KR101061066B1 - Terrain sensor assembly and autonomous mobile vehicle - Google Patents

Abstract

The terrain sensor assembly of the autonomous vehicle according to an embodiment of the present invention is formed to be detachable from the autonomous vehicle, and includes a body having a groove, a first axis and a second axis intersecting the first axis, A first radar formed to be inserted into the groove, a rolling driving device coupled to the first radar such that the first radar is rotatable about the second axis, and a front surface of the autonomous moving body on one surface of the body; And a second radar arranged to rotate about a third axis intersecting the first axis and the second axis to detect an obstacle and analyze an inclined plane in the same direction corresponding to the front of the operation environment. You can quickly obtain data for world modeling.

Description

Topographic sensor assembly and autonomous mobile vehicle having same {SENSOR ASSEMBLY FOR TERRAIN DETECTING AND AUTONOMOUS VEHICLE HAVING THE SAME}

The present invention relates to a terrain sensor assembly applicable to unmanned vehicles such as autonomous moving vehicles.

Due to the development and development of advanced science and technology, various technologies have been applied to the military field, and in particular, the development of sensors and computer hardware makes the combat system unmanned. Unmanned vehicles are being actively researched in Korea, and various unmanned systems are being developed in the defense sector.

When looking at the direction of technology development in the unmanned field, unmanned vehicles, or autonomous mobile platforms, perform mission functions such as surveillance, reconnaissance, hitting, command control, and explosive detection / removal. Platforms will be able to perform systematic missions in the visible and invisible environments.

Autonomous movement refers to the movement of the computer and the eyes, which act as the human brain and humans, using sensors to recognize and judge the surrounding environment without human intervention. In order to enable such autonomous movement, an accurate sensing means capable of recognizing the terrain and the situation of the movement path of the autonomous platform is needed.

Various kinds of sensors are used as the sensing means, and various studies have been made on the adoption, combination, and placement of sensors capable of optimizing autonomous movement.

One embodiment of the present invention simultaneously adjusts the left and right inclination, the front and rear angles of the two 2D radar according to the operating environment, the purpose, and can quickly obtain data for front obstacle detection, slope analysis, or world modeling. An object of the present invention is to provide a topographic sensor assembly.

In order to achieve the above object of the present invention, the terrain sensor assembly of the autonomous moving body according to an embodiment of the present invention is formed to be detachable to the autonomous moving body, the body having a groove, the first axis and the A first radar having a second axis intersecting a first axis, the first radar being formed to be inserted into the groove, and a rolling driving device coupled to the first radar such that the first radar is rotatable about the second axis; And a second radar disposed on one surface of the body to face the autonomous moving body and formed to rotate about a third axis intersecting the first axis and the second axis.

According to an example related to the present invention, the first radar further includes a measuring unit formed to rotate about the first axis with respect to the autonomous moving body.

According to an example related to the present invention, the second radar may further include a pitching driving device coupled to the side of the second radar to move up and down about the third axis.

In order to realize the above object, the present invention is directed toward the driving area so as to detect the terrain in the driving area of the autonomous mobile vehicle including the current position and certain positions that can be driven through acceleration and deceleration and steering of the speed. A first radar attached to an upper portion of the measurement unit for generating and receiving a predetermined signal, and connected to a main body of the first radar on one surface of the first radar, and transmitting a rotational force to the main body of the first radar Rolling driving device for rolling inclined up and down while moving the measuring section of the first radar to the left and right, a second radar provided in front of the main body of the first radar and the lower side of the measuring radar and the other surface of the first radar Is connected to the main body of the first radar, and tilting the second radar up and down by transmitting a rotational force to the left and right of the second radar Disclosed is a topography sensor assembly of an autonomous vehicle including a pitching drive device for pitching.

According to an example related to the present invention, a rolling device fixing support forming a front portion of a rolling device case for fixing and casing the components of the rolling drive device therein, and a pitching for fixing and casing the components of the pitching drive device therein. Pitching device fixed support forming the back portion of the device case, the front and rear portions are fixed to the rolling device fixed support and the pitching device fixed support, respectively, the middle cover portion and the second radar covering the upper left and right sides of the first radar The front cover portion covering the upper portion of the body further comprises a connection.

