JP5350582B2 - Radio control device receiver for work equipment - Google Patents

Description

  The present invention relates to a receiver for a radio operating device for a work machine for remotely operating a work machine such as a vehicle-mounted crane.

2. Description of the Related Art In recent years, in work machines such as vehicle-mounted cranes, those in which a work device mounted on a vehicle is remotely operated by a wireless control device have become mainstream, which contributes to improvement of work efficiency.
In such a radio operating device for work equipment, the operator operates the working device from a position away from the working device. For example, in the radio operating device of a vehicle-mounted crane, the selection switch type transmitter 30 shown in FIG. A joystick type transmitter 40 shown in FIG.

The selection switch type transmitter 30 shown in FIG. 4 is provided with selection switches 31, 32, 33, 34 corresponding to the operation of each actuator of the vehicle-mounted crane on the front, and the operating speed of the actuator on the back of the grip 35. A speed lever 36 for control is provided.
When performing the remote operation, the operator holds the grip 35 of the selection switch type transmitter 30 and selects each of the selection switches 31, 32, 33, 34 corresponding to the operation of each actuator of the vehicle-mounted crane, A speed lever 36 for controlling the operating speed of the actuator is operated. When these operations are performed, an operation signal corresponding to the operation is transmitted and received by a receiver installed on the vehicle-mounted crane side, and the actuator of the vehicle-mounted crane is operated based on the operation signal. It has become.

On the other hand, the joystick type transmitter 40 shown in FIG. 5 is provided with joysticks 41 and 42 corresponding to the operation of each actuator of the vehicle-mounted crane on the front, and the back of the grip 45 for controlling the operation speed of the actuator. A speed lever 46 is provided.
When performing remote operation, the operator holds the grip 45 of the joystick type transmitter 40 and controls the operation speed of the actuator while selecting and operating the joysticks 41 and 42 corresponding to the operation of each actuator of the on-vehicle crane. The speed lever 46 is operated. When these operations are performed, an operation signal corresponding to the operation is transmitted and received by a receiver installed on the vehicle-mounted crane side, and the actuator of the vehicle-mounted crane is operated based on the operation signal. It has become.

The radio control device using the selection switch type transmitter 30 and the radio control device using the joystick type transmitter 40 are either at the time of purchasing a vehicle-mounted crane depending on the ease of use and preference of the operator actually used. Select only.
In addition, as a related technique for selecting any one of two or more operation devices, a remote control device provided with an interlock device for giving priority to one operation device has been proposed (for example, Patent Document 1).
Japanese Patent Publication No.59-007632

However, when an operator who is an unspecified user such as the rental industry uses a vehicle-mounted crane, an operator who prefers the selection switch type transmitter 30 and an operator who prefers the joystick type transmitter 40 coexist. The trader will prepare both types of radio control devices.
Normally, the operation signals of the selection switches 31, 32, 33, and 34 of the selection switch type transmitter 30 are on / off signals (for example, signals of 1 bit for one operation), but the joystick type transmitter 40 is used. Since the operation signals of the joysticks 41 and 42 are proportional signals (for example, signals consisting of 8 bits for one operation), the transmission data format of the operation signals transmitted to the receiver installed on the vehicle-mounted crane side is different. .

That is, the data frame transmitted by the joystick method is longer. Therefore, the receivers for receiving the operation signals are each set with dedicated receivers corresponding to the corresponding transmission data format, and when using the two types of radio control devices alternately as described above, Two types of receivers corresponding to the transmitters had to be purchased, resulting in increased purchase costs.
Further, when switching from the selection switch type transmitter 30 to the joystick type transmitter 40 according to the preference of the operator, or when changing from the joystick type transmitter 40 to the selection switch type transmitter 30, the vehicle-mounted crane side each time. It was very troublesome because it was necessary to remove the receiver installed in and install the corresponding receiver.

  Therefore, for example, when selecting and using two types of transmitters, that is, a selection switch type transmitter 30 and a joystick type transmitter 40 having different transmission data formats, the receiver can be configured to support different transmission data formats, and the receiver side Thus, if it is configured to switch the effective transmission data format (hereinafter referred to as “effective reception data format”) that can remotely operate the vehicle-mounted crane, even a single receiver can be used.

