CN103645743A - Vision alignment control system and method thereof - Google Patents

Abstract

The invention relates to the field of display technology, in particular to a visual alignment control system and method capable of realizing high-precision alignment installation. The visual alignment control system of the present invention realizes the high-precision attachment of the film material through the fixed device detection lens, the moving device detection lens, the analog calculation device and the mechanical execution device, and completely solves the limitation of low precision of the traditional operation. The detection lens has an accuracy of 0.002mm, which is more than 100 times higher than the mechanical positioning accuracy. The product attachment accuracy has reached 0.05mm. At the same time, it can achieve fast and accurate attachment to meet the high-quality requirements of the product. It can monitor the input of the product in real time. Eliminate the impact of defective products on quality requirements, and fully keep up with the rapid development of the electronics industry.

Description

Visual alignment control system and method

technical field

The invention relates to the field of display technology, in particular to a visual alignment control system and method capable of realizing high-precision alignment installation.

Background technique

At present, in the field of display device manufacturing technology, the industry's work on backlight film attachment, backlight and LCD attachment is still based on traditional manual methods, and some products that do not require high precision can be used with customized fixtures to meet basic requirements. Attachment quality requirements, but with the rapid development of the electronics industry, product quality requirements are getting higher and higher, the existing manual work is to first position the mobile device through a jig or mechanical module, and place the fixed device on a fixed On the positioning fixture, the mobile device product is attached to the fixed device product through the mechanical arm. The advantage of this method is that the cost is not high, and it can meet the product attachment requirements with low precision. However, this operation method varies with the product requirements. Improvement, the inadequacies are also gradually reflected, the existing operation methods mainly have the following deficiencies:

First, there are precision errors in the manufacture of fixtures, and the stability is not high;

Second, personnel operations are highly random, and personnel status and experience have a greater impact on product quality;

Third, the operation efficiency is not high, and it is difficult to realize the assembly line method of product operation;

Fourth, the quality of the input semi-finished products cannot be displayed in time.

Restricted by the above factors, the benefit of the enterprise is not high, the quality requirements of high-precision products cannot be achieved by manual operation, and the growing requirements of the electronics industry cannot be met, which seriously limits the development of the enterprise.

Therefore, it is necessary to provide a high-precision visual alignment control system and method to solve the above problems.

Contents of the invention

The technical problem solved by the present invention is to provide a visual alignment control system and method; the visual alignment control system realizes precise lamination through the fixed device detection lens, the moving device detection lens and the analog computing device.

The object of the present invention is achieved through the following technical solutions: a visual alignment control system, which includes:

The fixed device detection lens is used to detect the coordinates of the reference angle marker point and the target corner marker point coordinates of the fixed device;

The mobile device detection lens is used to detect the coordinates of the reference angle mark point and the rotation angle mark point coordinates of the mobile device;

The simulation calculation device is used to calculate the angle to be adjusted and the angle to be adjusted of the mobile device according to the coordinates of the reference angle mark point and the coordinates of the target angle mark point of the fixed device, and the coordinates of the reference angle mark point and the coordinates of the rotation angle mark point of the mobile device. The displacement to be adjusted of the mobile device, and edit the control command;

The mechanical actuator is used to align and install the mobile device and the fixed device according to the control instruction.

Further, at least two fixed device detection lenses are included, one of the fixed device detection lenses is corresponding to detect the reference angle marker point coordinates of the fixed device, and the other fixed device detection lens is corresponding to the detection of the fixed device Target corner marker point coordinates.

Further, at least two mobile device detection lenses are included, wherein one of the mobile device detection lenses corresponds to detecting the reference angle marker point coordinates of the mobile device, and the other mobile device detection lens corresponds to detection of the mobile device's Rotation angle marker point coordinates.

Further, the simulation calculation device is provided with a mathematical model of the angle to be adjusted of the mobile device established according to the following mathematical formula;

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; ac</span>}\mathrm{<span\; class="notranslate">\; the\; tan</span>}\frac{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}$

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; ac</span>}\mathrm{<span\; class="notranslate">\; the\; tan</span>}\frac{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}$

θ=θ ₂ -θ ₁

Among them, θ ₁ is the target angle of the fixed device; θ ₂ is the deviation angle of the mobile device; θ is the angle to be adjusted of the mobile device; X1 is the X-direction coordinate value of the reference angle mark point of the fixed device; Y1 is the reference point of the fixed device The Y-direction coordinate value of the corner marker point; X2 is the X-direction coordinate value of the target corner marker point of the fixed device; Y2 is the Y-direction coordinate value of the target corner marker point of the fixed device; X3 is the X coordinate value of the reference corner marker point of the mobile device Y3 is the Y coordinate value of the reference angle marker point of the mobile device; X4 is the X coordinate value of the rotation angle marker point of the mobile device; Y4 is the Y coordinate value of the rotation angle marker point of the mobile device.

