CN102929295A - Automatic leveling control device based on single chip microcomputer (SCM) - Google Patents
Automatic leveling control device based on single chip microcomputer (SCM) Download PDFInfo
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- CN102929295A CN102929295A CN2012104415353A CN201210441535A CN102929295A CN 102929295 A CN102929295 A CN 102929295A CN 2012104415353 A CN2012104415353 A CN 2012104415353A CN 201210441535 A CN201210441535 A CN 201210441535A CN 102929295 A CN102929295 A CN 102929295A
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Abstract
The invention relates to an automatic leveling control device based on an SCM. The device comprises an equipment portion and an automatic control portion. The equipment portion is provided with a carrying platform, X and Y axial steering engines, a base, X and Y axial rotating mechanisms and a three-axis acceleration sensor, wherein the X and Y axial rotating mechanisms are installed on the base, the X and Y axial steering engines are installed on the X and Y axial rotating mechanisms, rotating shafts of the two steering engines are perpendicular to each other, and the carrying platform is arranged above the X and Y axial rotating mechanisms; and the three-axis acceleration sensor is arranged at the lower bottom of the carrying platform. The automatic control portion is composed of an SCM control unit, a steering engine regulating unit, a tilt sensor horizontal detection unit and a liquid crystal display unit. An A/D sampling sensor arranged inside the SCM outputs signals, generates two ways of pulse width modulation (PMW) drive signals to control the two steering engines to rotate corresponding angle, and adjusts the carrying platform dynamically to enable the carrying platform to maintain horizontal. The device is small in size, high in precision, wide in application range, capable of being combined with instruments such as a theodolite, and quick and convenient to level.
Description
Technical field
The present invention relates to a kind of SCM Based automatic leveling control device, a kind of self-leveling control device of employing single-chip microcomputer that high-precision level reference can be provided for being placed in instrument and equipment on the article carrying platform specifically is suitable for the automatic leveling of the instrument of surveying and mappings such as spirit-leveling instrument, transit.
Background technology
In modern national defense and civilian technology, usually need some equipment is accurately adjusted to horizontal level, to improve the serviceability of device systems, reach a certain index request.The in the past research of levelling device mainly concentrates on such as level meter, angular instrument and tiltmeter equal angles measurement aspect, and measurement of angle is less with the technology of automatically control combination.Now a lot of measuring equipments all are mechanical horizontal adjustment modes, such as instrument of surveying and mappings such as the spirit-leveling instrument of widespread use in geological hydrology exploration, the civil engineering surveying, transits, this quasi-instrument in use common characteristics needs user's manual leveling exactly.Because be subjected to the impact of people's subjective factor, speed and the precision of leveling can not be guaranteed, length consuming time, precision is low.But current device is more and more to the future development of automation and intelligentification, the automatic leveling of worktable, especially it is necessary being applied in field survey, the experiment and automatically adjusting with the worktable realization level of the combination of instrument, therefore exploitation is combined with instrument and equipment and is realized self-leveling control device, has preferably using value.
Summary of the invention
The purpose of this invention is to provide a kind of precision higher, volume is little, and is applied widely, convenient to use, and the SCM Based automatic leveling control device of high-precision level reference can be provided for being placed on instrument and equipment on the article carrying platform.