  For example, as a configuration for switching the effective reception data format, it is conceivable to provide a switch for effective reception data format on a circuit board in the case of the receiver. When switching the effective reception data format, the case of the receiver is opened and the changeover switch on the circuit board is operated to switch the effective reception data format. Alternatively, the changeover switch may be made independent from the circuit board, an external input signal line may be provided in the receiver, and the effective reception data format may be switched by operating the changeover switch connected to the outside.

  However, for example, when the receiver case is opened and the changeover switch on the circuit board is switched, there is a possibility that a foreign substance may enter the receiver case. In addition, because vehicle-mounted cranes are often used outdoors, the receiver case usually uses a waterproof type case, but the waterproofness is impaired due to an operational error when opening and closing the case. There is a possibility.

Furthermore, for switching by an external input signal line, a space is required for attaching a changeover switch at an appropriate position of the vehicle-mounted crane. Moreover, even if it is a changeover switch on a circuit board or a changeover switch by an external input signal line, these cause a cost increase.
Therefore, the present invention has been made paying attention to such a problem in the radio control apparatus for work equipment, and a transmitter of a selection switch method and a joystick method in which data formats are different from each other in one receiver. It is an object of the present invention to provide a radio operating device receiver for a work machine that can be used easily and is easy to operate.

In order to solve the above-described problems, the present invention is used to remotely control a work machine, and transmits an operation signal transmitted from a selection switch system and a joystick system transmitter having transmission data formats having different data frame lengths. Each of the radio control device receivers capable of receiving the transmission data format of any one of the selection switch type and the joystick type transmitter is an effective transmission data format capable of remotely operating the work machine. Transmission data format setting means for setting as a reception data format is provided, and configured to output an operation signal for operating the work machine based on an operation signal having a transmission data format that matches the set effective reception data format. The transmission data format setting means receives a predetermined operation signal received within a predetermined time from when the power is turned on. A data frame length of the transmission data format having If the data frame length of the valid received data format set are different, the other one of the transmission data format, so as to set as the valid received data format It is characterized by being.

The receiver according to the present invention, the transmission data format setting means, as the valid received data format transmission data format of any hand of transmitters mutually different selection switch scheme and a joystick mode of the transmission data format Can be set. As a result, when the transmission data format of the transmitter to be used for work matches the valid reception data format set by the transmission data format setting means of the receiver, the operation signal is determined to be valid, and the work The machine can be operated remotely. If the transmission data format of the transmitter is different from the valid reception data format set by the transmission data format setting means of the receiver, the operation signal is determined to be invalid and the work machine is remotely controlled. I can't.

Here, when it is desired to newly work with the other transmitter, a predetermined operation signal is transmitted from the transmitter which is newly used for the work, and in this state, the receiver installed on the work machine side Turn on the power. As a result, the transmission data format setting means sets the other transmission data format received within a predetermined time from when the receiver is turned on as the effective reception data format, so that the other transmission data format to be newly used for work can be set . The transmission data format possessed by the operation signal of the transmitter is set as a new effective reception data format.

Therefore, after this operation, since the transmission data format of the operation signal from the other transmitter that is to be newly used for work matches the valid reception data format set in the transmission data format setting means, the operation signal is valid. Therefore, the work machine can be remotely controlled. In this way, it is possible to easily update the setting of the transmitters of the selection switch method and the joystick method , which have different transmission data formats, according to the transmitter that the operator wants to use. .
In addition, a space for mounting the change-over switch at an appropriate position of a work machine such as a vehicle-mounted crane, such as the change-over switch on the circuit board or the change-over switch by an external input signal line as illustrated above, is not required, so that it is inexpensive. Can be manufactured.

As described above, according to the present invention, it is possible to handle a selection switch type and joystick type transmitters having different data formats with a single receiver, and an easy-to-operate and inexpensive working machine. A wireless control device receiver can be provided.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. In this embodiment, the working machine is applied to a vehicle-mounted crane.
FIG. 1 is a side view of a vehicle-mounted crane equipped with a radio control device receiver according to an embodiment of the present invention, and FIG. 2 is a block diagram of the radio control device receiver. FIG. 3 is a flowchart for explaining data format setting processing in the receiver shown in FIG. The transmitter in the vehicle-mounted crane radio control device according to the embodiment of the present invention is the same as the conventional one described above, and will be described with reference to FIGS.

