机器人全场定位.zip_zip_全场定位

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/625b122f92dc900e62ffd96c/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625b122f92dc900e62ffd96c/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">北京科技大学本科生毕业设计（论文） </div><div class="t m0 x2 h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">- - </div><div class="c x3 y3 w2 h4"><div class="t m0 x4 h5 y4 ff2 fs2 fc0 sc0 ls0 ws0">1 </div></div><div class="t m0 x5 h6 y5 ff3 fs3 fc0 sc0 ls0 ws0">摘 要 </div><div class="t m0 x6 h7 y6 ff1 fs1 fc0 sc0 ls3 ws0">本文以第七届全国大学生机器人大赛为背景，介绍基于多传感器的机器人电气控制</div><div class="t m0 x7 h7 y7 ff1 fs1 fc0 sc0 ls3 ws0">智能系统设计及实现的相关内容。本论文首先在引言中对自主移动机器人的发展以及课</div><div class="t m0 x7 h7 y8 ff1 fs1 fc0 sc0 ls0 ws0">题的背景意义做了简单的介绍，后面章节分别从总体方案确定、硬件电路设计、软件程</div><div class="t m0 x7 h7 y9 ff1 fs1 fc0 sc0 ls0 ws0">序编写以及整体效果等方面进行了介绍。其中着重介绍了本文作者在本次大赛中负责和</div><div class="t m0 x7 h7 ya ff1 fs1 fc0 sc0 ls4 ws0">参与的几项技术攻关任务——基于多传感器的坐标更新的研究、底层路径控制算法的设</div><div class="t m0 x7 h7 yb ff1 fs1 fc0 sc0 ls0 ws0">计和实现、主脑层的自主路径规划的实现，以及基于计算机视觉的避障行为和白块目标</div><div class="t m0 x7 h7 yc ff1 fs1 fc0 sc0 ls3 ws0">检测和定位。需要指出的是，上述研究都是基于机器人能通过各种传感器感知机器人内</div><div class="t m0 x7 h3 yd ff1 fs1 fc0 sc0 ls4 ws0">部和外界信息而实现的。 </div><div class="t m0 x6 h7 ye ff1 fs1 fc0 sc0 ls0 ws0">多传感器定位方面，利用陀螺仪和码盘的信息实时计算机器人的坐标的同时，利用</div><div class="t m0 x7 h7 yf ff1 fs1 fc0 sc0 ls0 ws0">场地上白线的信息加了光纤传感器帮助进行坐标纠偏，使机器人在真实对抗中，坐标误</div><div class="t m0 x7 h3 y10 ff1 fs1 fc0 sc0 ls4 ws0">差一般在 30mm 以内。 </div><div class="t m0 x6 h7 y11 ff1 fs1 fc0 sc0 ls0 ws0">机器人底层移动路径跟踪方面，把整条路径分解成直线和圆弧的组合，圆弧路径的</div><div class="t m0 x7 h7 y12 ff1 fs1 fc0 sc0 ls0 ws0">跟踪使用了圆弧半径和行进角度的闭环控制，直线路径的跟踪使用了位置和角度的闭环</div><div class="t m0 x7 h3 y13 ff1 fs1 fc0 sc0 ls4 ws0">控制。并在终点精确到达的控制中加入了闭环控制。 </div><div class="t m0 x6 h7 y14 ff1 fs1 fc0 sc0 ls0 ws0">路径规划方面，本文作者基于启发式深度搜索和曲线拟合的技术研发了专用于本次</div><div class="t m0 x7 h7 y15 ff1 fs1 fc0 sc0 ls0 ws0">比赛的路径算法，它实现了各个自动机器人路径的自主规划，后又加入了机器人的障碍</div><div class="t m0 x7 h3 y16 ff1 fs1 fc0 sc0 ls4 ws0">检测并重新规划无障碍路径，达到了一定的避障效果。 </div><div class="t m0 x6 h7 y17 ff1 fs1 fc0 sc0 ls0 ws0">视觉方面，本文作者用自己实践中发现的稳定的色彩空间变换方法并结合目标尺寸</div><div class="t m0 x7 h7 y18 ff1 fs1 fc0 sc0 ls0 ws0">信息在复杂的背景中正确地定位了机器人的目标——白块，并用类似的方法对场地中的</div><div class="t m0 x7 h3 y19 ff1 fs1 fc0 sc0 ls4 ws0">白线进行计数，辅助机器人定位；另外，用 canny 算子提取边缘，定位图象边缘较多的</div><div class="t m0 x7 h3 y1a ff1 fs1 fc0 sc0 ls4 ws0">复杂区域，对障碍进行检测定位。 </div><div class="t m0 x8 h7 y1b ff1 fs1 fc0 sc0 ls0 ws0">本文可在一定程度上和某些特定方面作为机器人电气控制方法和实现的参考，也可</div><div class="t m0 x7 h3 y1c ff1 fs1 fc0 sc0 ls4 ws0">以作为以后机器人大赛的技术积累。 </div><div class="t m0 x8 h3 y1d ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="c x9 y1e w3 h8"><div class="t m0 xa h7 y1f ff1 fs1 fc0 sc1 ls4 ws0">关键词：自主移动机器人，路径规划及避障，计算机视觉，多传感器信息融合，轨迹跟</div><div class="t m0 xa h3 y20 ff1 fs1 fc0 sc1 ls0 ws0">踪 </div></div></div><div class="pi" data-data='{"ctm":[1.612252,0.000000,0.000000,1.612252,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625b122f92dc900e62ffd96c/bg2.jpg"><div class="t m0 xb h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">北京科技大学本科生毕业设计（论文） </div><div class="t m0 xc h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">- - </div><div class="c xd y3 w2 h4"><div class="t m0 x4 h5 y4 ff2 fs2 fc0 sc0 ls0 ws0">2 </div></div><div class="t m0 xe h9 y21 ff6 fs4 fc0 sc0 ls0 ws0"> Research on the Control System </div><div class="t m0 xf h9 y22 ff6 fs4 fc0 sc0 ls0 ws0">Based on Multi-sensor for Double take-off and </div><div class="t m0 xf h9 y23 ff6 fs4 fc0 sc0 ls0 ws0">Landing Flipping Autonomous Mobile Robots </div><div class="t m0 x10 h3 y24 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x10 h6 y25 ff2 fs3 fc0 sc0 ls0 ws0">Abstract </div><div class="t m0 x11 h3 y26 ff2 fs1 fc0 sc0 ls0 ws0">Under the background of the seventh National robot competition for college students, this </div><div class="t m0 x12 h3 y27 ff2 fs1 fc0 sc0 ls0 ws0">article introducs the design and realization of the intelligent control