In order to realize above-mentioned functions, the technical solution used in the present invention is: a kind of SCM Based automatic leveling control device is provided, comprise environment division and automatic control section, described environment division is provided with article carrying platform, the X axis steering wheel, the Y-axis steering wheel, pedestal, X, Y-axis rotating mechanism and 3-axis acceleration sensor, at pedestal X is installed, the Y-axis rotating mechanism, the X axis steering wheel is installed in two mutually orthogonal vertical X of axle with the Y-axis steering wheel, on the Y-axis rotating mechanism, the turning axle of X axis steering wheel and Y-axis steering wheel is mutually vertical, and article carrying platform is installed in X, Y-axis rotating mechanism top; 3-axis acceleration sensor is installed in the article carrying platform bottom surface;
Described automatic control section is provided with the Single-chip Controlling unit, the steering wheel regulon, obliquity sensor horizontal detection unit and liquid crystal display, described Single-chip Controlling unit is connected with the steering wheel regulon, and the Single-chip Controlling unit also interconnects with obliquity sensor horizontal detection unit and liquid crystal display respectively; The Single-chip Controlling unit is used for realization to the control of steering wheel regulon, obliquity sensor horizontal detection unit and liquid crystal display as the core of automatic control section; The steering wheel regulon is provided with the driving circuit of X axis steering wheel and Y-axis steering wheel, the steering wheel regulon as the X that regulates X axis steering wheel and Y-axis steering wheel, Y orthogonal axes to the angle motion actuator, the angle that X axis steering wheel and Y-axis steering wheel rotate recently realizes by the duty of the pulse width modulating signal that the timer that changes inside, Single-chip Controlling unit produces; Obliquity sensor horizontal detection unit adopts 3-axis acceleration sensor, and the X of 3-axis acceleration sensor, Y-axis are parallel with the turning axle of Y-axis steering wheel with the X axis steering wheel respectively; The liquid crystal display that described liquid crystal display connects is installed in the article carrying platform top, shows in real time the inclination numerical value of article carrying platform X, Y-axis.
Single-chip Controlling of the present invention unit adopts the MSP430F169 single-chip microcomputer as primary controller.The MSP430F169 single-chip microcomputer is selected in Single-chip Controlling of the present invention unit, is because it has the characteristics of high integration and low-power consumption, makes it be very suitable for the occasion of powered battery and limited space.
Single-chip Controlling of the present invention unit provides 2 I/O mouths to be electrically connected with the servo driving circuit.
The built-in A/D of single-chip microcomputer provides 3 I/O mouths to be electrically connected with obliquity sensor horizontal detection unit in the Single-chip Controlling of the present invention unit.
Single-chip Controlling of the present invention unit gathers and computational analysis by the A/D to obliquity sensor horizontal detection unit output information, determine leveling strategy, realize the leveling target by the action of control two-way steering wheel, and the data demonstration of liquid crystal display is finished in control.
The automatic leveling control device that the present invention is based on single-chip microcomputer compared with prior art has following advantage:
1, the present invention adopts high precision dip sensor and the large torsion of small size, steering wheel that stepping accuracy is high, can realize fast the article carrying platform automatic leveling, for the instrument of surveying and mapping that is placed on the article carrying platform provides the high level of accuracy reference field, for realizing that high-acruracy survey lays the first stone.
2, the liquid crystal display of liquid crystal display of the present invention can show the platform X of current use, the inclination angle angle of Y-axis, both made things convenient for the user to understand the horizontal-shift angle information of instrument on the article carrying platform, can use as the digital and electronic level meter again in the time of necessary, improve the comfort level of using.
3, single-chip microcomputer, the obliquity sensor of the present invention's employing all are small size, low-power chip, and installation footprint is little, and the working power of control device can adopt powered battery, are fit to the application of field movable occasion.
4, use device of the present invention to lay the first stone for realizing high-precision measurement, simultaneously also can be for the related work person alleviate work load, the worker can be used for the more time to measure upper rather than the adjustment instrument that takes much time.This device precision is higher, and volume is little, and is applied widely.
Description of drawings
Fig. 1 is the environment division mounting structure schematic diagram that the present invention is based on the automatic leveling control device of single-chip microcomputer.
Fig. 2 is the automatic control section structured flowchart of self-level(l)ing device of the present invention.
Fig. 3 is power supply and the interface circuit figure of the two-way steering wheel of self-level(l)ing device of the present invention.
Fig. 4 is the circuit diagram that adopts the MMA7260 3-axis acceleration sensor in the self-level(l)ing device of the present invention.
Fig. 5 is the working circuit diagram of the master control MSP430F169 single-chip microcomputer of self-level(l)ing device of the present invention.
Fig. 6 is the circuit diagram that adopts 12864 liquid crystal display in the self-level(l)ing device of the present invention.
Fig. 7 is the power module circuitry figure of self-level(l)ing device of the present invention.
Fig. 8 is the article carrying platform leveling coordinate schematic diagram of self-level(l)ing device of the present invention.