According to an embodiment related to the present invention, the rolling drive device, a rolling device case for fixing and casing the components of the rolling drive device and one side is coupled to the first drive motor installed inside the rolling device case, The drive unit further comprises a drive shaft connected to the main body of the first radar by passing the inside and the outside of the rolling device case forward.

According to an example related to the present invention, the rolling drive device includes a first tilt sensor for measuring a rotation angle displacement of the drive shaft with respect to a gravity direction, a first encoder for measuring an absolute rotation angle position of the drive shaft, and the first The first tilt sensor may further include an operation determination processor that checks an angle of the first radar with respect to the ground using the information obtained from the first encoder.

According to an example related to the present invention, the rolling driving device measures the horizontal and lateral acceleration gravity of the autonomous moving vehicle on which the first radar and the rolling driving device are mounted, and the posture of the autonomous moving vehicle in the calculation determination processor. The apparatus may further include a first position measuring device configured to determine an angle of the first radar with respect to the autonomous moving vehicle.

According to an example related to the present disclosure, the pitching driving device may include a second radar fixing support on which a rear portion of the second radar is fixed, and left and right portions of the second radar fixing support with the second radar interposed therebetween. A pair of second radar supports coupled to the left and right pairs of the left and right portions of the second radar support is axially coupled, one side of the left and right, the second to provide a rotation driving force to the second radar support It includes a shaft coupling structure to which the drive motor is coupled.

According to an example related to the present invention, the axial coupling structure is coupled to the other side of the pair of the second radar support, the second tilt sensor for measuring the rotation angle displacement of the second radar support in the direction of gravity And a calculation unit for determining an angle of the second radar with respect to the ground using information obtained from the second encoder and the second tilt sensor, the second encoder, and the posture measuring device. It further includes.

According to an example related to the present invention, the shaft coupling structure measures the horizontal and lateral acceleration gravity of the autonomous mobile vehicle on which the second radar and the pitching driving device are mounted, and the attitude of the autonomous mobile vehicle in the calculation determination processor. The apparatus may further include a second posture measurer configured to determine an angle of the second radar with respect to the autonomous moving vehicle.

In order to realize the above object, the present invention is made to enable autonomous movement, coupled to the main body and the main body on which the traveling means is mounted, and the current position and the predetermined positions capable of traveling through acceleration and deceleration of the speed and steering therefrom. Terrain detection sensor including a plurality of sensors that are formed to be rotatable about any one of the first axis, second axis or third axis intersecting each other, so as to detect the terrain in the driving area of the autonomous mobile vehicle including; Disclosed is an autonomous moving vehicle comprising an assembly.

The present invention according to the configuration as described above, while moving the measurement unit of the first radar left and right while tilting (rolling) and the second radar tilting up and down (pitching) at the same time, operating environment, purpose In this case, data for obstacle detection, slope analysis, or world modeling can be quickly obtained in the same direction corresponding to the front side.

1 is a perspective view of an autonomous mobile vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating hardware of the autonomous mobile vehicle of FIG. 1. FIG.
Figure 3 is a perspective view of the main portion rear perspective view showing a first embodiment of a topography sensor assembly according to the present invention.
4 is a front perspective view of the main portion of FIG.
5 is a front view of FIG. 3.
6 is a plan view of FIG.
7 is a cross-sectional view taken along the line AA of FIG. 5.

Hereinafter, a terrain sensor assembly and an autonomous mobile vehicle having the same according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The suffixes "module" and "unit" for components used in the following description are given or mixed in consideration of ease of specification, and do not have distinct meanings or roles by themselves. In the present specification, the same or similar reference numerals are assigned to the same or similar configurations in different embodiments, and the description thereof is replaced with the first description. As used herein, the singular forms "a", "an" and "the" include plural forms unless the context clearly indicates otherwise.

1 is a perspective view of an autonomous mobile vehicle 10 according to an embodiment of the present invention, Figure 2 is a block diagram showing the hardware of the autonomous mobile vehicle of FIG.

1 and 2, the autonomous mobile vehicle 10 includes a main body 11, a sensor assembly 13, a receiver 14, a steering control device 15, and a travel controller 16.

As shown, the autonomous mobile vehicle 10 according to an embodiment of the present invention detects the terrain using the sensor assembly 13 in the driving area 30, and detects the terrain a1 and a2 in the detected terrain. It is to provide an autonomous mobile vehicle equipped with a terrain sensor assembly so as to plan an effective route, such as to avoid the problem.

