JP3642442B2 - Electric vehicle with pedal - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric vehicle with a pedal capable of self-propelling by a constant self-propelling motor output and electric assisting traveling by electric assisting force (self-propelling motor output or pedaling force proportional assisting force).
[0002]
[Prior art]
In addition to self-running at a constant speed with a constant electric force (self-running motor output), it is possible to run with human power (stepping force), switching between both runs automatically with a simple structure, and the rider can An electric vehicle with a pedal that can also be exercised has been proposed (see JP-A-7-132874).
[0003]
By the way, since the maximum speed (self-propelled maximum set speed) of an electric vehicle treated as a pedestrian is defined as 6 km / h in the current road traffic law, in such an electric vehicle, human power is within the maximum speed range. Hybrid drive of electric assist force (self-running motor output) is performed.
[0004]
[Problems to be solved by the invention]
FIG. 8 shows changes over time in the electric force F _M , the electric auxiliary force F _A , the resultant force (the resultant force of the human force F _M and the electric auxiliary force F _A ) F, and the vehicle speed V of the electric vehicle. During the time t _{0 to} t _{1 when} V is lower than the self-running maximum set speed Vmax, a constant electric assist force F _A is output regardless of the magnitude of the human force F _M applied during the time t _{0 to} t _1. The driving force is a combined force F (= F _M + F _A ) obtained by combining the human power F _M and the electric auxiliary force F _A.
[0005]
Thus, as shown in the figure, at the instant when the vehicle speed V exceeds the self-running maximum set speed Vmax at the time t ₁ , the supply of the electric assist force F _A is cut off (F _A = 0), and the vehicle speed V is set to the self-running maximum setting. during the time exceeds the velocity Vmax t ₁ ~t ₂ a vehicle is driven only by human power F _M. Since the supply of the electric assist force F _A is suddenly interrupted at the moment when the vehicle speed V exceeds the self-running maximum set speed Vmax in this way, the resultant force (driving force) F is discontinuously at time t ₁ as shown in the figure. It suddenly decreases.
[0006]
Then, since the resultant force (driving force) F is reduced, when the vehicle speed V falls below the self-running maximum set speed Vmax at time t ₂ as shown in the figure, the electric assist force F _A is suddenly added instantaneously. (Driving force) F rapidly increases discontinuously. Similarly, the resultant force (driving force) decreases rapidly at time t _{3 and} increases rapidly at time t ₄ .
[0007]
As described above, a so-called hunting phenomenon occurs in which the resultant force (driving force) F repeatedly decreases and increases with the self-running maximum set speed Vmax as a boundary, giving the rider discomfort.
[0008]
The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to provide a pedal with a comfortable driving comfort by eliminating the discontinuity of driving force near the self-running maximum set speed. It is to provide an electric vehicle.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, the invention described in claim 1 includes a foot pedal, a pedal force detecting means for detecting a pedal force input via the foot pedal, a vehicle speed detecting means for detecting a vehicle speed, In an electric vehicle with a pedal including a self-propelled motor output or an electric force generating means for outputting a pedal force proportional assist force proportional to a pedal force and a self-running instruction means for outputting a self-running instruction signal, the self-running instruction by the self-running instruction means If there is, the self-propelled motor output will be generated so that it will run at a speed that does not exceed the preset maximum self-running speed, and the vehicle speed will exceed the maximum self-running speed due to rowing during the self-running instruction. Is characterized by providing control means for instructing the pedaling force proportional assisting force as the electric assisting force, and instructing the pedaling force proportional assisting force as the electric assisting force regardless of the vehicle speed when there is no self-running instruction.
[0010]
Further, in the invention according to claim 2, in the same electric vehicle with a pedal, the vehicle speed detected by the vehicle speed detecting means is equal to or less than the maximum self-running set speed, and the self-running instruction is given by the self-running instruction means. In this case, the control means for comparing the self-propelled motor output and the pedaling force proportional assisting force and instructing whichever is greater as the electric assisting force, and in other cases indicating the pedaling force proportional assisting force as the electric assisting force. It is provided.
