JP2018125629A - Head-up display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a head-up display device capable of guidance intelligible to a user.SOLUTION: A head-up display device 100 comprises: a display 120 which emits light expressing a display image; an optical system (a plane mirror 140, a recessed surface mirror 150) which guides the light emitted by the display 120 to a windshield 200 and thereby forms a false image of the display image; and a control part 160. The control part 160 performs guide expression in which a guide display G showing one spot on a traveling road as the display image is superimposed and displayed on the traveling road and the guide display G is moved in a direction separating from a viewer U along the traveling road.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a head-up display device.

  As a vehicle display device, a head-up display (HUD) device as disclosed in Patent Document 1 is known. The head-up display device disclosed in Patent Literature 1 displays a traveling direction of a vehicle to a driver by displaying an arrow superimposed on a traveling road surface.

JP 2017-15806 A

  However, as disclosed in the above-mentioned Patent Document 1, it is difficult for the driver to imagine the course of the vehicle if the arrows are statically shown on the traveling road surface. For this reason, the driver cannot take the route indicated by the arrow, and may travel on a road different from the road indicated by the arrow, for example.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a head-up display device that can provide easy-to-understand route guidance to a viewer.

In order to achieve the above object, a head-up display device according to the present invention includes:
A head-up display device that allows a viewer to visually recognize a display image to be superimposed on a real scene as a virtual image,
A display that emits light representing the display image;
An optical system that forms the display image as the virtual image by guiding the light emitted from the display to a projection member;
A control unit that displays a guidance display indicating a point of a traveling path as the display image superimposed on the traveling path, and performs a guidance expression for moving the guidance display in a direction away from the viewer along the traveling path; .

  According to the head-up display device of the present invention, it is possible to provide easy-to-understand route guidance to the viewer.

It is the schematic which shows the structure of the head-up display apparatus which concerns on 1st embodiment of this invention. It is a block diagram of the head up display device concerning a first embodiment. It is a flowchart of the guidance expression process of the head-up display apparatus which concerns on this invention. It is a figure which shows the example of the front scenery at the time of the guidance expression process start of the vehicle carrying the head-up display apparatus which concerns on 1st embodiment. (A)-(e) is a figure which shows the example of the change of the front scenery at the time of the guidance expression process of the vehicle carrying the head-up display apparatus which concerns on 1st embodiment. It is the schematic which shows the modification of the structure of the head-up display apparatus which concerns on 1st embodiment. It is the schematic which shows the other modification of the structure of the head up display apparatus which concerns on 1st embodiment. It is a figure which shows the example of the front scenery of the vehicle in which the locus | trajectory of guidance display is displayed. It is the schematic which shows the structure of the head-up display apparatus which concerns on 2nd embodiment. It is a figure which shows the example of the front scenery at the time of the guidance expression process of the vehicle carrying the head-up display apparatus which concerns on 2nd embodiment. It is the schematic which shows the modification of the structure of the head-up display apparatus which concerns on 2nd embodiment.

  Hereinafter, a head-up display device (hereinafter referred to as “HUD device”) according to an embodiment of the present invention will be described with reference to the drawings.

(First embodiment)
As shown in FIG. 5, the HUD device 100 according to the present embodiment performs guidance expression as if a guidance display G, which is a display image, is moved along a traveling path. The vehicle 300 is mounted in a dashboard (not shown), for example.

  As shown in FIG. 1, the HUD device 100 emits display light N representing a guidance display G toward a windshield 200 that is a projection target member of the vehicle 300. The viewer U who is a driver receives the display light N reflected by the windshield 200 and visually recognizes a virtual image of the guidance display G moving along the traveling path seen through the windshield 200.

(Configuration of HUD device)
The HUD device 100 includes a housing 110, a display device 120, a screen 130, a plane mirror 140, a concave mirror 150, and a control unit 160.

  The housing 110 is formed in a box shape from black synthetic resin, for example, and houses the various members such as the display 120 and the screen 130. An opening 111 that allows the display light N to pass therethrough is provided in a part of the peripheral wall of the housing 110. The opening 111 is covered with a translucent cover 112.

  The display 120 includes a backlight that emits light, a DMD (Digital Micro Mirror Device) element that modulates light from the backlight according to an image signal from the control unit 160 and generates display light L representing an image, A projection lens that expands the generated display light L, and emits the display light L indicating a display image to the screen 130.