As shown in FIG. 1, this vehicle-mounted crane 20 has a crane 6 mounted as a working device on a chassis frame 5 between a loading platform 3 and a cab 4 of the vehicle 2.
In this crane 6, a column 63 is pivotably provided on a base 62 having an outrigger 61, and a boom 64 that extends and contracts is pivotally supported at an upper end portion of the column 63. The column 63 is provided with a winch (not shown). A wire rope of the winch is guided to the tip end portion of the boom 64, and the hook is suspended from the tip end portion of the boom 64. The crane 6 includes an actuator for turning the column 63 (boom 64), raising and lowering and extending and retracting the boom 64, and hoisting and lowering of the hook by a winch. The actuator is operated by supplying pressure oil via a switching control valve device (not shown).

In this vehicle-mounted crane 20, for example, a radio control device such as a selection switch type transmitter 30 shown in FIG. 4 or a joystick type transmitter 40 shown in FIG. 5 is used.
The selection switch type transmitter 30 shown in FIG. 4 is provided with a plurality of selection switches 31, 32, 33, and 34 corresponding to the operation of each actuator of the vehicle-mounted crane on the front, and for sounding the vehicle horn. A horn switch 37 is also provided. Further, a speed lever 36 for controlling the operating speed of the actuator is provided on the back surface of the grip 35.

  When remote control is performed by the selection switch type transmitter 30, the operator grasps the grip 35 and selects the selection switches 31, 32, 33, 34 corresponding to the operation of the actuators of the vehicle-mounted crane. The speed lever 36 for controlling the operating speed of the actuator is operated. When these operations are performed, an operation signal corresponding to the operation is transmitted and received by the receiver 10 installed on the vehicle-mounted crane side, and the switching control valve device is turned on based on the operation signal from the receiver 10. An operation signal to be operated is output, and the actuator of the vehicle-mounted crane 20 is operated.

  On the other hand, the joystick type transmitter 40 shown in FIG. 5 is provided with two joysticks 41 and 42 corresponding to the operation of each actuator of the vehicle-mounted crane on the front, and a horn switch 47 for ringing the horn of the vehicle. Is also provided. Further, a speed lever 46 for controlling the operating speed of the actuator is provided on the back surface of the grip 45.

  When the joystick transmitter 40 is used for remote operation, the operator holds the grip 45 and operates the actuator while selecting the joysticks 41 and 42 corresponding to the operation of each actuator of the vehicle-mounted crane. The speed lever 46 for controlling the speed is operated. When these operations are performed, an operation signal corresponding to the operation is transmitted and received by the receiver 10 installed on the vehicle-mounted crane side, and the switching control valve device is turned on based on the operation signal from the receiver 10. An operation signal to be operated is output, and the actuator of the vehicle-mounted crane 20 is operated.

Next, the receiver 10 will be described with reference to FIG.
As shown in the figure, the receiver 10 includes a receiving antenna 11, a high-frequency unit 12, an arithmetic control unit (CPU) 13, an EEPROM (Electrically Erasable Programmable Read Only Memory) 14 that is a rewritable storage device, and an output. The unit 15 and the power source unit 16 are provided. In the figure, reference numeral 20 denotes the above-described vehicle-mounted crane that is controlled by a control signal output from the receiver 10. The power source unit 16 is connected to, for example, a battery power source of the vehicle 2 via an engine key switch (not shown). When a voltage is supplied from the battery power source to the power source unit 16, the voltage is supplied to each unit of the receiver 10. It has become so.

  When the receiver 10 receives an operation signal from the receiving antenna 11 during normal work (normal reception processing), the receiver 10 is demodulated by the high-frequency unit 12. The arithmetic control unit 13 calculates a control target, a control speed, and the like from the operation signal demodulated by the high frequency unit 12 and sends the operation target and control speed to the output unit 15. The arithmetic control unit 13 is, for example, a CPU. The control signal (operation signal) of the output unit 15 controls an electromagnetic valve (not shown) for operating the actuator of the vehicle-mounted crane 20.