[0011]
Therefore, according to the first aspect of the present invention, when a self-propelled instruction is given, a self-propelled motor output is generated so that the self-propelled motor runs at a speed not exceeding a predetermined self-propelled maximum set speed. When the vehicle speed exceeds the maximum self-propelled set speed due to rowing, there is a control means that instructs the pedal force proportional assist force as the electric assist force. A sudden decrease in the driving force can be avoided, and a comfortable riding comfort can be ensured for the electric vehicle with pedal.
[0012]
According to the second aspect of the present invention, when the vehicle speed is equal to or lower than the self-running maximum set speed and a self-running instruction is given, the self-running motor output and the pedal force proportional assist force are compared and Since the larger one is output as the electric assisting force, fluctuations in the electric assisting force immediately before and immediately after reaching the self-propelled maximum set speed are further reduced, and a more comfortable riding comfort is ensured for the electric vehicle with the pedal. be able to. Even if the vehicle speed is equal to or lower than the self-running maximum set speed, if the self-running instruction is not issued, the electric assist running with the pedaling force proportional assisting force is performed.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
[First invention]
Embodiments of the first invention will be described below with reference to the accompanying drawings.
[0014]
First, a schematic configuration of an electric three-wheeled vehicle 1 as an embodiment of an electric vehicle with a pedal according to the present invention will be described with reference to FIG.
[0015]
That is, FIG. 1 is a side view of an electric three-wheel bicycle 1, and the electric three-wheel bicycle 1 is a swinging bicycle, and a front frame 4 that supports a front wheel 2 and a seat 3 is a rear frame that supports a rear two wheel 5. The frame 6 is configured to be swingable, and the return to the neutral state is performed by a swing restoring mechanism 7.
[0016]
By the way, the front frame 4 has a head pipe 8 positioned in front of the vehicle body, and a handle stem 9 is rotatably inserted into the head pipe 8. A handle 10 is attached to the upper end of the handle stem 9, and a front fork 11 is attached to the lower end of the handle stem 9. The front wheel 2 is connected to the front axle 12 at the lower end of the front fork 11. Is rotatably supported by the shaft.
[0017]
The front frame 4 has a large-diameter main pipe 13 extending from the head pipe 8 in the vehicle width direction toward the rear of the vehicle body. The front half of the main pipe 13 includes a power unit 14 and a controller. 15 are attached and these are covered by the upper cover 16a and the lower cover 16b. The seat 3 is supported on an upper end portion of a seat pipe 17 erected on the main pipe 13, and an outer box 18 is provided along the seat pipe 17 below the seat 3. A lid 18a that can be freely opened and closed is provided on the upper portion of the outer box 18. By opening the lid 18a, an inner box (not shown) that houses a battery 30 (see FIG. 2), which will be described later, is placed on the outer box 18. Can be taken in and out.
[0018]
By the way, the power unit 14 generates a constant self-propelling motor output or a pedaling force proportional assisting force proportional to the pedaling force according to the vehicle speed and the self-propelling instruction, and synthesizes the self-propelling motor output or the pedaling force proportional assisting force and the human power from the pedal. The resultant force is transmitted as a driving force to the rear wheel, and a crankshaft 19 is rotatably supported on the crankshaft. A foot pedal 21 is pivotally supported at the end portion of 20. A constant self-propelled motor output can be obtained by ON / OFF of a push button, throttle operation, and the like.
[0019]
Further, a sprocket 22 is bound to the resultant shaft 38 (see FIG. 3) of the power unit 14, and an endless portion is provided between the sprocket 22 and the sprocket 24 bound to the intermediate shaft 23 supported by the rear frame 6. An endless chain 29 is wound between another sprocket 26 bound to the intermediate shaft 23 and a sprocket 28 bound to the rear axle 27.
[0020]
Here, the electric circuit configuration of the auxiliary power system and the configuration of the driving force transmission system will be described with reference to FIGS. 2 is an electric circuit diagram of the auxiliary power system, and FIG. 3 is a block diagram showing the configuration of the driving force transmission system and the driving force transmission path.
[0021]
In the electric circuit shown in FIG. 2, 30 is a battery housed in the outer box 18 (see FIG. 1) together with an unillustrated inner box, 15 is the controller, 31 is an electric motor included in the power unit 14, and 32 is It is a power switch. The controller 15 is provided with a self-propelled control function, a pedal force proportional control function, a comparison / selection function, a vehicle speed measurement function, and a brake interlock stop function. The pedal force sensor 34 that detects the pedaling force of the rider input to the crankshaft 19 via the pedal 21, the vehicle speed sensor 35 that detects the vehicle speed, and the brake sensor 36 that detects the braking of the vehicle are electrically connected.