Among the above-mentioned figure: 1-article carrying platform, the axial steering wheel of 2-X, the axial steering wheel of 3-Y, 4-pedestal, 5-X, Y-axis rotating mechanism, 6-3-axis acceleration sensor, 10-steering wheel regulon, 11-obliquity sensor horizontal detection unit, 12-Single-chip Controlling unit, 13-liquid crystal display.
Embodiment
Below in conjunction with drawings and Examples device of the present invention is made detailed specific description.
Embodiment 1: a kind of SCM Based automatic leveling control device provided by the invention, its structure such as Fig. 1, shown in 2, comprise environment division and automatic control section, described environment division is provided with article carrying platform 1, X axis steering wheel 2, Y-axis steering wheel 3, pedestal 4, X, Y-axis rotating mechanism 5 and 3-axis acceleration sensor 6, at pedestal 4 X is installed, Y-axis rotating mechanism 5, X axis steering wheel 2 is installed in two mutually orthogonal vertical X of axle with Y-axis steering wheel 3, on the Y-axis rotating mechanism 5, the turning axle of X axis steering wheel 2 and Y-axis steering wheel 3 is mutually vertical, the X axis steering wheel, the Y-axis steering wheel adopts precision high, small size, the digital rudder controller of large torsion, Y-axis steering wheel 3 is blocked by base portion in Fig. 1, only sees the main shaft of Y-axis steering wheel 3 among the figure.Article carrying platform 1 is installed in X, Y-axis rotating mechanism 5 tops; 3-axis acceleration sensor 6 is installed in article carrying platform 1 bottom surface.
Described automatic control section is provided with Single-chip Controlling unit 12, steering wheel regulon 10, obliquity sensor horizontal detection unit 11 and liquid crystal display 13.Single-chip Controlling unit 12 is connected with steering wheel regulon 10, and Single-chip Controlling unit 12 also interconnects with obliquity sensor horizontal detection unit 11 and liquid crystal display 13; Single-chip Controlling unit 12 is used for realization to the control of steering wheel regulon, obliquity sensor horizontal detection unit and liquid crystal display as the core of automatic control section; The drive control signal of two steering wheels is from single-chip microcomputer.Single-chip microcomputer by with obliquity sensor horizontal detection cell interconnection, acquisition process obliquity sensor output electrical signals is made corresponding processing, finishes a series of control functions.
The X, Y orthogonal axes that steering wheel regulon 10 is used for regulating X axis steering wheel and Y-axis steering wheel to the angle motion actuator, the duty of pulse width (PWM) modulation signal of the angle that X axis steering wheel 2, Y-axis steering wheel 3 rotate by changing the generation of single-chip microcomputer timer internal is recently realized; Obliquity sensor horizontal detection unit 11 connects 3-axis acceleration sensor 6, and the X of 3-axis acceleration sensor 6, Y-axis are parallel with the turning axle of Y-axis steering wheel 3 with X axis steering wheel 2 respectively; The liquid crystal display that described liquid crystal display connects is installed in the article carrying platform top, shows in real time the inclination numerical value of article carrying platform X, Y-axis.
The Single-chip Controlling unit adopts the MSP430F169 single-chip microcomputer as primary controller in the present embodiment, and obliquity sensor horizontal detection unit adopts the MMA7260 3-axis acceleration sensor, and liquid crystal display adopts 12864 liquid crystal display.
Below be the working method of each module in the present embodiment:
Steering wheel power supply and interface circuit such as Fig. 3.Wherein U3 is switching mode voltage stabilizing chip TPS5430, and for the two-way steering wheel provides working power, P4, P5 are respectively the interface of Single-chip Controlling unit and two-way steering wheel, and the steering wheel control signal is connected with P4.1 with the P4.0 of single-chip microcomputer respectively.
MMA7260 is selected in obliquity sensor horizontal detection unit among the embodiment, because its integrated 3 separate, orthogonal responsive first measurement modules of direction of measurement on one chip, when acceleration causes that the relative position of mass changes, capacitance also changes, the voltage signal that then is directly proportional with acceleration through output behind capacitance voltage conversion circuit and the filtering and amplifying circuit.