system for robots which is </div><div class="t m0 x12 h3 y28 ff2 fs1 fc0 sc0 ls0 ws0">based on multi-sensor. </div><div class="t m0 x13 h3 y29 ff2 fs1 fc0 sc0 ls0 ws0">This article first gives a brief introduction of the autonomous mobile robot development </div><div class="t m0 x12 h3 y2a ff2 fs1 fc0 sc0 ls0 ws0">and significance of the background. From the back section,it refers to the overall </div><div class="t m0 x12 h3 y2b ff2 fs1 fc0 sc0 ls0 ws0">program,hardware circuit design,software program and the overall effect. Specially,the paper </div><div class="t m0 x12 h3 y2c ff2 fs1 fc0 sc0 ls0 ws0">focuses on several technology research tasks: location updates based on multi-sensors; the </div><div class="t m0 x12 h3 y2d ff2 fs1 fc0 sc0 ls0 ws0">trajectory control algorithm design and implementation; the path planning algorithm as well as </div><div class="t m0 x12 h3 y2e ff2 fs1 fc0 sc0 ls0 ws0">obstacle avoidance based target detection; and the target detection based on computer </div><div class="t m0 x12 h3 y2f ff2 fs1 fc0 sc0 ls0 ws0">vision.What is needed to point out is that all the research is based on the interaction of the robot </div><div class="t m0 x12 h3 y30 ff2 fs1 fc0 sc0 ls0 ws0">with environment by different sensors. </div><div class="t m0 x13 h3 y31 ff2 fs1 fc0 sc0 ls0 ws0">Based on multi-sensors includeing gyroscopes, odometer and fiber sensors,we developed a </div><div class="t m0 x12 ha y32 ff5 fs1 fc0 sc0 ls0 ws0">new method to get the robot‟s accurate location whose error is usually below 30mm in the </div><div class="t m0 x12 h3 y33 ff2 fs1 fc0 sc0 ls0 ws0">competition. </div><div class="t m0 x13 h3 y34 ff2 fs1 fc0 sc0 ls0 ws0">Based on PID control theory, the whole path is divided into straight line and arc. </div><div class="t m0 x12 h3 y35 ff2 fs1 fc0 sc0 ls0 ws0">Radius and angle PID loop control is used to make robot move in arc,and position and angle </div><div class="t m0 x12 h3 y36 ff2 fs1 fc0 sc0 ls0 ws0">PID loop control is used to make robot move in straight line.And loop control is used for the </div><div class="t m0 x12 h3 y37 ff5 fs1 fc0 sc0 ls0 ws0">robot‟s accurate arrival. </div><div class="t m0 x13 h3 y38 ff2 fs1 fc0 sc0 ls0 ws0">Based on heuristic depth-first search and curve fitting technology，the author developed a </div><div class="t m0 x12 h3 y39 ff2 fs1 fc0 sc0 ls0 ws0">path planing algorithm exclusively for this competition.It greatly reduces the debugging of the </div><div class="t m0 x12 h3 y3a ff2 fs1 fc0 sc0 ls0 ws0">preparation of a fixed line workload, another advantage is to save storage fixed path of the </div><div class="t m0 x12 h3 y3b ff2 fs1 fc0 sc0 ls0 ws0">enormous memory consumption. the author joined the robot obstacle detection and barrier-free </div><div class="t m0 x12 h3 y3c ff2 fs1 fc0 sc0 ls0 ws0">path planning to achieve a certain degree of obstacle avoidance effect. </div></div><div class="pi" data-data='{"ctm":[1.612252,0.000000,0.000000,1.612252,0.000000,0.000000]}'></div></div>

<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625b122f92dc900e62ffd96c/bg3.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">北京科技大学本科生毕业设计（论文） </div><div class="t m0 x2 h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">- - </div><div class="c x3 y3 w2 h4"><div class="t m0 x4 h5 y4 ff2 fs2 fc0 sc0 ls0 ws0">3 </div></div><div class="t m0 x8 h3 y3d ff2 fs1 fc0 sc0 ls0 ws0">Based on computer vision technology, the author found an effective color space transform </div><div class="t m0 x7 h3 y3e ff2 fs1 fc0 sc0 ls0 ws0">method to detect the target in a complex background, and to count the white line to help the </div><div class="t m0 x7 h3 y3f ff2 fs1 fc0 sc0 ls0 ws0">robot to realize the second localization;in addition, inspired by the depth of field methods to </div><div class="t m0 x7 h3 y40 ff2 fs1 fc0 sc0 ls0 ws0">detect obstacles, by using canny operator, the author regards those complex regions that have </div><div