slit lights S1 and S2 are continuously irradiated. However, when pulse light is used as the slit light S1 and S2, the irradiation timing of the pulse light is time-adjusted according to the above-described time adjustment of the imaging timing. Of course, the irradiation cycle is the same as the imaging cycle.

According to the second embodiment, the maximum vehicle width W can be detected with high accuracy even for a vehicle that is traveling.
Instead of the vehicle speed detection device 31, a laser type vehicle speed detection device may be used.

[Embodiment 3]
The third embodiment will be described with reference to FIGS. The same members as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. In the first embodiment, the light projecting surface F of the first and second slit lights S1 and S2 is fixed and arranged on the vertical plane in the vehicle width direction, but in the third embodiment, the vehicle width is set above the vehicle M. The first and second slit lights S1 and S2 were respectively scanned and stopped on the rotating light projecting surface Fs that reciprocally rotates around the horizontal axis OH in the direction within a predetermined angle α. The maximum width W of the vehicle M is measured.

  As shown in FIGS. 8 and 9, the first projector 1 and the second projector 2 are integrated so that the projection surfaces thereof coincide with each other, for example, by a support member, and the support member is reciprocally rotated about the horizontal axis OH. A scanning device (light projection scanning means) 21 is provided, and the scanning device 21 is controlled by the slit light sweep processing unit 12. Then, the scanning light projection surface Fs is reciprocally rotated around the horizontal axis OH within a predetermined angle range α by the scanning device 21. The tilt angle θ of the rotating light projecting surface Fs is detected by the scan angle detector 22 and input to the coordinate calculation units of the image processing apparatuses 4A and 4B.

  In the arithmetic processing unit, as shown in FIG. 11, assuming a three-dimensional coordinate in the vehicle width direction x, the front-rear direction y, and the height direction z, and the rotation center passes through the second projector 2, the first projector 1 Lines L1, L1 ′ connecting the coordinates (0, ya, za) of the image and the coordinates (x1, ys, 0), (−x1 ′, ys, 0) detected by the imaging device 3A, and the second projector 2 Of intersections P, P ′ of lines L2, L2 ′ connecting the coordinates (0, 0, z2) and the coordinates (x2, ys, 0), (−x2 ′, ys, 0) detected by the imaging device 3B. Coordinates (x, y, z), (−x ′, −y ′, −z ′) are obtained and calculated as the maximum vehicle width W. Here, assuming that the scan angle θ, ya = (H2−H1) sinθ, za = H2− (H2−H1) cosθ, and ys = H2tanθ.

  According to Embodiment 3 described above, the maximum of the stopped vehicle M is obtained by rotating the rotation light projecting surface Fs and scanning the first and second slit lights S1 and S2 in the vehicle length direction, respectively. The vehicle width W can be detected with high accuracy.

[Embodiment 4]
In the first to third embodiments, the first and second projectors 1 and 2 and the imaging devices 3A and 3B are provided in the center above the vehicle M. However, in the fourth embodiment, as shown in FIG. The first and second projectors 1 and 2 and the imaging devices 3A and 3B are arranged on the left and right sides of M, respectively.

Here, although two sets of image pickup apparatuses 3A and 3B are installed on both sides, respectively, one set may be provided above the center of the vehicle M as indicated by a virtual line.
According to the fourth embodiment, even when the road surface that receives the reflected slit light is narrow or the ceiling is low, it can be easily installed, can be configured compactly, and the maximum vehicle width W of the vehicle M can be achieved. Can be detected with high accuracy.

  Note that the first and second projectors 1 and 2 and the imaging devices 3A and 3B provided on the left and right sides of the vehicle M may be arranged in the front and rear as in the second embodiment, and as in the third embodiment. You can also scan.

  The measuring object to be measured is not limited to a vehicle, but can measure articles, products, agricultural products, etc. of unspecified dimensions conveyed by a conveyor or the like.

It is a front view which shows Embodiment 1 of the dimension measuring apparatus of the vehicle which concerns on this invention. It is explanatory drawing of the coordinate in the arithmetic processing apparatus of the dimension measuring apparatus of the vehicle. It is a whole perspective view of the dimension measuring device of the vehicle. It is a block diagram of the dimension measuring apparatus of the vehicle. It is a whole perspective view which shows Embodiment 2 of the dimension measuring apparatus of the vehicle which concerns on this invention. (A) (b) is a schematic diagram which shows the measurement image of the dimension measuring apparatus of a vehicle, respectively. It is a block diagram of the dimension measuring apparatus of the vehicle. It is a block diagram which shows another form of the speed detector provided in the same dimension measuring device. It is a whole perspective view which shows Embodiment 3 of the dimension measuring apparatus of the vehicle which concerns on this invention. It is a block diagram of the dimension measuring apparatus of the vehicle. It is explanatory drawing of the coordinate in the arithmetic processing apparatus of the dimension measuring apparatus of the vehicle. It is a front view which shows Embodiment 4 of the dimension measuring apparatus of the vehicle which concerns on this invention.