The main body 11 is made to enable autonomous movement. For example, the autonomous mobile vehicle 10 is configured to generate an autonomous drive command by using the received control command or information sensed by the sensor. Autonomous driving means a driving method in which the autonomous mobile vehicle 10 drives the main body 11 while the autonomous mobile vehicle 10 generates a control command autonomously by a preset control algorithm.

The main body 11 is equipped with a traveling means. For example, the autonomous mobile vehicle 10 includes a plurality of wheels 12 to move the ground. The main body 11 is connected to the wheel arm so that the autonomous mobile vehicle 10 can travel in the field and the hill, and the wheels 12 are mounted on the wheel arm.

The main body 11 is equipped with a receiver 14 so that the autonomous mobile vehicle 10 receives various types of information. The receiver 14 includes a wireless communication device that transmits and receives with the remote control unit 20. The remote control unit 20 may be a remote operation station or a portable control device of the command control vehicle.

The wireless communication device may be embedded in the main body 11 in the form of an electronic component for wireless communication. The autonomous mobile vehicle 10 receives a set of route points from the remote control unit 20 by wireless communication. Correspondingly, a remote operation station or a portable control device may be equipped with a remote operation station (ROS) or remote control unit (RCU) component.

The steering control device 15 selects any one of the path points received based on the position of the main body 11 as the following path point, and generates a steering command so that the main body 11 follows the estimated path point.

The steering control device 15 includes an integrated processing computer and an autonomous control computer. The set of route points and the speed command received from the communication device are transmitted to the integrated processing computer through a gigabit switch, and the software that performs this role in the integrated processing computer may be a system component.

The integrated processing computer transmits a set of route points and speed commands to the autonomous control computer through the Giga LAN switch. In the autonomous control computer, three software components can be executed.

One of the three software components is a Path Tracer component that selects the next route point that the autonomous vehicle can follow based on the current position of the autonomous vehicle from the set of received route points. The second is a Waypoint Tracer component that generates steering and speed commands to follow the next path point selected in the Path Tracer component. The last one is the Primitive Drive component that sends steering and acceleration / deceleration commands generated by the Waypoint Tracer component to the integrated processing computer via Giga LAN.

The travel controller 16 is configured to receive a steering command and controls the traveling means of the main body 11 according to the received steering command.

The travel controller 16 may include an integrated travel controller and an integrated servo controller, and the integrated servo controller may include six wheel arm servo controllers.

For example, the integrated processing computer sends steering and speed commands to the integrated running controller via CAN, and the integrated running controller issues torque commands to the six wheel arm servo controllers of the integrated servo controller to carry out the generated steering and speed commands. Send.

3 to 7, the terrain sensor assembly 13 according to an embodiment of the present invention will be described in detail.

3 is a main perspective view perspective view showing a first embodiment of the topography sensor assembly according to the invention, Figure 4 is a main perspective view perspective view of Figure 3, Figure 5 is a front view of Figure 3, Figure 6 3 is a plan view, and FIG. 7 is a cross-sectional view taken along the line AA of FIG.

The terrain sensor assembly 13 according to the present invention is a sensor that enables to simultaneously perform a rolling driving of tilting up and down and a pitching driving of tilting up and down while moving a plurality of radars left and right. Relates to a device.

By simply installing it in one front upper part of an unmanned vehicle (hereinafter referred to as an autonomous mobile vehicle) such as an autonomous mobile platform, the left and right inclination and the vertical angle of many radars are independently adjusted according to the operating environment and purpose. Data for obstacle detection, slope analysis, or world modeling may be efficiently obtained in the same direction corresponding to the front side.

Referring to FIG. 3, one embodiment of the terrain sensor assembly 13 according to the present invention includes a first radar 110, a rolling driving device 200, and a second radar 300. ), The pitching (pitching) driving device 400.

As shown, the first radar 110 is inserted into the groove 530 formed in the body 500. The first radar is inserted into the groove to be rotatable about the second axis. The rolling drive unit is engaged with the second axis of the first radar.