  The screen 130 is a transmissive screen including a holographic diffuser, a microlens array, a diffusion plate, and the like. When the display light L is incident on one surface of the screen 130, a display image is formed on the other surface, and the display light N indicating the display image is emitted toward the plane mirror 140.

  The plane mirror 140 reflects the display light N incident from the screen 130 to the concave mirror 150. The plane mirror 140 has a metal reflective film formed on one surface of a flat substrate made of synthetic resin or glass.

  The concave mirror 150 reflects the display light N toward the windshield 200. The concave mirror 150 is formed by forming a metal reflective film on one surface of a base material made of synthetic resin, glass or the like. The plane mirror 140 and the concave mirror 150 constitute an optical system that guides the display light N from the display image formed on the screen 130 to the windshield 200 constituting the projection target member.

  2, in addition to the HUD device 100, the vehicle 300 includes a navigation information acquisition unit 400, an imaging unit 500, a detection unit 600, a viewpoint position acquisition unit 700, and a vehicle speed detection unit 800. I have.

  The navigation information acquisition unit 400 is a CAN (Controller Area Network) transceiver that acquires navigation information N from a vehicle-mounted navigation device. The navigation information N is information indicating the position of the nearest guide point P in the traveling direction of the traveling path of the vehicle 300 and the vehicle operation to be performed by the viewer U at the guide point P. The guide point P is a position where the viewer U should perform a vehicle operation for turning the vehicle to the right, turning left, or temporarily stopping or slowing down. The navigation information acquisition unit 400 outputs an information signal indicating the acquired navigation information N to the control unit 160.

  The imaging unit 500 includes a stereo camera, captures the foreground of the vehicle 300, and outputs an imaging signal to the detection unit 600.

  The detection unit 600 processes the imaging signal supplied from the imaging unit 500 and detects the traveling path of the vehicle 300 in the captured image. The detection unit 600 outputs the result of detecting the traveling path and the captured image to the control unit 160.

  The viewpoint position acquisition unit 700 includes a viewer imaging unit 710 and a viewpoint detection unit 720. The viewpoint position acquisition unit 700 acquires the coordinates of the viewpoint position EP of the viewer U in the x-axis, y-axis, and z-axis directions shown in FIG. The viewer imaging unit 710 includes a stereo camera, captures an image of the face of the viewer U, and outputs an imaging signal. In order to be able to acquire the viewpoint position EP at night or the like, the viewer imaging unit 710 may be able to perform infrared imaging. The viewpoint detection unit 720 analyzes an image indicated by the imaging signal supplied from the viewer imaging unit 710 by a pattern matching method, and detects an object that matches or is similar to a human eyeball shape stored in advance. The viewpoint detection unit 720 acquires the viewpoint position EP by specifying the coordinates (x, y, z) of the viewpoint position EP in the real space from the detected object. The viewpoint detection unit 720 outputs an information signal of the identified viewpoint position EP to the control unit 160.

  The vehicle speed detection unit 800 detects the speed of the vehicle 300 and outputs a speed signal indicating the detected speed to the control unit 160.

  The control unit 160 includes a CPU (Central Processing Unit), a memory, and the like, executes a control program stored in the memory, and controls the display 120 to display a guidance display G along the traveling path of the vehicle 300. To do. The control unit 160 determines the position of the guide point P from the navigation information N acquired by the navigation information acquisition unit 400. Details of the control processing executed by the control unit 160 will be described later with reference to FIG. The control unit 160 creates foreground three-dimensional data from the foreground captured image of the vehicle 300 supplied from the detection unit 600.

In addition, the control unit 160 stores in advance a display area AR, a relative speed V, image data of the guidance display G, a correspondence relationship between the size of the virtual image of the guidance display G and the virtual image distance DW, and the like. Furthermore, the control unit 160 stores the acquired viewpoint position EP, the captured foreground three-dimensional data, and the like.
In this embodiment, it is assumed that the reference of the virtual image distance DW is the position of the imaging unit 500.