[0022]
Thus, when the rider hits the pedal 21, the pedaling force (human power) is transmitted to the resultant shaft 38 via the crankshaft 19 and the one-way clutch 37, as shown in FIG. The pedaling force and the vehicle speed are detected by the pedaling force sensor 34 and the vehicle speed sensor 35 (see FIG. 2), respectively, and these detection signals are input to the controller 15. The controller 15 receives a self-running instruction signal from the self-running indicator 33.
[0023]
Then, the controller 15 calculates a predetermined electric assist force based on various signals input thereto and various data stored in the memory 39, and sends a control signal (output instruction signal) corresponding to the electric assist force to the electric motor. 31 is output.
[0024]
Thus, the electric auxiliary force generated by the electric motor 31 is transmitted to the resultant force shaft 38 via the speed reducer 40 and the one-way clutch 41, and the one-way clutch 42 and the speed change mechanism 43 on the intermediate shaft 23 through the chain 25. And, it is transmitted to the pair of left and right rear wheels 5 through the chain 29 shown in FIG.
[0025]
In the above, in the electric three-wheeled bicycle 1 according to the present embodiment, when the self-propelled instruction is given by the self-propelled indicator 33, the controller 15 does not exceed the predetermined maximum self-propelled set speed. Generates a self-propelled motor output to run, and if the vehicle speed exceeds the maximum self-propelled set speed due to rowing while instructing self-propulsion, the pedal force proportional assist force is instructed as an electric assist force and there is no self-propelled instruction In this case, the pedal force proportional assist force is instructed as the electric assist force regardless of the vehicle speed.
[0026]
Here, the drive control method will be described with reference to FIGS. FIG. 4 is a flowchart showing a drive control (electric assisting force instruction) procedure, and FIG. 5 is a diagram showing temporal changes in pedaling force, electric assisting force, resultant force (driving force: resultant force of stepping force and electric assisting force), and vehicle speed. .
[0027]
When the electric three-wheeled bicycle 1 travels, first, (STEP1 in FIG. 4) the vehicle speed V is detected by the vehicle speed sensor 35, then the depression force sensor 34 pedal force F _M is detected (STEP2), proportional to the detected depression force F _M The pedaling force proportional assisting force A is calculated by the controller 15 (STEP 3). Incidentally, depressing force rider when no koga pedal 21 outputs the free-running instruction, the pedal force F _M to be detected by the depression force sensor 34 0 (F _M = 0), and the thus, to be operated by the controller 15 The proportional assist force A is also 0 (A = 0).
[0028]
When the pedal effort proportional assisting force A is calculated as described above, it is determined whether or not the vehicle speed V is equal to or lower than the self-running maximum set speed Vmax (V ≦ Vmax?) (STEP 4), and the time t ₀ shown in FIG. when the vehicle speed V as in ~t _1, t ₂ ~t ₃ is less than the free-running maximum set speed Vmax is whether self instruction is issued is determined by the free running indicator 33 (STEP5). If the determination result is YES, that is, if the vehicle speed V is equal to or less than the maximum self-propelled speed Vmax and a self-propelled instruction is given, the electric three-wheeled bicycle 1 has the maximum self-propelled speed Vmax. A constant self-propelled motor output B is instructed as an electric assisting force so as to self-run at a speed not exceeding (STEP 6). Therefore, the electric three-wheel bicycle 1 uses a constant self-propelled motor output B output from the electric motor 31. As a driving force, the vehicle travels at a vehicle speed V equal to or lower than the self-running maximum set speed Vmax, and the electric assist running by the self-running motor output B is performed.
[0029]
On the other hand, when the determination result in STEP 5 is NO, that is, when the vehicle speed V is equal to or lower than the maximum self-running speed Vmax and no self-running instruction is given, the pedaling force proportional assisting force A There is indicated as an electric assist force (STEP7), therefore, the electric three-wheeled bicycle 1 to run as a driving force resultant force F a (= a + F _M) of the pedal force proportional assist force a and pedal force F _M that is output from the electric motor 31 Thus, the electric assist traveling by the pedal effort proportional assist force A is performed.