Explanation of symbols

M vehicle W maximum vehicle width S1 first slit light S2 second slit light e1, e1 ′ reflected light edge e2, e2 ′ reflected light edge 1 first light projector 2 second light projector 3A, 3B imaging device 4A, 4B image processing device 5 Calculation means 6 Warehousing operation device 7 Door mirror opening / closing warning device 8 Vehicle data recording device 9A, 9B Slit light sweep processing unit 11 Speed detector 21 Scan device 22 Scan angle detector 31 Vehicle speed detection device

Claims (7)

A first light projecting means and a second light projecting means for projecting the identifiable first slit light and the second slit light from above and below on the same light projecting surface from above to the measuring body on the mounting surface; ,
Edge detection means for detecting the reflected light of the mounting surface by the first slit light and the second slit light from above the measuring body and determining the position of the reflected light edge;
The detection position of the light cutting surface of the measuring body on the projection surface is obtained from the positions of the two reflected light edges detected by the edge detection means, and the dimensions of the measuring body on the light cutting surface from the plurality of detection positions. A dimension measuring device comprising: a computing means for computing The dimension measuring apparatus according to claim 1, further comprising a light projecting scanning unit configured to rotate the first light projecting unit and the second light projecting unit integrally to scan the first slit light and the second slit light. A first light projecting means and a second light projecting means for projecting the first slit light and the second slit light from above on the measuring body on the mounting surface from above and below on the light projecting surfaces parallel to each other;
Moving means for moving the measuring body in the arrangement direction of the first light projecting means and the second light projecting means;
Speed detecting means for detecting the moving speed of the measuring body;
Edge detection means for detecting the reflected light of the mounting surface of the first slit light and the second slit light from above the measuring body to determine the position of the reflected light edge, respectively;
Based on the speed of the measuring body detected by the speed detecting means, the light cutting plane having two reflected light edges detected by the edge detecting means is matched, and the light of the measuring body is detected from the position of the reflected light edge. A dimension measuring device comprising: a calculation unit that obtains a detection position of the cut surface and calculates a dimension of the measurement body on the light cutting surface from the plurality of detection positions. A first light projecting means and a second light projecting means for projecting an identifiable first slit light and second slit light from above and below on the same light projecting surface from above on the vehicle on the road surface;
Edge detection means for detecting the reflected light of the road surface from the first slit light and the second slit light from above the vehicle and determining the position of the reflected light edge, respectively;
The detection position of the light cutting surface of the vehicle on the light projection surface is obtained from the positions of the two reflected light edges detected by the edge detection means, and the dimensions of the vehicle on the light cutting surface are calculated from the plurality of detection positions. And a vehicle dimension measuring device. The first slit light and the second slit light are projected from above on the vehicle moving on the road surface on the light projecting surfaces parallel to each other, and the first slit light and the second slit light are arranged at different positions in the vertical direction and spaced apart in the moving direction of the vehicle. 1 light projecting means and 2nd light projecting means;
Speed detecting means for detecting the moving speed of the vehicle;
Edge detection means for detecting reflected light on the road surface of the first slit light and the second slit light from above the vehicle to obtain the position of the reflected light edge, respectively;
Based on the speed of the vehicle detected by the speed detecting means, the light cutting surface having two reflected light edges detected by the edge detecting means is matched, and the light cutting surface of the vehicle is determined from the position of the reflected light edge. A vehicle dimension measuring apparatus comprising: a calculation unit that calculates a vehicle position on the light cut surface from a plurality of the detection positions. The first light projecting means and the second light projecting means are respectively arranged on both sides of the measurement dimension above the vehicle, and the first slit light and the second slit light on the left and right sides are on the same plane on both sides of the vehicle. The vehicle dimension measuring device according to claim 4, wherein the vehicle dimension measuring device is configured to measure the vehicle dimension. From above, the first slit light and the second slit light that can be identified are projected from different positions up and down on the same light projecting surface to the vehicle on the road surface.
Detecting the position of the reflected light edge of the road surface by the first slit light and the second slit light from above the vehicle,
A vehicle dimension measurement method for obtaining a detection position of a light cutting surface of a vehicle on the light projecting surface from the detected positions of two reflected light edges, and calculating a size of the vehicle on the light cutting surface from the plurality of detection positions .

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