(Guidance expression)
Hereinafter, the guidance expression process executed by the control unit 160 of the HUD device 100 to control the guidance display G for presenting the vehicle operation to be performed by the viewer U at the guide point P will be described with reference to the flowchart shown in FIG. To do. This flowchart is repeatedly executed while the vehicle 300 is in operation.

  The control unit 160 starts the guidance expression process shown in FIG. 3 when the ignition of the vehicle 300 is turned on.

  First, the control unit 160 causes the viewpoint position acquisition unit 700 to acquire the viewpoint position EP of the viewer U. The viewer imaging unit 710 of the viewpoint position acquisition unit 700 captures an image of the face of the viewer U and outputs an imaging signal. The viewpoint detection unit 720 acquires the viewpoint position EP of the viewer U from the image indicated by the imaging signal supplied from the viewer imaging unit 710. The viewpoint detection unit 720 outputs an information signal of the identified viewpoint position EP to the control unit 160 (step S1).

  Next, the control unit 160 causes the navigation information acquisition unit 400 to acquire the navigation information N from the in-vehicle navigation device. The navigation information acquisition unit 400 outputs an information signal indicating the acquired navigation information N to the control unit 160 (step S2).

  The control unit 160 causes the imaging unit 500 to capture the foreground of the vehicle 300. The imaging unit 500 captures the foreground of the vehicle 300 and outputs an imaging signal to the detection unit 600. Detection unit 600 detects traveling path R1 of vehicle 300 shown in FIG. 4 in the captured image. The detection unit 600 outputs the result of detecting the traveling path R1 to the control unit 160. The control unit 160 determines the position of the nearest guide point P in the traveling direction on the traveling path R1 of the vehicle 300 from the navigation information N acquired from the navigation information acquiring unit 400. In addition, the control unit 160 calculates a distance D from the vehicle 300 to the guide point P. Further, the control unit 160 determines whether or not the guide point P exists in the display area AR (step S3). The display area AR is a range in which guidance expression is performed, and in the present embodiment, the display area AR is a range of a width of 10 m forward of the vehicle 300 × 100 m forward.

  When the guide point P exists in the display area AR (step S3: Yes), the control unit 160 places the guide point P in the acquired three-dimensional data of the foreground of the vehicle 300 (step S4).

  The control unit 160 arranges the viewpoint position EP acquired in step S1 in the aforementioned three-dimensional data of the foreground, and recognizes a line segment E connecting the viewpoint position EP and the guide point P in the three-dimensional data (step S1). S5).

Next, the control unit 160 performs guidance expression for moving the guidance display G along the traveling path R1 and the left turn path R2 (step S6). In this example, as shown in FIGS. 5A to 5E, the guidance displays G _{t0 to} G _t4 are sequentially displayed at different positions for every elapse of a predetermined time. Each guide display _G t0 _{~G t4} shows one point of each traveling path. Each guide display G _{t0 to} G _t4 is a circular figure filled with a single color, for example, white.

As shown in FIGS. 5A to 5D, the control unit 160 moves the guidance displays G _{t0 to} G _t3 from the viewpoint position EP side to the guide point P along the virtual line segment E. In this example, the guide point P is located at the base end portion of the left turn path R2. After the guide display G _t3 is linearly moved to the guide point P, the guide display G _t4 is moved in the direction along the left turn path R2. With such a guide expression, the course that the vehicle 300 should take can be easily communicated to the viewer U. This guidance expression may be repeated a plurality of times.

Specifically, the control unit 160 first sets the display start position S of the guidance display G on the line E in the foreground three-dimensional data. In the present embodiment, the display start position S of the guidance display G is 5 m ahead of the vehicle 300 on the line E. The control unit 160 controls the display unit 120 to emit the display light L so that the guidance display G _t0 is displayed at the display start position of the foreground of the vehicle 300 corresponding to the display start position S of the three-dimensional data. . The display light L is projected onto the windshield 200 by the screen 130 and the optical system (the plane mirror 150 and the concave mirror 160), and the reflected light _forms a virtual image of the guide display _Gt0 at the display start position as shown in FIG. Image.