[0030]
On the other hand, if the determination result in STEP 4 is NO, that is, if the vehicle speed V exceeds the self-running maximum set speed Vmax as shown at times t ₁ to t ₂ and t ₃ shown in FIG. depression force proportional assist force a irrespective of the presence or absence of the indicated as an electric assist force (STEP7), pedal force proportional assist force the electric tricycle 1 is output from the electric motor 31 a, a pedal pressure F _M of the resultant force F (= a + F _M ) As a driving force, and the electric assist traveling by the pedal effort proportional assisting force A is performed.
[0031]
In the present embodiment, when no self-running instruction is given, the pedaling force proportional assisting force A is instructed as an electric assisting force regardless of the vehicle speed V, and the electric three-wheel bicycle 1 is proportional to the pedaling force. Electric assist traveling with the assisting force A is performed.
[0032]
As described above, in the present embodiment, when a self-run instruction is given, the self-run motor output B is generated so as to run at a speed not exceeding the predetermined self-run maximum speed Vmax. When the vehicle speed V exceeds the self-running maximum set speed Vmax during the running instruction, the controller 15 that instructs the pedal force proportional assisting force A as the electric assisting force is provided. As a result, it is possible to avoid a sudden decrease in the driving force (the resultant force F) when the vehicle speed V exceeds the self-running maximum set speed Vmax, and to ensure a comfortable riding comfort for the electric three-wheel bicycle 1.
[Second invention]
Next, an embodiment in which the second invention is applied to the electric three-wheel bicycle 1 shown in FIG. 1 will be described. The configuration of the electric three-wheel bicycle 1 according to the present embodiment, the electrical circuit configuration of the auxiliary power system, and the configuration of the driving force transmission system are the same as those in the first invention. Description will be made using the reference numerals attached to FIGS.
[0033]
In the electric three-wheeled bicycle 1 according to the present embodiment, when the self-propelled instruction is output by the self-propelled indicator 33 and the rider does not hesitate the pedal 21, the controller 15 has a constant self-propelled motor. A control signal corresponding to the electric assist force is output to the electric motor 31. Therefore, the electric three-wheel bicycle 1 has a predetermined self-running maximum setting using the self-running motor output output from the electric motor 31 as a driving force. You can run at a constant speed below the speed.
[0034]
On the other hand, when the rider hits the pedal 21, the vehicle speed is set to the maximum self-running speed regardless of whether or not the self-running instruction is given even if the vehicle speed is equal to or lower than the maximum self-running speed. In the case of exceeding the pedaling force, the controller 15 calculates a pedaling force proportional assisting force proportional to the pedaling force detected by the pedaling force sensor 34 and uses it as an electric assisting force, and sends a control signal corresponding to the magnitude to the electric motor 31. Output. Therefore, the electric three-wheel bicycle 1 travels using the resultant force of the pedal effort proportional assist force and the pedal effort output from the electric motor 31 as a driving force, and the electric assist running by the pedal effort proportional assist force is performed.
[0035]
When the vehicle speed is equal to or lower than the self-running maximum set speed and a self-running instruction is given, the controller 15 compares the self-running motor output and the pedaling force proportional assisting force, whichever is greater. Therefore, the electric three-wheeled bicycle 1 outputs the resultant force of the electric assisting force (a constant self-propelling motor output or a pedaling force proportional assisting force proportional to the pedaling force) output from the electric motor 31 and the pedaling force. The vehicle travels as a driving force, and the electric assist traveling by the self-propelled motor output or the pedaling force proportional assist force is performed.
[0036]
Here, the drive control method described above will be described with reference to FIGS. FIG. 6 is a flowchart showing a drive control (electric assisting force instruction) procedure, and FIG. 7 is a diagram showing temporal changes in the pedaling force, the electric assisting force, the resultant force (driving force: resultant force of the pedaling force and the electric assisting force), and the vehicle speed. .