The first radar 100 has a measurement unit 120 for generating and receiving an electrical signal having a constant frequency toward the front, the second radar 300, the main body of the first radar 110 is installed toward the front from the front and lower side of the measurement unit 120. The measuring unit is coupled to one surface of the radar body so as to be rotatable about a first axis.

The rolling driving device 200 is connected to the main body 110 of the first radar from the rear of the first radar 100 and tilts up and down while moving the measuring unit 120 of the first radar from side to side. The rolling driving force is transmitted to the main body 110 of the first radar.

The second radar is coupled to the body so as to be rotatable about a third axis. As a result, each of the sensors of the sensor assembly rotates around the first axis, the second axis, and the third axis that cross each other, thereby detecting the terrain on the driving area.

Here, the sensor used for terrain detection may be an infrared sensor or a laser sensor installed in the radar.

3 and 7, the rolling drive device 200 may include a first driving motor 220, a driving shaft 230, a first tilt sensor 251, a first encoder 252, and a first posture measuring device. 253 and a rolling device case 210 for fixing and casing the components of the rolling driving device 200 therein.

The first driving motor 220 and the reduction gear are installed in the rolling device case 210, and the driving shaft 230 transmits the rotational driving force of the first driving motor 220 to the first radar 100. As a part of the power transmission device, one side is coupled to the first drive motor 220, the other side passes through the inside and outside of the rolling device case 210 to connect to the main body 110 of the first radar. do.

The first drive motor 220 and the drive shaft 230 may be connected coaxially, but when the first drive motor 220 and the drive shaft 230 is installed orthogonally to each other using a bevel gear (bevelgear), The rolling device case 210 may be manufactured in a shape having a length that extends further to the left and the right to secure a stable coupling surface with the first radar 100 and the pitching driving device 400.

The first tilt sensor 251 measures the rotation angle displacement of the drive shaft 230 in the direction of gravity, the first encoder 252 measures the absolute rotation angle position of the drive shaft 230, The first posture measurer 253 measures horizontal and lateral acceleration gravity of the autonomous mobile vehicle 10 on which the topography sensor assembly 13 to the first radar 100 and the rolling drive device 200 according to the present invention are mounted. Done.

In the calculation judgment processor (not shown), the attitude and the autonomy of the autonomous moving vehicle 10 are based on information obtained by the first tilt sensor 251, the first encoder 252, and the first posture measurer 253. The angle of the first radar 100 with respect to the moving vehicle 10 or the ground is calculated and checked, and the terrain and the driving situation in front are determined.

In addition, a process of inputting and transmitting a control command or a control signal to a driving motor controller for controlling the first driving motor 220 is performed, and the left and right rolling slopes of the first radar 100 are adjusted according to an operating environment and a purpose. You can efficiently acquire data for obstacle detection, slope analysis, or world modeling.

The pitching driving device 400 is connected to the main body 110 of the first radar in front of the first radar 100, and pitching (pitching) driving force for tilting the second radar 300 up and down Transfer to the left and right portions of the second radar 300.

2 and 5, the pitching driving device 400 includes a second radar fixing support 431, a second radar support 432, and a shaft coupling structure 400a and 400b. 400a and 400b include a second drive motor 420, a second tilt sensor 451, a second encoder 452, a second posture measurer 453, and components of the pitching drive device 400. It is made of a pitching device case 410 fixed to the inside.

The rear part of the second radar 300 that detects the front is fixed to the second radar fixing support 431, and the second radar support 432 is disposed between the second radar 300 and the first radar support 431. The pair is coupled to the left and right portions of the two radar fixing support 431.

The shaft coupling structures 400a and 400b may include a left portion 400a in which left and right portions of the second radar support 432 are axially coupled to stably couple and support the second radar 300 on one axis. ) And a pair of right side parts 400b are provided.

Accordingly, the second radar 300 is rotatably coupled and supported on one axis by a connecting portion between the second radar support 432 and the shaft coupling structures 400a and 400b. It is freely adjusted up and down in conjunction with the displacement of the fixed support 431.

The second driving motor 420, the speed reducer, and the second driving force providing a rotational driving force to one side of the pair of second radar supports 432 in the pitching device case 410 constituting the shaft coupling structure 400b. A drive motor controller for controlling the second drive motor 420 is installed, and inside the pitching device case 410 of the shaft coupling structure 400a coupled to the other side of the pair of second radar supports 432. A second tilt sensor 451, a second encoder 452, and a second posture meter 453 are installed.