  Here, the arithmetic control unit 13 stores a unique identification signal (hereinafter referred to as “ID code”) included in the operation signal received from the selection switch transmitter 30 or the joystick transmitter 40 in the EEPROM 14. It is verified whether or not it matches the ID code and whether or not the transmission data format of the received operation signal matches the valid reception data format stored in the EEPROM 14 as well. A control signal is output to the vehicle-mounted crane 20 via the output unit 15 only when the ID code and the data format match. The ID code of the selection switch transmitter 30, the ID code of the joystick transmitter 40, and the effective reception data format are stored in advance in the EEPROM 14 of the receiver 10.

  Hereinafter, with reference to FIG. 3, an internal process for changing the effective reception data format by the data format setting process (data format setting mode) in the arithmetic control unit 13 will be described in detail. In the data format setting process described below, horn operation data included in the received radio wave is set as a predetermined operation signal. That is, when the horn switch of the transmitter is pressed and the horn operation data is received within a predetermined time, the setting of the effective reception data format is changed.

  In this data format setting process, as shown in FIG. 3, first, the process proceeds to step S1, where it is determined whether or not radio waves are received. When a radio wave is received (Yes), the process proceeds to step S2, and the radio wave is received. When not received (No), the process proceeds to step S7. In step S7, it is determined whether or not 1 second has elapsed as a predetermined time after the execution of the data format setting process. If 1 second has not elapsed (No), the process returns to step S1 again. If it is determined that 1 second has elapsed (Yes), the data format setting process is terminated and the normal reception process is resumed. It will be possible to work.

  Here, in step S7, it is determined whether or not a predetermined time has elapsed since entering the data format setting process because the radio wave from the transmitter cannot be normally received due to the influence of noise or the like. This is because when an error occurs, the radio wave from the transmitter is received for a certain period of time (in this example, 1 second), and can be received reliably. Of course, the setting in this embodiment is an example, and the set time can be set to an appropriate time.

  In step S2, the ID code stored in the EEPROM 14 and the valid received data format are read out, and the process proceeds to step S3. In the subsequent step S3, it is verified whether or not the ID code included in the received radio wave matches the read ID code. If they do not match (No), the process proceeds to step S7, and if they match (Yes), the process proceeds to step S4. In step S4, it is verified whether or not the transmission data format of the operation signal included in the received radio wave matches the read effective reception data format. If they match (Yes), the process proceeds to step S7. If they do not match (No), the process proceeds to step S5. Further, in step S5, it is verified whether or not the horn operation data included in the received radio wave is ON. That is, if the horn switch of the transmitter is pressed and the horn operation data is ON (Yes), the process proceeds to step S6, and if the horn switch of the transmitter is not pressed and the horn operation data is OFF (No), step S6 is performed. The process proceeds to S7.

In step S6, the transmission data format of the operation signal included in the received radio wave is written and stored (set) in the EEPROM 14 as an effective reception data format, and after the data is stored (set), the data format setting process ends. Then, the process returns to the normal reception process. Here, steps S1 to S7 in the data format setting process described above correspond to the transmission data format setting means.
In the normal reception process, the ID code included in the received radio wave and the transmission data format of the operation signal are collated with the ID code and the effective reception data format stored in the EEPROM 14 to check the mutual ID. Only when the code and the data format match, a control signal (operation signal) is output to the vehicle-mounted crane 20 via the output unit 15.

Next, the case where the transmitter to be used in the actual crane work is the above-described selection switch type transmitter 30 and the case of the joystick type transmitter 40 will be described.
First, the case where the transmitter to be used in the crane work is the selection switch type transmitter 30 will be described.
[1] First, when the operator himself knows that the transmitter used in the previous operation is the selection switch type transmitter 30, the effective reception data format stored in the receiver 10 is switched. No operation is required, and the operator can work with the selection switch type transmitter 30 as it is.
[2] On the other hand, when the operator himself knows that the transmitter used in the previous work is the joystick type transmitter 40, the switching operation of the effective reception data format stored in the receiver 10 is performed. Is required.