  Next, in FIG. 1, the control unit 160 can see that the guidance display G moves on the line E to the guide point P at a relative speed V in a direction away from the viewer U along the traveling path R1. The display 120 is controlled so that the display light L is emitted by adjusting the virtual image distance DW to the imaging position of the guide display G shown. In this specification, the imaging position refers to a position where the viewer U recognizes that a virtual image exists at that position. The relative speed V is a speed at which the guidance display G moves from the vehicle 300. In the present embodiment, the relative speed V is 20 meters per second. Accordingly, the control unit 160 controls the display unit 120 so that the virtual image distance DW increases by VΔt meters (= 20Δt meters) every Δt seconds while the guide display G is moved from the display start position to the guide point P. . When the guidance display G reaches the guide point P that is the base end portion of the left turn R2 (see FIG. 5D), the control unit 160 turns the guidance display G to the left and continues to the relative speed along the left turn R2. The display 120 is controlled so that the display light L is emitted so that it can be seen when it is moving at V. When the guidance display G reaches the end of the display area AR, the control unit 160 controls the display device 120 to end the display of the guidance display G (step S6).

According to this guidance expression processing, by performing the guidance expression processing in step S6, the guidance display G (G _{t0 to} G _t4 ) shown in each drawing of FIG. 5 is linear on the line E along the traveling path R1. To the guide point P in a direction away from the viewer U. Thereafter, the guidance display G makes a left turn at the guide point P and moves along the left turn path R2. The viewer U can intuitively recognize the vehicle operation to be performed at the guide point P by the guidance expression that can provide easy-to-understand road guidance with such a dynamic expression in the depth direction.

(Modification 1)
In the above embodiment, the display surface S that displays the virtual image shown in FIG. 1 extends and is fixed along the road surface when viewed from the viewer U. However, the display surface may be configured to be movable. Good. For example, as shown in FIG. 6, as a display image distance adjustment unit, a screen position adjustment unit 135 having a drive mechanism moves the position of the screen 130 in the optical axis direction of the display lights L and N indicated by arrows 136. Also good. Thereby, the virtual image distance DW at the imaging position of the virtual image shown in FIG. 1 displayed by the HUD device 100 can be changed. Further, the control unit 160 functions as a display image distance adjustment unit by controlling a mechanism for changing the position and the tilt angle of the plane mirror 140 or the position and the tilt angle of the concave mirror 150 by a driving mechanism (not shown). May be adjusted. In the case of executing the guidance expression in this configuration, the guidance display G is moved as shown in each drawing of FIG. 5 by increasing the virtual image distance DW while the guidance display G is displayed.

(Modification 2)
In the above embodiment, the display surface S for displaying the virtual image shown in FIG. 1 extends and is fixed along the road surface when viewed from the viewer U, but the display surface is vertical when viewed from the viewer U. It may be configured. For example, the guide display G shown in FIG. 7 is displayed on the vertical display surface S, and the guide display G is displayed on the guide point P from the vehicle 300 by moving the guide display G upward and displaying the size of the guide display G small. It is good also as a structure which seems to move to the direction which leaves | separates toward. As a result, the guidance display G is moved as shown in FIGS.

  In the above embodiment, an example of the guidance expression displayed so that the guidance display G moves along the traveling path is shown. However, as shown in FIG. 8, the guidance display G displays the guidance display G while moving along the traveling path. It is also possible to perform a guidance expression that leaves the movement trajectory.

(Second embodiment)
As shown in FIG. 9, the HUD device 100a according to the present embodiment is different from the first embodiment in that a virtual image is displayed on a plurality of display surfaces S1 and S2 located at different distances when viewed from the viewer U. Hereinafter, the difference from the first embodiment will be mainly described.

  In addition to the HUD device 100, the HUD device 100a further includes a display 120a, a screen 130a, a second plane mirror 170, and a half mirror 180. The display 120a, the screen 130a, and the second plane mirror 170 have the same configuration as the display 120, the screen 130, and the plane mirror 140 of the first embodiment, respectively.

  The display device 120a emits display light La indicating a display image to the screen 130a in accordance with a control signal input from the control unit 160.

  When the display light La is incident on one surface of the screen 130a, a display image is formed on the other surface, and the display light Na indicating the display image is emitted toward the plane mirror 140.

  The plane mirror 140 reflects the display light Na incident from the screen 130 a to the second plane mirror 170.

  The second plane mirror 170 reflects the display light Na incident from the plane mirror 140 to the half mirror 180.