The second tilt sensor 451 measures the rotation angle displacement of the second radar support 432 in the direction of gravity, and the second encoder 452 is the absolute rotation angle position of the second radar support 432. And the second posture measurer 453 of the autonomous moving vehicle 10 in which the topography sensor assembly 13 to the second radar 300 and the pitching driving device 400 are mounted. The horizontal and lateral acceleration gravity is measured.

In the calculation judgment processor (not shown), the attitude and the autonomy of the autonomous moving vehicle 10 are based on information obtained by the second tilt sensor 451, the second encoder 452, and the second posture measurer 453. The angle of the second radar 300 with respect to the moving vehicle 10 or the ground is calculated and checked, and the terrain and the driving situation in front of the vehicle are determined.

In addition, a process of inputting and transmitting a control command or a control signal to a driving motor controller for controlling the second driving motor 420 is performed, and the left and right rolling slopes of the second radar 300 are adjusted according to an operating environment and a purpose. You can efficiently acquire data for obstacle detection, slope analysis, or world modeling.

Referring to FIG. 6, the rolling driving device 200 is located at the center of the rear side, and the first radar 100 has a narrower left and right width than the rolling driving device 200, and the front of the rolling driving device 200. The second radar 200 is located at the front center part, and the pitching driving device 400 is located at the front left and right parts.

Accordingly, the left and right sides of the first radar 100 correspond to the front and rear lengths of the first radar 100 between the front part of the rolling drive device 200 and the rear part of the pitching drive device 400. A hollow space is created by the width.

The body so that the front part and the rear part are fixed to the rolling device fixing support 211 which forms the front part of the rolling device case 210, and the pitching device fixing support 411 which forms the back part of the pitching device case 410, respectively. If installed, the rolling drive device 200 and the pitching drive device 400 can be fixed, maintained at a constant interval.

Accordingly, while the autonomous platform is running, due to the vibration, shaking, tilting, impact, etc. of the autonomous mobile vehicle 10, the spaced interval between the rolling drive device 200 and the pitching drive device 400 is kept constant. It is possible to firmly prevent the phenomenon of being momentarily distorted rather than being distorted.

The first radar 100 installed between the rolling drive device 200 and the pitching drive device 400 and the second radar 200 installed between the first radar 100 and the pitching drive device 400. The robustness of the installation structure can also be ensured stably.

The body is formed of an intermediate cover portion 510 and a front cover portion 520, the intermediate cover portion 510, while covering the separation interval between the rolling drive device 200 and the pitching drive device 400 The rolling driving device 200 and the pitching driving device 400 are continuously coupled along the left and right longitudinal directions.

The front cover portion 520 of the connection cover is integrally connected to the front of the intermediate cover portion 510 to cover the upper portion of the second radar 300, a pair of the shaft coupling structure (400a, 400b) ) And the second radar 300 to be stably covered at the upper and left and right portions.

The terrain sensor assembly and the autonomous mobile vehicle having the same described above are not limited to the configuration and method of the above-described embodiments, but the embodiments may be modified in various ways so that various modifications may be made. Or some may be selectively combined.

100: first radar 110: main body
120: measuring unit 200: rolling drive device
210: rolling device case 211: rolling device fixed support
220: first drive motor 230: drive shaft
251: first tilt sensor 252: first encoder
253: first posture measuring instrument 300: second radar
400: pitching drive device 400a, 400b: shaft coupling structure
410: pitching device case 411: pitching device fixed support
420: drive motor 431: second radar fixed support
432: second radar support 451: second tilt sensor
452: second encoder 453: second position measuring instrument
500: connecting cover 510: middle cover
520: front cover

Claims (12)