Adopt MMA7260 3-axis acceleration sensor circuit such as Fig. 4, the 1st pin of MMA7260 and the 2nd pin are connected with P1.1 by drawing on resistance P2, the P3 and being connected P1.0 with single-chip microcomputer respectively, the 3rd pin is connected with VCC33, the 4th pin is connected with GND, 5th, 6,7,8,9,10,11 and 16 pins are all without electrical connection, the 12nd pin is connected with single-chip microcomputer P1.2,13rd, 14,15 pins are sensor output electrical signals pin, are connected with P6.0, P6.1, the P6.2 of single-chip microcomputer by resistance R 11, R10, R9 respectively.
The master control MSP430 F169 single-chip microcomputer that the Single-chip Controlling unit adopts, its operating circuit such as Fig. 5, resistance R 1, reset key RESET1, capacitor C 0 form reset circuit among the figure, and Y1 is the low speed crystal oscillator, Y2 is the high speed crystal oscillator, and the two consists of the outer crystal oscillating circuit of sheet of single-chip microcomputer jointly.
Liquid-crystal display section adopts circuit such as Fig. 6 of 12864 liquid crystal display, the brightness of swept resistance RP0 adjustable liquid crystal display background light, liquid crystal 8 bit data mouths i.e. the 7th to the 14th pin are connected with single-chip microcomputer P2.0 to P2.7 respectively, liquid crystal the 4th pin is connected with single-chip microcomputer P3.0, read-write control pin 5 is connected with P3.1, enable to control pin 6 and be connected with P3.2, sheet selects pin 15 to be connected with P3.4 with single-chip microcomputer P3.3 respectively with being connected, and reset pin 17 is connected with single-chip microcomputer P3.5.
Power module circuitry such as Fig. 7, U0 are the AMS1085 power supply chip, and for system provides positive 5 volts of power supplys, U1 is the LM1117 power supply chip, for system provides positive 3.3 volts of power supplys.
Leveling coordinate such as Fig. 8 of article carrying platform 1 of the present invention, ABCD represents article carrying platform, and α represents article carrying platform and surface level at the angle value of X-direction, and β represents that article carrying platform and surface level are at the angle value of Y direction.No matter how article carrying platform tilts, its leveling motion process all can be decomposed into the adjusting of X axis and Y-axis both direction angle.
Automatic leveling control device specific works mode of the present invention is as follows: high-precision MMA7260 obliquity sensor is installed on the article carrying platform 1, detect in real time the horizontal-shift angle of article carrying platform, the described sensor output electrical signals of analog to digital converter (A/D) sampling that the MSP430F169 single-chip microcomputer is built-in, constantly calculate article carrying platform 1 current state and horizontality X according to the data that sampling obtains, the differential seat angle of two axial skews of Y, single-chip microcomputer produces two-way PWM drive control signal according to result of calculation, control X axis steering wheel 2 rotates corresponding angle with 3 two axles of Y-axis steering wheel, dynamically adjust article carrying platform 1, make article carrying platform 1 be in horizontality always.Liquid crystal display shows the inclination alpha of article carrying platform X, Y-axis, the angle value of β in real time.
In the present embodiment selected chip only be 1 for example, wherein obliquity sensor horizontal detection unit can select other can realize arbitrarily the high-precision sensor of angle measuring ability; The steering wheel regulon can be selected other arbitrarily high precision, large torsion steering wheels of coupling; Liquid crystal display can be selected according to the configuration needs display of other types.
The little precision of automatic leveling control device volume of the present invention is high, applied widely, can be combined with instruments such as transits, leveling is convenient and swift, can be widely used in geological hydrology exploration, the civil engineering surveying, especially be suitable for the automatic leveling of the instrument of surveying and mappings such as spirit-leveling instrument, transit, make the mapping process become efficient and convenient, improve simultaneously the precision of surveying and mapping data.