class="t m0 x7 h3 y24 ff2 fs1 fc0 sc0 ls0 ws0">more edges as the location of obstacles, thus we realize the obstacles detection. </div><div class="t m0 x6 h3 y41 ff2 fs1 fc0 sc0 ls0 ws0">This article can be provided as the referrence on some specific aspects to some extent,may </div><div class="t m0 x7 h3 y42 ff2 fs1 fc0 sc0 ls0 ws0">also as technique data for future robot contest. </div><div class="t m0 x8 h3 y43 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y44 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y45 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y46 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y47 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y48 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y49 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y4a ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y4b ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y4c ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y4d ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y4e ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y4f ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y50 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y51 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y52 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y53 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y54 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y55 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y56 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x14 h3 y57 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="c x9 y58 w4 h8"><div class="t m0 xa hb y59 ff6 fs1 fc0 sc0 ls0 ws0">Key Words：Autonomous Mobile Robots ,Path Planning and Barrier Avoidance, Computer </div><div class="t m0 xa hb y5a ff6 fs1 fc0 sc0 ls0 ws0">Vision, Multi-sensor information fusion, Path Tracing </div><div class="t m0 xa hb y5b ff6 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 xa hb y5c ff6 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 xa hb y5d ff6 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 xa hb y5e ff6 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 xa hb y5f ff6 fs1 fc0 sc0 ls0 ws0"> </div></div></div><div class="pi" data-data='{"ctm":[1.612252,0.000000,0.000000,1.612252,0.000000,0.000000]}'></div></div>

<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625b122f92dc900e62ffd96c/bg4.jpg"><div class="t m0 xb h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">北京科技大学本科生毕业设计（论文） </div><div class="t m0 xc h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">- - </div><div class="c xd y3 w2 h4"><div class="t m0 x4 h5 y4 ff2 fs2 fc0 sc0 ls0 ws0">4 </div></div><div class="t m0 x15 h3 y3d ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y3e ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y3f ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y40 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y24 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y41 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y42 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y43 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y44 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y45 ff2 fs1 fc0 sc0 ls0 ws0"> </div><div class="t m0 x15 h3 y46 ff2 fs1 fc0 sc0 ls0 ws0"> </div></div><div class="pi" data-data='{"ctm":[1.612252,0.000000,0.000000,1.612252,0.000000,0.000000]}'></div></div>