Further, the mechanical actuator includes a moving device rotation mechanism, which is used to adjust the coordinates of the rotation angle marking point of the moving device according to the angle to be adjusted of the moving device, so as to keep the angle of the moving device consistent with that of the fixed device.

Further, the simulation calculation device is provided with a mathematical model of the displacement to be adjusted of the mobile device established according to the following mathematical formula;

X=X5—X2, Y=Y5—Y2;

Among them, X is the displacement to be adjusted in the X direction of the mobile device; Y is the displacement to be adjusted in the Y direction of the mobile device; X2 is the X-direction coordinate value of the target angle mark point of the fixed device; Y2 is the target angle mark point of the fixed device X coordinate value of the Y direction; X5 is the X coordinate value of the rotation angle mark point of the mobile device after rotation; Y5 is the Y direction coordinate value of the rotation angle mark point of the mobile device after rotation.

Further, the mechanical actuator also includes a moving device displacement mechanism, which is used to adjust the position of the moving device according to the to-be-adjusted displacement of the moving device, so that the reference angle mark point coordinates and the rotation angle mark of the moving device The point coordinates are respectively consistent with the coordinates of the reference angle marking point and the target angle marking point of the fixing device.

Further, both the fixed device detection lens and the mobile device detection lens are connected to the simulation computing device, and the mechanical execution device is connected to the simulation computing device.

Further, both the rotation mechanism of the mobile device and the displacement mechanism of the mobile device are connected to the simulation computing device.

The present invention also provides a visual alignment control method, characterized in that it comprises the following steps:

Detecting the reference angle marker point coordinates and the target corner marker point coordinates of the fixed device through the fixed device detection lens, and detecting the reference angle marker point coordinates and the rotation angle marker point coordinates of the mobile device through the mobile device detection lens;

According to the coordinates of the reference angle marker point and the coordinates of the target angle marker point of the fixed device, and the coordinates of the reference angle marker point and the coordinates of the rotation angle marker point of the mobile device, the angle to be adjusted of the mobile device is calculated by an analog computing device;

The mechanical actuator rotates the moving device according to the angle to be adjusted, so that the target angle of the fixed device is consistent with the deviation angle of the moving device;

According to the coordinates of the reference angle marker point and the coordinates of the target angle marker point of the fixed device, and the coordinates of the reference angle marker point and the coordinates of the rotation angle marker point of the mobile device, the displacement to be adjusted of the mobile device is calculated by an analog computing device;

The mechanical actuator displaces the moving device according to the displacement to be adjusted, so that the fixed device and the moving device are installed in alignment.

Compared with the prior art, the present invention has the following advantages: the visual alignment control system of the present invention realizes the high-precision attachment of the film material through the fixed device detection lens, the moving device detection lens, the analog calculation device and the mechanical execution device , It completely solves the limitation of low precision in traditional operations. Using the detection lens, the precision can reach 0.002mm, which is more than 100 times higher than the mechanical positioning precision. The product attachment accuracy has reached 0.05mm. To achieve high-quality requirements for products, it is possible to monitor the input of products in real time, eliminate the impact of bad products on quality requirements, and fully keep up with the rapid development of the electronics industry.

Description of drawings

The present invention will be further described below in conjunction with drawings and embodiments.

Fig. 1 is the coordinate schematic diagram of fixing device of the present invention;

Fig. 2 is a schematic diagram of the coordinates of the mobile device of the present invention;

Fig. 3 is a block diagram of the visual alignment control method of the present invention.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

This embodiment specifically provides a visual alignment control system, which includes:

A fixed device inspection lens used to detect the coordinates of the reference angle marker point and the coordinates of the target corner marker point of the fixed device;

A mobile device detection lens used to detect the coordinates of the reference angle marker point and the rotation angle marker point coordinates of the mobile device;

The simulation calculation device is used to calculate the angle to be adjusted and the angle to be adjusted of the mobile device according to the coordinates of the reference angle mark point and the coordinates of the target angle mark point of the fixed device, and the coordinates of the reference angle mark point and the coordinates of the rotation angle mark point of the mobile device. The displacement to be adjusted of the mobile device, and edit the control command;

The mechanical actuator is used to align and install the mobile device and the fixed device according to the control instruction.