Claims (5)
1. SCM Based automatic leveling control device, comprise environment division and automatic control section, it is characterized in that: described environment division is provided with article carrying platform, the X axis steering wheel, the Y-axis steering wheel, pedestal, X, Y-axis rotating mechanism and 3-axis acceleration sensor, at pedestal X, Y-axis rotating mechanism are installed, the X axis steering wheel is installed on two mutually orthogonal vertical X of axle, the Y-axis rotating mechanism with the Y-axis steering wheel, the turning axle of X axis steering wheel and Y-axis steering wheel is mutually vertical, and article carrying platform is installed in X, Y-axis rotating mechanism top; 3-axis acceleration sensor is installed in the article carrying platform bottom surface;
Described automatic control section is provided with the Single-chip Controlling unit, the steering wheel regulon, obliquity sensor horizontal detection unit and liquid crystal display, described Single-chip Controlling unit is connected with the steering wheel regulon, and the Single-chip Controlling unit also interconnects with obliquity sensor horizontal detection unit and liquid crystal display respectively; The Single-chip Controlling unit is used for realization to the control of steering wheel regulon, obliquity sensor horizontal detection unit and liquid crystal display as the core of automatic control section; The steering wheel regulon is provided with the driving circuit of X axis steering wheel and Y-axis steering wheel, the steering wheel regulon as the X that regulates X axis steering wheel and Y-axis steering wheel, Y orthogonal axes to the angle motion actuator, the angle that X axis steering wheel and Y-axis steering wheel rotate recently realizes by the duty of the pulse width modulating signal that the timer that changes inside, Single-chip Controlling unit produces; Obliquity sensor horizontal detection unit adopts 3-axis acceleration sensor, and the X of 3-axis acceleration sensor, Y-axis are parallel with the turning axle of Y-axis steering wheel with the X axis steering wheel respectively; The liquid crystal display that described liquid crystal display connects is installed in the article carrying platform top, shows in real time the inclination numerical value of article carrying platform X, Y-axis.
2. SCM Based automatic leveling control device according to claim 1 is characterized in that: described Single-chip Controlling unit adopts the MSP430F169 single-chip microcomputer as primary controller.
3. SCM Based automatic leveling controlling system according to claim 1, it is characterized in that: described Single-chip Controlling unit provides 2 I/O mouths to be electrically connected with the servo driving circuit.
4. SCM Based automatic leveling controlling system according to claim 1, it is characterized in that: the built-in A/D of single-chip microcomputer provides 3 I/O mouths to be electrically connected with obliquity sensor horizontal detection unit in the described Single-chip Controlling unit.
5. SCM Based automatic leveling controlling system according to claim 1, it is characterized in that: described Single-chip Controlling unit gathers and computational analysis by the A/D to obliquity sensor horizontal detection unit output information, determine leveling strategy, realize the leveling target by the action of control two-way steering wheel, and the data demonstration of liquid crystal display is finished in control.
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| CN201210441535.3A CN102929295B (en) | 2012-11-08 | 2012-11-08 | Automatic leveling control device based on single chip microcomputer (SCM)and levelling method |
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| CN201210441535.3A CN102929295B (en) | 2012-11-08 | 2012-11-08 | Automatic leveling control device based on single chip microcomputer (SCM)and levelling method |
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| CN103488191A (en) * | 2013-09-27 | 2014-01-01 | 浙江水利水电学院 | Distributed leveling controller circuit |
| CN104215229A (en) * | 2014-08-07 | 2014-12-17 | 广州市中海达测绘仪器有限公司 | RTK device adjusting method, RTK device adjusting system and RTK measuring method |