A body formed to be detachable from the autonomous moving body and having a groove;
A first radar having a first axis and a second axis intersecting the first axis, the first radar being inserted into the groove;
A rolling driving device coupled to the first radar such that the first radar is rotatable about the second axis; And
And a second radar disposed on one surface of the body to face the front of the autonomous moving body and formed to rotate about a third axis intersecting the first axis and the second axis. The method of claim 1,
The first radar further comprises a measurement unit configured to rotate about the first axis with respect to the autonomous moving object. The method of claim 1,
And a pitching driving device coupled to a side of the second radar such that the second radar moves up and down about the third axis. A measuring unit is attached to the upper part to detect and receive a certain signal toward the driving area so as to sense the current position and the terrain in the driving area of the autonomous moving vehicle including the predetermined positions capable of driving through acceleration and deceleration and steering of the current position. A first radar;
Rolling is connected to the main body of the first radar from one surface of the first radar, and tilted up and down while moving the measurement unit of the first radar left and right by transmitting a rotational force to the main body of the first radar Rolling driving device to perform;
A second radar installed in front of the main body and below the measuring unit of the first radar; And
Pitching driving is connected to the main body of the first radar from the other surface of the first radar, and pitching to tilt the second radar up and down by transmitting a rotational force to the left and right of the second radar A terrain sensing sensor assembly of an autonomous vehicle comprising a device. The method of claim 4, wherein
A rolling device fixing support forming a front portion of the rolling device case for fixing and casing the components of the rolling driving device therein;
A pitching device fixing support forming a rear portion of the pitching device case for fixing and casing components of the pitching driving device therein; And
A body having a front cover part and a front cover part covering an upper portion of the first and second radars, the middle cover part of which covers the upper left and right sides of the first radar and the upper part of the second radar, respectively. The terrain detection sensor assembly of the autonomous moving body further comprises. The method of claim 4, wherein the rolling drive device,
A rolling device case for fixing and casing components of the rolling drive device therein; And
One side is coupled to the first drive motor installed inside the rolling device case, the other side further comprises a drive shaft connected to the main body of the first radar through the inside and outside of the rolling device case autonomous Terrain sensor assembly of a moving object. The method of claim 6, wherein the rolling drive device,
A first tilt sensor for measuring a rotation angle displacement of the drive shaft in a direction of gravity;
A first encoder measuring an absolute rotation angle position of the drive shaft; And
And a calculation determination processor for checking an angle of the first radar with respect to the ground by using information obtained by the first tilt sensor and the first encoder. The method of claim 7, wherein the rolling drive device,
By measuring the horizontal and lateral acceleration gravity of the autonomous mobile vehicle on which the first radar and the rolling drive device are mounted, the operation determination processor checks the attitude of the autonomous mobile vehicle and the angle of the first radar with respect to the autonomous mobile vehicle. And a first position measuring device for enabling the terrain detecting sensor assembly of the autonomous vehicle. According to claim 4, The pitching driving device,
A second radar fixing support to which a rear portion of the second radar is fixed;
A pair of second radar supports coupled to the left and right portions of the second radar fixing support with the second radar therebetween; And
A pair of left and right pairs of left and right portions coupled to the left and right portions of the second radar support is provided, and one side of the left and right sides includes a shaft coupling structure to which a second driving motor providing a rotation driving force to the second radar support is coupled. Terrain detection sensor assembly of an autonomous moving object, characterized in that. The method of claim 9, wherein the axial coupling structure,
A second tilt sensor axially coupled to the other side of the pair of second radar supports to measure a rotation angle displacement of the second radar support in the direction of gravity;
A second encoder for measuring an absolute rotation angle position of the second radar supporter; And
And a calculation determination processor for checking an angle of the second radar with respect to the ground by using information obtained by the second tilt sensor, the second encoder, and the posture measurer. The method of claim 10, wherein the axial coupling structure,
By measuring the horizontal and lateral acceleration gravity of the autonomous mobile vehicle on which the second radar and the pitching driving device are mounted, the operation determination processor checks the attitude of the autonomous mobile vehicle and the angle of the second radar with respect to the autonomous mobile vehicle. And a second position measuring device for enabling the terrain detecting sensor assembly of the autonomous moving object. A main body made to enable autonomous movement and to which a traveling means is mounted; And
A first axis, a second axis, or a first axis, a second axis, or the like, coupled to the main body and intersecting each other so as to sense the terrain in the travel area of the autonomous moving vehicle including the current position and certain positions capable of traveling through acceleration and deceleration and steering of the speed therefrom; And a terrain sensing sensor assembly comprising a plurality of sensors rotatably formed about one of the third axes,
12. The autonomous moving vehicle of claim 1, wherein the terrain sensor assembly is in accordance with any one of the preceding claims.

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