Both the fixed device detection lens and the moving device detection lens are connected to the simulation computing device, and the mechanical execution device is connected to the simulation computing device.

Through the visual alignment control system of the present invention, work such as film attachment in the electronics industry, backlight and LCD bonding, etc. can be realized. The visual alignment control system of the present invention will be described in detail below using the color film substrate and the LCD as an example.

As shown in Figure 1 and Figure 2, wherein, Figure 1 is a color filter substrate, Figure 2 is an array substrate, the color filter substrate can be a fixed device, and the array substrate is a mobile device, and the array can be aligned by the visual alignment control system of the present invention. The substrate is attached to the color filter substrate, or the array substrate is a fixed device, and the color filter substrate is a mobile device. The color filter substrate is attached to the array substrate through the visual alignment control system, and the mobile device and the fixed device are relatively corresponding. relation. In this embodiment, the visual alignment control system of the present invention is described in detail by taking the color filter substrate as a fixed device and the array substrate as a moving device.

The visual alignment control system of the present invention includes two color filter substrate detection lenses, selects two corner mark coordinates of the color filter substrate, and can select any two corners according to the principle of determining a straight line at two points. In this embodiment, A1 angle Take angle B1 as an example, where A1 is the reference angle and B1 is the target angle.

One of the color film substrate detection lenses corresponds to the coordinates of the reference corner mark point for detecting the color film substrate, which is (X1, Y1), and the other color film substrate detection lens corresponds to the coordinates of the target corner mark point for detecting the color film substrate, which is (X2, Y2 ).

Corresponding to the color film substrate detection lens, there are also two array substrate detection lenses, select two corner marks corresponding to the color film substrate, which are A2 angle and B2 angle, where A2 is the reference angle, B2 is the rotation horn.

One of the array substrate detection lenses corresponds to the coordinates of the reference angle mark point of the detection array substrate, which is (X3, Y3), and the other array substrate detection lens corresponds to the coordinates of the detection rotation angle mark point of the array substrate, which is (X4, Y4).

The simulation calculation device is provided with a mathematical model of the angle to be adjusted of the array substrate established according to the following mathematical formula;

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; ac</span>}\mathrm{<span\; class="notranslate">\; the\; tan</span>}\frac{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}$

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; ac</span>}\mathrm{<span\; class="notranslate">\; the\; tan</span>}\frac{\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; x</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}{\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; Y</span>}\mathrm{<span\; class="notranslate">\; 3</span>}}$

θ=θ ₂ -θ ₁

Among them, _θ1 is the target angle of the color filter substrate; _θ2 is the deviation angle of the array substrate; θ is the angle to be adjusted of the array substrate; X1 is the X-direction coordinate value of the reference angle mark point of the color filter substrate; Y1 is the color filter The Y-direction coordinate value of the reference angle mark point of the substrate; X2 is the X-direction coordinate value of the target angle mark point of the color filter substrate; Y2 is the Y-direction coordinate value of the target angle mark point of the color filter substrate; X3 is the reference of the array substrate The X-direction coordinate value of the corner mark point; Y3 is the Y-direction coordinate value of the reference angle mark point of the array substrate; X4 is the X-direction coordinate value of the rotation angle mark point of the array substrate; Y4 is the Y-direction value of the rotation angle mark point of the array substrate to the coordinate value.

The simulation calculation device is also provided with a mathematical model of the displacement to be adjusted of the array substrate established according to the following mathematical formula;

X=X5—X2, Y=Y5—Y2;

Among them, X is the displacement to be adjusted in the X direction of the array substrate; Y is the displacement to be adjusted in the Y direction of the array substrate; X2 is the X-direction coordinate value of the target angle mark point of the color filter substrate; Y2 is the target angle of the color filter substrate The Y-direction coordinate value of the marked point; X5 is the X-direction coordinate value of the rotation angle mark point of the array substrate after rotation; Y5 is the Y-direction coordinate value of the rotation angle mark point of the array substrate after rotation.