[0037]
When the electric three-wheeled bicycle 1 travels, first, (STEP1 in FIG. 6) the vehicle speed V is detected by the vehicle speed sensor 35, then the depression force sensor 34 pedal force F _M is detected (STEP2), proportional to the detected depression force F _M The pedaling force proportional assisting force A is calculated by the controller 15 (STEP 3). Incidentally, depressing force rider when no koga pedal 21 outputs the free-running instruction, the pedal force F _M to be detected by the depression force sensor 34 0 (F _M = 0), and the thus, to be operated by the controller 15 The proportional assist force A is also 0 (A = 0).
[0038]
When the pedal effort proportional assisting force A is calculated as described above, it is determined whether or not the vehicle speed V is equal to or lower than the maximum self-running speed Vmax (V ≦ Vmax?) (STEP 4). If the speed is equal to or less than Vmax, it is determined whether or not a self-running instruction is given by the self-running indicator 33 (STEP 5). If the determination result is YES, that is, if the vehicle speed V is equal to or lower than the maximum self-running speed Vmax and a self-running instruction is given, the self-running motor output B shown in FIG. The magnitude of the auxiliary force A is compared, and it is determined whether or not the self-propelled motor output B is larger than the pedal effort proportional auxiliary force A (B> A?) (STEP 6).
[0039]
When the determination result is YES and the self-propelled motor output B is larger than the pedal effort proportional assist force A (B> A) as shown in FIG. 7 at times t _{0 to} t ₁ and t _{3 to} t ₄ . , the larger self-propelled motor output B of is indicated as an electric assist force (STEP7), thus, the resultant force F of the constant self-propelled motor output B, a pedal pressure F _M the electric tricycle 1 output from the electric motor 31 Traveling is performed using (= B + F _M ) as the driving force, and the electric assist traveling by the self-running motor output B is performed. If the rider is not stroking the pedal 21, the pedaling force F _M and the pedaling force proportional assisting force A are both 0 (F _M = A = 0) as described above, so the determination result in STEP 6 is always YES. The electric three-wheel bicycle 1 self-travels at a constant speed equal to or lower than the maximum self-propelled speed Vmax using the constant self-propelled motor output B output from the electric motor 31 as a driving force.
[0040]
On the other hand, the determination result in STEP 6 is NO, and the pedal effort proportional assisting force A is larger than the self-running motor output B as shown in the time t _{1 to} t ₂ and t _{4 to} t ₅ shown in FIG. In the case of (A> B), the larger pedaling force proportional assisting force A is instructed as the electric assisting force (STEP 8). Therefore, the electric tricycle 1 is combined with the pedaling force proportional assisting force A output from the electric motor 31. It will be traveling pedal force F _M of the resultant force F (= a + F _M) as a driving force, an electric assist running is performed by depression force proportional assist force a.
[0041]
On the other hand, if the determination result in STEP 5 is NO, that is, if the vehicle speed V is equal to or less than the maximum self-running speed Vmax and no self-running instruction is given, the pedal effort proportional assisting force A is the electric assisting force. It indicated as (STEP 8), the electric three-wheeled bicycle 1 will be run as a resultant force F (= a + F _M) of the driving force of the stepping force proportional assist force a and pedal force F _M that is output from the electric motor 31, pedal force proportional assist force A motor-assisted traveling by A is performed.
[0042]
When the vehicle speed V exceeds the self-running maximum set speed Vmax at times t ₂ to t ₃ and t ₅ shown in FIG. assisting force a is indicated as an electric assist force (STEP 8), the electric three-wheeled bicycle 1 travels as a driving force resultant force F a (= a + F _M) of the pedal force proportional assist force a and pedal force F _M that is output from the electric motor 31 Thus, the electric assist traveling by the pedal effort proportional assisting force A is performed.
[0043]
As described above, in the present embodiment, when the vehicle speed V is equal to or lower than the maximum self-running speed Vmax and the self-running instruction is given, the self-running motor output B and the pedal effort proportional assisting force A are obtained. In comparison, since the larger one is output as the electric assisting force, the fluctuation of the electric assisting force immediately before and immediately after reaching the self-running maximum set speed Vmax is further suppressed, and the electric three-wheel bicycle 1 is more comfortable. Riding comfort can be secured.
[0044]
The first and second inventions are applied to the electric three-wheeled bicycle, but the first and second inventions can be similarly applied to any other electric vehicle with a pedal. is there.