  The half mirror 180 transmits the display light N from the screen 130 and reflects the display light Na from the second plane mirror 170 toward the concave mirror 160.

  As shown in FIG. 10, the HUD device 100 a can display virtual images on the two display surfaces S <b> 1 and S <b> 2 located at different distances when viewed from the viewer U. The display surface S1 is located closer to the viewer U than the display surface S2. Moreover, each display surface S1, S2 makes a rectangle long in the left-right direction when viewed from the viewer U. Further, the display surface S2 is located above the display surface S1, and the lower end portion of the display surface S2 overlaps with the upper end portion of the display surface S1.

(Guidance expression)
In this embodiment, it is necessary to move the guidance display G between the two display surfaces S1 and S2 in the guidance expression. Except for this point, in the present embodiment, the same processing as the flowchart of FIG. 3 of the first embodiment is performed.

Specifically, in the guidance expression of step S6, the control unit 160 displays the guidance displays G _{t0 and} G _t1 along the virtual line segment E from the viewpoint position EP side to the upper part of the display surface S1 as in the first embodiment. Move. Then, the guidance display G _t1 located at the upper part of the display surface S1 is erased, and after the non-display period Toff has elapsed since the erasure, the guidance display is displayed at the lower part of the display surface S2 and on the virtual line segment E. _Gt2 is displayed. This non-display period Toff is set based on the relative speed V of the guidance display G and the distance DS between the display surface S1 and the display surface S2 shown in FIG. For example, the non-display period Toff is calculated as follows.
Toff = DS / V
By setting the non-display period Toff in this way, it is possible to make it appear that the guidance display G is moving at the relative speed V between the two display surfaces S1 and S2. Therefore, giving the viewer U a feeling of strangeness is suppressed. Thereafter, as in the first embodiment, when the guidance display G reaches the guide point P that is the base end portion of the left turn road R2 (see FIG. 5D), the control unit 160 turns the guidance display G to the left. The display device 120 is controlled so that the display light L is emitted so that it can be seen that it is continuously moving at the relative speed V along the left turn path R2. When the guidance display G reaches the end of the display area AR, the control unit 160 controls the display device 120 to end the display of the guidance display G.

(Modification)
In the above embodiment, the two displays 120 and 120a are used. However, the guidance display G may be displayed on the two display surfaces S1 and S2 with one display. For example, as illustrated in FIG. 11, the display 120 emits display light L for displaying the guidance display G on the display surface S1 and display light La for displaying the guidance display G on the display surface S2, and these are output to the plane mirror 190, 191 or the like may be reflected by different optical paths and processed appropriately. Moreover, you may arrange | position the structure which controls optical path lengths, such as the convex part 192 formed with resin in the middle of the optical path.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various applications and modifications are possible.

  In 1st and 2nd embodiment, after moving the guidance display G to the direction which leaves | separates from the viewer U to the base end part of the left turn R2, the guide expression which moves to the direction along the left turn R2 was performed. However, after moving the guidance display G in the direction away from the viewer U to the base end of the right turn road, the guidance expression to move in the direction along the right turn road, Guidance expression that changes the moving direction of the guidance display G in accordance with the change may be performed. If the traveling path has a gradient, the guidance display G may be moved along the gradient.

  In addition, after the guidance display G is moved in a direction away from the viewer U, guidance expression for stopping the guidance display G at a place where the vehicle should be temporarily stopped may be performed. For example, in this case, the detection unit 600 detects a sign indicating a temporary stop captured by the imaging unit 500 or “stop” painted on the road surface. Or you may perform guidance expression which expresses the area which should make a vehicle slow down by making the moving speed of the guidance display G slow.

In the first and second embodiments, when the vehicle 300 is moving at a high speed, the control unit 160 causes the vehicle speed detection unit 800 shown in FIG. 2 to detect the vehicle speed, and this vehicle speed is used as the relative speed. The display positions of the guidance displays G _{t0 to} G _t4 may be corrected by reflecting them in V. By doing so, the shift of the display position of the guidance displays G _{t0 to} G _t4 due to the vehicle speed of the vehicle 300 is reduced, and a more accurate guidance expression can be realized. Further, the moving speed of the guidance display G may be increased as the vehicle speed of the vehicle 300 increases.