Specifically, the simulation computing device includes: a PLC control system and a vision control system. The PLC control system mainly realizes the entire control process of the visual alignment control system, and performs corresponding actions according to the received signal instructions; the visual control system mainly marks each position coordinate of the product, and according to the mathematical model of the angle to be adjusted The angle and displacement of the path can be obtained from the mathematical model of the displacement to be adjusted, so as to achieve high-precision visual positioning.

The mechanical actuator includes an array substrate rotation mechanism and an array substrate displacement mechanism, and both the array substrate rotation mechanism and the color filter substrate displacement mechanism are connected with the analog computing device. The array substrate rotation mechanism is used to adjust the coordinates of the rotation angle mark point of the array substrate according to the angle to be adjusted of the array substrate, so as to keep the angles of the array substrate and the color filter substrate consistent. The array substrate displacement mechanism is used to adjust the position of the array substrate according to the displacement of the array substrate to be adjusted, so that the coordinates of the reference angle mark point and the coordinates of the rotation angle mark point of the array substrate are respectively consistent with the coordinates of the reference angle mark point and the target angle mark of the color filter substrate. The point coordinates are consistent, that is, the coordinates of A2 and A1 are consistent, and the coordinates of B2 and B1 are consistent.

Through the above-mentioned visual alignment control system, the alignment of the color filter substrate and the array substrate is accurate, and the precise fit is achieved, so as to achieve high-quality requirements for products. It can monitor the input of products in real time and eliminate the impact of bad products on quality requirements. Specifically The working principle is as follows: the visual alignment control system of the present invention first needs to store the characteristic image of the captured part, which is the stored image, and the characteristic image taken each time will be compared with the stored image, and judged by the similarity of the two images Whether the product is qualified or not, if the similarity is greater, it is judged as qualified, and if the similarity is smaller, it is judged as unqualified. The unqualified products are thrown away through the mechanical actuator, which fully realizes the mechanized operation, improves the operation efficiency, and has a high degree of automation.

As shown in Figure 3, a visual alignment control method of the present invention is described in detail by taking the color filter substrate and the array substrate as examples. The method specifically includes the following steps:

Detecting the reference angle marker point coordinates and the target angle marker point coordinates of the color filter substrate through the color filter substrate detection lens, and detecting the reference angle marker point coordinates and the rotation angle marker point coordinates of the array substrate through the array substrate detection lens;

According to the coordinates of the reference angle mark point and the coordinates of the target angle mark point of the color filter substrate, and the coordinates of the reference angle mark point and the coordinates of the rotation angle mark point of the array substrate, the angle to be adjusted of the array substrate is calculated by an analog computing device;

The mechanical actuator rotates the array substrate according to the angle to be adjusted, so that the target angle of the color filter substrate is consistent with the deviation angle of the array substrate;

According to the coordinates of the reference angle mark point and the coordinates of the target angle mark point of the color filter substrate, and the coordinates of the reference angle mark point and the coordinates of the rotation angle mark point of the array substrate, the displacement to be adjusted of the array substrate is calculated by an analog computing device;

The mechanical actuator displaces the array substrate according to the displacement to be adjusted, so that the color filter substrate and the array substrate are aligned and installed.

To sum up, the visual alignment control system of the present invention realizes the high-precision attachment of the film material through the fixed device detection lens, the moving device detection lens, the analog calculation device and the mechanical execution device, and completely solves the traditional operation accuracy problem. High limit, using the detection lens, the accuracy can reach 0.002mm, which is more than 100 times higher than the mechanical positioning accuracy, and the product attachment accuracy has reached 0.05mm. Monitor the input products, eliminate the impact of bad products on quality requirements, and fully keep up with the rapid development of the electronics industry.

The above are only several preferred implementations of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements and modifications can be made without departing from the technical principle of the present invention. These improvements And modification should also be regarded as protection scope of the present invention.

Claims (10)

1. a visual-alignment control system, is characterized in that, comprising:

Immobilising device detector lens, for detection of reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device;

Moving device detector lens, for detection of reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;

Analogy computing device, be used for according to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate calculate the displacement to be adjusted of angle to be adjusted and the described moving device of described moving device, and edit steering order;

Mechanical actuating unit, for installing moving device and immobilising device contraposition according to steering order.