  In this case, first, the operator turns on the power of the selection switch type transmitter 30 (the explanation of the power operation method is omitted), and presses the horn switch 37, so that the horn operation data ON is set in the transmission data format of the selection switch type. An operation signal is transmitted. In this state, when the receiver 10 installed on the vehicle-mounted crane 20 side is turned on, the receiver 10 enters the data format setting process (the data format setting process is executed), and the selection switch type transmitter 30 The operation signal from is received. When this operation signal is received, the ID codes match (Yes in step S3), the data format is different (No in step S4), and the horn operation data is ON (Yes in step S5). The effective reception data format is switched from the joystick method to the selection switch method and stored in the EEPROM 14 (step S6). Accordingly, only the operation signal in the transmission data format of the selection switch method is valid thereafter, and the operator can work with the selection switch method transmitter 30.

[3] Next, when the transmitter used in the previous operation is not the operator of the selection switch type transmitter 30 or the joystick type transmitter 40, the operator transmits the selection switch method as it is. There are a method of performing the work on the machine 30 and a method of switching the effective reception data format stored in the receiver 10 for the time being.
In the method of working with the selection switch type transmitter 30 as it is, it is confirmed whether or not the vehicle mounted crane 20 is operated by the operation of the selection switch type transmitter 30, and if the vehicle mounted crane 20 is operated, Since it can be understood that the transmitter used in the work is the selection switch type transmitter 30, the operator himself indicates that the transmitter used in the previous work is the selection switch type transmitter 30. As in the case of “knowing”, the switching operation of the effective reception data format stored in the receiver 10 is unnecessary, and the operator can work with the selection switch type transmitter 30 as it is.

  On the other hand, if the vehicle-mounted crane 20 does not operate, it can be seen that the transmitter used in the previous work is the joystick type transmitter 40. Therefore, “[2] Used in the previous work. As in the case where the operator knows that the transmitter is the joystick type transmitter 40, a switching operation of the effective reception data format stored in the receiver 10 is required.

  On the other hand, in the method of switching the effective received data format stored in the receiver 10 for the time being, “[2] The operator himself indicates that the transmitter used in the previous operation is the joystick transmitter 40. As in the case of “if known”, the effective reception data format stored in the EEPROM 14 is changed to the selection switch system by switching the effective reception data format stored in the receiver 10. Work with the selection switch type transmitter 30 can be performed. (If the valid received data format stored in the EEPROM 14 is the joystick method, it is rewritten, but if it is the selection switch method, it is not rewritten.)

Next, the case where the transmitter to be used in the future is the joystick transmitter 40 will be described.
[1] First, when the operator himself knows that the transmitter used in the previous work is the joystick type transmitter 40, the switching operation of the effective reception data format stored in the receiver 10 is performed. The operator can work with the joystick transmitter 40 as it is.
[2] On the other hand, when the operator knows that the transmitter used in the previous work is the selection switch type transmitter 30, the switching operation of the effective reception data format stored in the receiver 10 is performed. Is required.

  In this case, first, when the operator turns on the power of the joystick transmitter 40 and presses the horn switch 47, an operation signal of horn operation data ON is transmitted in a joystick transmission data format. In this state, when the receiver 10 installed on the vehicle-mounted crane 20 is turned on, the receiver 10 enters the data format setting process (the data format setting process is executed), and the joystick transmitter 40 The operation signal is received. When this operation signal is received, the ID codes match (Yes in step S3), the data format is different (No in step S4), and the horn operation data is ON (Yes in step S5). The valid received data format is switched from the selection switch method to the joystick method and stored in the EEPROM 14 (step S6). As a result, thereafter, only operation signals in the joystick transmission data format are valid, and the operator can work with the joystick transmitter 40.

[3] Next, if the operator himself does not know whether the transmitter used in the previous work is either the selection switch type transmitter 30 or the joystick type transmitter 40, the operator directly uses the joystick type transmitter 40. And a method of switching the effective received data format stored in the receiver 10 for the time being.
In the method of working with the joystick type transmitter 40 as it is, it is confirmed whether or not the vehicle-mounted crane 20 is operated, and if the vehicle-mounted crane 20 is operated, the transmitter used in the previous operation is changed to the joystick. Since it is understood that the transmitter 10 is the transmitter 10, similarly to “[1] When the operator himself knows that the transmitter used in the previous operation is the joystick transmitter 40”, the receiver 10. Is not necessary, and the operator can work with the joystick transmitter 40 as it is.

  On the other hand, if the vehicle-mounted crane 20 does not operate, it can be seen that the transmitter used in the previous work is the selection switch type transmitter 30, so that “[2] used in the previous work”. As in the case where the operator himself / herself knows that the transmitter is the selection switch type transmitter 30, the switching operation of the effective reception data format stored in the receiver 10 is required.