  In the first and second embodiments, the control unit 160 moves the guide display G to the guide point P to perform the guide expression, but the guide display G is not on the guide point P but on the traveling path, for example, visually The guidance expression may be performed by moving to any place useful to the person U. Moreover, although the guide point P was a place where the viewer U should perform the vehicle operation, the guide point P may be in front of or before the place where the viewer U should perform the vehicle operation.

  In the first and second embodiments, the head-up display device is mounted on the vehicle. However, the head-up display device is not limited to being mounted on a vehicle, and may be mounted on an arbitrary moving body such as an airplane or a ship. Further, the head-up display device may be mounted on the glasses and guide the walking path of the pedestrian by the guidance expression.

  In addition, as long as the guidance display G can show one point, the shape, color, size, etc. are arbitrary, For example, it may be a polygon, a symbol, an icon, or other figures. In the first and second embodiments, the guidance display G is gradually reduced in appearance, but the apparent size may not be changed or may be increased in appearance.

  In the first and second embodiments, the navigation information acquisition unit 400 acquires the navigation information N from the navigation device. However, the navigation information acquisition unit 400 may acquire the navigation information N from, for example, a smartphone.

  The vehicle speed detection unit 800 in the above embodiment can be omitted.

DESCRIPTION OF SYMBOLS 100,100a Head-up display apparatus 110 Housing | casing 120,120a Display 130,130a Screen 140 Plane mirror 150 Concave mirror 160 Control part 170 2nd plane mirror 180 Half mirror 200 Windshield (projection member)
_DESCRIPTION OF SYMBOLS 300 Vehicle 400 Navigation information acquisition part 500 Imaging part 600 Detection part 700 Viewpoint position acquisition part 800 Vehicle speed detection part L, La, N, Na Display light G, Gt0- _Gt4 guidance display D Distance DS (Between two display surfaces Distance DW virtual image distance EP viewpoint position P guide point R1 traveling path R2 left turn path S, S1, S2 display surface U viewer

Claims (10)

A head-up display device that allows a viewer to visually recognize a display image to be superimposed on a real scene as a virtual image,
A display that emits light representing the display image;
An optical system that forms the display image as the virtual image by guiding the light emitted from the display to a projection member;
A control unit that displays a guidance display indicating a point of a traveling path as the display image superimposed on the traveling path, and performs a guidance expression for moving the guidance display in a direction away from the viewer along the traveling path; Comprising
Head-up display device. A viewpoint position acquisition unit for inputting the viewpoint position of the viewer;
The control unit performs the guidance expression so that the viewer sees the guidance display moving along the traveling path when viewed from the viewpoint position.
The head-up display device according to claim 1. A navigation information acquisition unit for acquiring navigation information;
The control unit recognizes the traveling path based on the navigation information;
The head-up display device according to claim 1. The control unit performs the guidance expression that leaves a movement locus of the guidance display.
The head up display apparatus of any one of Claim 1 to 3. The control unit performs the guidance expression for changing a moving direction of the guidance display according to a change in a traveling direction of the traveling path.
The head up display apparatus of any one of Claim 1 to 4. When the traveling path includes a right turn road or a left turn road, the control unit moves the guide display away from the viewer to a guide point located at a base end portion of the right turn road or a base end portion of the left turn road. After moving, perform the guidance expression to move in the direction along the right turn or the left turn,
The head up display apparatus of any one of Claim 1 to 5. Two or more display surfaces for displaying the display image,
In the guidance expression, the control unit displays the guidance display on one display surface and then displays the guidance display on another display surface.
The head up display apparatus of any one of Claim 1 to 6. The controller provides a non-display time for not displaying the guidance display according to the distance between the two display surfaces and the moving speed of the guidance display when moving the guidance display between the two display surfaces. Said guidance expression,
The head-up display device according to claim 7. In the guidance expression, the control unit displays the guidance display along the traveling path by displaying the guidance display in a small size while moving the guidance display upward on the display surface as viewed from the viewer. Show it as moving,
The head-up display device according to claim 7 or 8. Screen,
A display image distance adjustment unit for adjusting the distance of the display image,
The control unit moves the guidance display by changing a distance between the screen and the optical system in the display image distance adjustment unit.
The head up display apparatus of any one of Claim 1 to 8.

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