2. visual-alignment control system according to claim 1, it is characterized in that, at least comprise two described immobilising device detector lens, the corresponding reference angle gauge point coordinate that detects described immobilising device of immobilising device detector lens described in one of them, the corresponding target angle gauge point coordinate that detects described immobilising device of immobilising device detector lens described in another.

3. visual-alignment control system according to claim 2, it is characterized in that, at least comprise two described moving device detector lens, the corresponding reference angle gauge point coordinate that detects described moving device of moving device detector lens described in one of them, the corresponding rotation angle gauge point coordinate that detects described moving device of moving device detector lens described in another.

4. visual-alignment control system according to claim 3, is characterized in that, described analogy computing device is provided with the angle mathematical model to be adjusted of the moving device of setting up according to following mathematical formulae;

$\mathrm{\&theta;}1=\mathrm{ac}\tan \frac{X2-X1}{Y2-Y1}$

$\mathrm{\&theta;}2=\mathrm{ac}\tan \frac{X4-X3}{Y4-Y3}$

θ=θ ₂-θ ₁

Wherein, θ ₁angle on target for immobilising device; θ ₂misalignment angle for moving device; θ is the angle to be adjusted of moving device; X1 is the X-direction coordinate figure of the reference angle gauge point of immobilising device; Y1 is the Y-direction coordinate figure of the reference angle gauge point of immobilising device; X2 is the X-direction coordinate figure of the target angle gauge point of immobilising device; Y2 is the Y-direction coordinate figure of the target angle gauge point of immobilising device; X3 is the X-direction coordinate figure of the reference angle gauge point of moving device; Y3 is the Y-direction coordinate figure of the reference angle gauge point of moving device; X4 is the X-direction coordinate figure of the rotation angle gauge point of moving device; Y4 is the Y-direction coordinate figure of the rotation angle gauge point of moving device.

5. visual-alignment control system according to claim 4, it is characterized in that, described mechanical actuating unit comprises moving device rotating mechanism, for according to the rotation angle gauge point coordinate of moving device described in the angular setting to be adjusted of described moving device, the angle of moving device and described immobilising device is consistent.

6. visual-alignment control system according to claim 5, is characterized in that, described analogy computing device is provided with the displacement mathematical model to be adjusted of the moving device of setting up according to following mathematical formulae;

X=X5—X2，Y=Y5—Y2；

Wherein, the X-direction displacement to be adjusted that X is moving device; Y is the Y-direction of moving device displacement to be adjusted; X2 is the X-direction coordinate figure of the target angle gauge point of immobilising device; Y2 is the Y-direction coordinate figure of the target angle gauge point of immobilising device; X5 is the X-direction coordinate figure of the rotation angle gauge point of the rear moving device of rotation; Y5 is the Y-direction coordinate figure of the rotation angle gauge point of the rear moving device of rotation.

7. visual-alignment control system according to claim 6, it is characterized in that, described mechanical actuating unit also comprises moving device displacement mechanism, for adjust the position of described moving device according to the displacement to be adjusted of described moving device, make the reference angle gauge point coordinate of described moving device consistent with reference angle gauge point coordinate and the target angle gauge point coordinate of described immobilising device respectively with rotation angle gauge point coordinate.

8. according to arbitrary described visual-alignment control system in claim 1-7, it is characterized in that, described immobilising device detector lens is all connected with described analogy computing device with described moving device detector lens, and described mechanical actuating unit is connected with described analogy computing device.

9. visual-alignment control system according to claim 8, is characterized in that, described moving device rotating mechanism is all connected with described analogy computing device with described moving device displacement mechanism.

10. a method of controlling according to the arbitrary described visual-alignment control system of claim 1-9, is characterized in that, comprises the steps:

By immobilising device detector lens, detect reference angle gauge point coordinate and the target angle gauge point coordinate of immobilising device, and by moving device detector lens, detect reference angle gauge point coordinate and the rotation angle gauge point coordinate of moving device;

According to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate, by analogy computing device, calculate the angle to be adjusted of described moving device;

Mechanical actuating unit rotates moving device according to angle to be adjusted, makes the angle on target of immobilising device and the misalignment angle of moving device consistent;

According to the reference angle gauge point coordinate of immobilising device and target angle gauge point coordinate, and the reference angle gauge point coordinate of moving device and rotation angle gauge point coordinate, by analogy computing device, calculate the displacement to be adjusted of described moving device;

Mechanical actuating unit by moving device displacement, installs immobilising device and moving device contraposition according to displacement to be adjusted.

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