[0045]
【The invention's effect】
As is apparent from the above description, according to the first aspect of the invention, when there is a self-running instruction, the self-running motor output is set so as to run at a speed not exceeding the predetermined self-running maximum set speed. If the vehicle speed exceeds the maximum self-propelled set speed due to rowing while instructing self-running, a control means is provided to command the pedal force proportional assist force as the electric assist force. An abrupt decrease in driving force when exceeding the maximum set speed can be avoided, and an effect that a comfortable riding comfort can be ensured for the electric vehicle with pedal is obtained.
[0046]
According to the second aspect of the present invention, when the vehicle speed is equal to or lower than the self-running maximum set speed and a self-running instruction is given, the self-running motor output and the pedal force proportional assist force are compared and Since the larger one is output as the electric assisting force, fluctuations in the electric assisting force immediately before and immediately after reaching the self-propelled maximum set speed are further reduced, and a more comfortable riding comfort is ensured for the electric vehicle with the pedal. The effect that it can be obtained.
[Brief description of the drawings]
FIG. 1 is a side view of an electric tricycle according to the present invention.
FIG. 2 is an electric circuit diagram of an auxiliary power system of the electric three-wheel bicycle according to the present invention.
FIG. 3 is a block diagram showing a configuration of a driving force transmission system and a driving force transmission path of the electric tricycle according to the present invention.
FIG. 4 is a flowchart showing a drive control (electric assisting force instruction) procedure in the electric three-wheel bicycle according to the first invention.
FIG. 5 is a graph showing temporal changes in pedaling force, electric assist force, resultant force (driving force), and vehicle speed in the electric three-wheel bicycle according to the first invention.
FIG. 6 is a flowchart showing a drive control (electric assisting force instruction) procedure in the electric three-wheel bicycle according to the second invention.
FIG. 7 is a graph showing temporal changes in pedaling force, electric assisting force, resultant force (driving force), and vehicle speed in an electric three-wheel bicycle according to the second invention.
FIG. 8 is a diagram showing temporal changes in human power, electric auxiliary force, resultant force (driving force), and vehicle speed of a conventional electric vehicle.
[Explanation of symbols]
1 Electric tricycle 14 Power unit (electric power generation means)
15 Controller (control means)
21 Foot pedal 33 Self-propelled indicator (self-propelled instruction means)
34 Treading force sensor (Treading force detection means)
35 Vehicle speed sensor (vehicle speed detection sensor)
A Stepping force proportional auxiliary force B Self-propelled motor output F _M pedaling force F Combined force (driving force)
V Vehicle speed Vmax Self-propelled maximum set speed

Claims (2)

A pedaling pedal, a pedaling force detecting means for detecting a pedaling force input via the pedaling pedal, a vehicle speed detecting means for detecting a vehicle speed, and a constant self-propelled motor output or a pedaling force proportional assisting force proportional to the pedaling force are output. In an electric vehicle with a pedal provided with an electric force generating means and a self-running instruction means for outputting a self-running instruction signal,
When there is a self-run instruction by the self-run instruction means, a self-run motor output is generated so that the self-run motor does not exceed a predetermined maximum self-run speed, and the vehicle speed is adjusted by footing during the self-run instruction. If the self-propelled maximum set speed is exceeded, the pedal force proportional assist force is commanded as an electric assist force. If there is no self-run command, the pedal force proportional assist force is commanded as an electric assist force regardless of the vehicle speed. An electric vehicle with a pedal, characterized in that means is provided. A pedaling pedal, a pedaling force detecting means for detecting a pedaling force input via the pedaling pedal, a vehicle speed detecting means for detecting a vehicle speed, and a constant self-propelled motor output or a pedaling force proportional assisting force proportional to the pedaling force are output. In an electric vehicle with a pedal provided with an electric force generating means and a self-running instruction means for outputting a self-running instruction signal,
When the vehicle speed detected by the vehicle speed detecting means is equal to or less than the maximum self-running speed and the self-running instruction is given by the self-running instruction means, the self-running motor output and the pedal force proportional assist force are compared. Then, an electric vehicle with a pedal is provided, which is provided with a control means for instructing the larger one of them as the electric auxiliary force, and in other cases instructing the pedal effort proportional auxiliary force as the electric auxiliary force.

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