| CN104457784A (en) * | 2013-09-16 | 2015-03-25 | 刘危 | Simulator capable of simulating function and fault of TC-9A vertical gyro |
| CN104677357A (en) * | 2013-11-27 | 2015-06-03 | 哈尔滨恒誉名翔科技有限公司 | Small stabilized platform based on single chip microcomputer |
| CN104949651A (en) * | 2015-07-21 | 2015-09-30 | 爱易成技术(天津)有限公司 | Automatic leveling device for leveling staff |
| CN105823464A (en) * | 2016-04-25 | 2016-08-03 | 南昌航空大学 | Precision electronic level meter with automatic angle adjusting function |
| CN105883666A (en) * | 2016-06-13 | 2016-08-24 | 龙岩学院 | Balanced lifting and carrying device |
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| CN108363404A (en) * | 2018-03-15 | 2018-08-03 | 中国农业大学 | High-precision agri-vehicle platform pre-detection active leveling system and leveling method |
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| CN116124192A (en) * | 2023-04-14 | 2023-05-16 | 迈泽锐(武汉)工业技术有限公司 | Sensor mounting structure and sensor system |
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| CN104457784A (en) * | 2013-09-16 | 2015-03-25 | 刘危 | Simulator capable of simulating function and fault of TC-9A vertical gyro |
| CN103488191B (en) * | 2013-09-27 | 2016-01-20 | 浙江水利水电学院 | A kind of distributed leveling controller circuitry |
| CN103488191A (en) * | 2013-09-27 | 2014-01-01 | 浙江水利水电学院 | Distributed leveling controller circuit |
| CN104677357A (en) * | 2013-11-27 | 2015-06-03 | 哈尔滨恒誉名翔科技有限公司 | Small stabilized platform based on single chip microcomputer |
| CN104215229A (en) * | 2014-08-07 | 2014-12-17 | 广州市中海达测绘仪器有限公司 | RTK device adjusting method, RTK device adjusting system and RTK measuring method |
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| CN104949651A (en) * | 2015-07-21 | 2015-09-30 | 爱易成技术(天津)有限公司 | Automatic leveling device for leveling staff |
| CN105823464A (en) * | 2016-04-25 | 2016-08-03 | 南昌航空大学 | Precision electronic level meter with automatic angle adjusting function |
| CN105883666B (en) * | 2016-06-13 | 2018-09-21 | 龙岩学院 | A kind of balance lifting toter |
| CN105883666A (en) * | 2016-06-13 | 2016-08-24 | 龙岩学院 | Balanced lifting and carrying device |
| CN106003738A (en) * | 2016-08-08 | 2016-10-12 | 刘庆芳 | Printing platform levelling device of 3D printer |
| CN106800057B (en) * | 2016-12-14 | 2019-08-02 | 歌尔科技有限公司 | A kind of steady parking method of two-wheel robot and system |
| CN106800057A (en) * | 2016-12-14 | 2017-06-06 | 歌尔科技有限公司 | A kind of steady parking method of two-wheel robot and system |
| CN109143916A (en) * | 2017-11-16 | 2019-01-04 | 湖北汉丹机电有限公司 | Adaptive leveling device |
| CN109143916B (en) * | 2017-11-16 | 2023-08-18 | 湖北汉丹机电有限公司 | Self-adaptive horizontal adjusting device |
| CN108363404B (en) * | 2018-03-15 | 2020-09-29 | 中国农业大学 | High-precision agricultural vehicle platform pre-detection active leveling system and leveling method |
| CN108363404A (en) * | 2018-03-15 | 2018-08-03 | 中国农业大学 | High-precision agri-vehicle platform pre-detection active leveling system and leveling method |
| CN108437733B (en) * | 2018-03-15 | 2020-07-24 | 中国农业大学 | High-speed agricultural vehicle platform pre-detection active leveling system and leveling method |
| CN108422825A (en) * | 2018-03-15 | 2018-08-21 | 中国农业大学 | Agri-vehicle job platform pre-detection active leveling system and leveling method |
| CN108437733A (en) * | 2018-03-15 | 2018-08-24 | 中国农业大学 | High speed agri-vehicle platform pre-detection active leveling system and leveling method |
| CN108981649A (en) * | 2018-06-28 | 2018-12-11 | 国家电网公司 | A kind of self-regulated leveling device for arc sag measurement |
| CN109263399A (en) * | 2018-11-22 | 2019-01-25 | 合肥学院 | A kind of Art Design drawing board with tilt adjustable section function |
| CN110617822A (en) * | 2019-09-27 | 2019-12-27 | 浙江大华机器人技术有限公司 | Navigator, vehicle and automatic leveling method of navigator |
| CN113395562A (en) * | 2020-03-13 | 2021-09-14 | 海信视像科技股份有限公司 | Display device and boot animation display method |
| CN116124192A (en) * | 2023-04-14 | 2023-05-16 | 迈泽锐(武汉)工业技术有限公司 | Sensor mounting structure and sensor system |
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