<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/625b122f92dc900e62ffd96c/bg5.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">北京科技大学本科生毕业设计（论文） </div><div class="t m0 x2 h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">- - </div><div class="c x3 y3 w2 h4"><div class="t m0 x4 h5 y4 ff2 fs2 fc0 sc0 ls0 ws0">1 </div></div><div class="t m0 x16 h9 y60 ff1 fs4 fc0 sc1 ls0 ws0">目 录 </div><div class="t m0 x8 h3 y61 ff1 fs1 fc0 sc0 ls0 ws0">摘 要 .................................................................................................................................. 1 </div><div class="t m0 x8 h3 y62 ff2 fs1 fc0 sc0 ls0 ws0">Abstract ..................................................................................................................................... 2 </div><div class="t m0 x8 h3 y63 ff1 fs1 fc0 sc0 ls0 ws0">引 言 .................................................................................................................................. 1 </div><div class="t m0 x8 h3 y64 ff2 fs1 fc0 sc0 ls0 ws0">1 绪论 ....................................................................................................................................... 2 </div><div class="t m0 x17 h3 y65 ff2 fs1 fc0 sc0 ls5 ws0">1.1 对自主移动机器人及其体系结构研究的发展 ...................................................... 2 </div><div class="t m0 x17 h3 y66 ff2 fs1 fc0 sc0 ls5 ws0">1.2 自主移动机器人几种典型的体系结构 .................................................................. 3 </div><div class="t m0 x17 h3 y67 ff2 fs1 fc0 sc0 ls5 ws0">1.3 自主移动机器人中的研究热点 ............................................................................... 6 </div><div class="t m0 x17 h3 y68 ff2 fs1 fc0 sc0 ls5 ws0">1.4 机器人与自动化的关系 ........................................................................................... 9 </div><div class="t m0 x17 h3 y69 ff2 fs1 fc0 sc0 ls5 ws0">1.5 本章小结.................................................................................................................. 10 </div><div class="t m0 x8 h3 y6a ff2 fs1 fc0 sc0 ls0 ws0">2 课题背景 ............................................................................................................................. 11 </div><div class="t m0 x17 h3 y6b ff2 fs1 fc0 sc0 ls5 ws0">2.1 全国机器人大赛 ...................................................................................................... 11 </div><div class="t m0 x18 h3 y6c ff2 fs1 fc0 sc0 ls5 ws0">2.1.1 全国机器人大赛的发展 ............................................................................... 11 </div><div class="t m0 x18 h3 y6d ff2 fs1 fc0 sc0 ls5 ws0">2.1.2 我校参赛情况 ............................................................................................... 11 </div><div class="t m0 x18 h3 y6e ff2 fs1 fc0 sc0 ls5 ws0">2.1.3 双升降翻转型自主移动机器人主体机械结构 ......................................... 12 </div><div class="t m0 x17 h3 y6f ff2 fs1 fc0 sc0 ls5 ws0">2.2 课题背景及开展研究的意义 ................................................................................. 14 </div><div class="t m0 x18 h3 y70 ff2 fs1 fc0 sc0 ls5 ws0">2.2.1 机器人竞赛的出现和发展 ........................................................................... 14 </div><div class="t m0 x18 h3 y71 ff2 fs1 fc0 sc0 ls5 ws0">2.2.2 研究机器人竞赛的意义 ............................................................................... 14 </div><div class="t m0 x17 h3 y72 ff2 fs1 fc0 sc0 ls5 ws0">2.3 本文主要的课题内容 .............................................................................................. 14 </div><div class="t m0 x18 h3 y73 ff2 fs1 fc0 sc0 ls5 ws0">2.3.1 机器人各自主功能模块 .............................................................................. 15 </div><div class="t m0 x18 h3 y74 ff2 fs1 fc0 sc0 ls5 ws0">2.3.2 机器人硬件体系 .......................................................................................... 16 </div><div class="t m0 x18 h3 y75 ff2 fs1 fc0 sc0 ls5 ws0">2.3.3 机器人软件体系 .......................................................................................... 17 </div><div class="t m0 x17 h3 y76 ff2 fs1 fc0 sc0 ls5 ws0">2.4 本章小结.................................................................................................................. 19 </div><div class="t m0 x8 h3 y77 ff2 fs1 fc0 sc0 ls0 ws0">3 自主移动机器人硬件系统设计 ........................................................................................ 20 </div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a></div><div class="pi" data-data='{"ctm":[1.612252,0.000000,0.000000,1.612252,0.000000,0.000000]}'></div></div>