  On the other hand, in the method of switching the effective reception data format stored in the receiver 10 for the time being, “[2] The operator himself indicates that the transmitter used in the previous operation is the selection switch type transmitter 30. As in the case where “is known”, the effective reception data format stored in the EEPROM 14 is changed to the joystick method by switching the effective reception data format stored in the receiver 10. Work with the joystick transmitter 40 can be performed. (If the effective reception data format stored in the EEPROM 14 is the selection switch method, it is rewritten, but if the joystick method is used, it is not rewritten.)

Next, the operation and effect of the receiver of the wireless operating device for work equipment will be described.
As described above, according to the receiver of the radio operating device for a work machine, it is necessary to increase the types of receivers when selecting one reply machine from a plurality of transmitters having different transmission data formats. This reduces the financial burden on the purchaser. Further, since it is not necessary to add a setting switch or an external input line on the circuit board of the receiver, the receiver can be configured at low cost. Of course, it is possible to easily change the setting of the effective reception data format.

In addition, during operation, the work machine will not operate even if another person takes out a transmitter with a transmission data format different from the effective reception data format stored in the receiver without permission, leading to prevention of unintended operation. It is safe.
In addition, the receiver of the radio control apparatus for working machines which concerns on this invention is not limited to the said embodiment, A various deformation | transformation is possible unless it deviates from the meaning of this invention.

For example, an operation switch other than the horn switch of the transmitter may be used to change the setting of the effective reception data format.
That is, in the example of the above embodiment, when the horn operation data included in the received radio wave is set as a predetermined operation signal and the horn operation data is received within a predetermined time by pressing the horn switch of the transmitter. However, the present invention is not limited to this, and other operation switches may be used as predetermined operation switches for transmitting predetermined operation signals.

Alternatively, a special operation signal for switching the effective reception data format is transmitted when a predetermined switch is continuously pressed, for example, for 30 seconds so that the setting is not accidentally switched. The effective reception data format may be switched by an operation signal.
In addition, as shown in FIG. 3, since it is determined whether or not 1 second has elapsed since entering the data format setting process (step S7), after the receiver 10 is turned on, It is also possible to adopt a configuration in which an operation signal for switching the effective reception data format is transmitted from the transmitter for one second and switched.
Further, when it is necessary to display what the effective reception data format stored in the EEPROM 14 is, for example, by using a power lamp or the like normally provided in the receiver 10, the lighting color or blinking cycle thereof is used. You may comprise so that discrimination | determination is possible by changing.

It is a schematic block diagram of the vehicle-mounted crane provided with the radio control apparatus which is one Embodiment of this invention. It is a block diagram of the receiver in the radio control apparatus for vehicle-mounted cranes which is one Embodiment of this invention. It is a flowchart for demonstrating the data format setting process in the receiver shown in FIG. It is a perspective view of a selection switch type transmitter in a radio control device of a vehicle-mounted crane. It is a perspective view of the joystick type | mold transmitter in the radio control apparatus of a vehicle-mounted crane.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Receiver 11 Reception antenna 12 High frequency part 13 Operation control part 15 Output part 16 Power supply part 20 Vehicle-mounted crane 30 Selection switch system transmitter 31-34 Selection switch 35 Grip 36 Speed lever 37 Horn switch 40 Joystick system transmitter 41, 42 Joystick 45 Grip 46 Speed lever 47 Horn switch

Claims (1)

It is a radio control unit receiver that can receive operation signals transmitted from a selection switch type and joystick type transmitters that are used to remotely control the work equipment and have different transmission data formats. And
A transmission data format setting means for setting a transmission data format of any one of the selection switch method and the joystick transmitter as an effective reception data format that is an effective transmission data format capable of remotely operating the working machine, It is configured to output an operation signal for operating the work machine based on an operation signal having a transmission data format that matches the set effective reception data format,
The transmission data formatting means includes data frame length of the transmission data format predetermined operation signal received from the time its power is turned on within the predetermined time has, and the data frame length of the valid received data format set different In such a case, the receiver of the radio operating device for a work machine is characterized in that one of the other transmission data formats is set as the effective reception data format.

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