JP3833363B2 - Product processing equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a commodity processing apparatus such as a weighing and packaging apparatus and a dimension measuring method applicable to the apparatus.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there is a measuring and packaging apparatus that sends a product weighed on a weighing conveyor to a packaging device, lifts the product to an upper packaging station with the packaging device, and wraps the product with a film (for example, Japanese Patent Application Laid-Open No. 60-77843). No. 7, JP-A-7-257524). An example of such a weighing and packaging apparatus is shown in FIG.
[0003]
In FIG. 7, 100 is a weighing conveyor, and 200 is a packaging device.
The weighing conveyor 100 includes a weight detector 101 such as a load cell that measures the weight of the product M, and a plurality of drive belts 103 spanned between a pair of pulleys 102 and 102 supported on the upper portion of the weight detector 101. have. Each of these drive belts 103 is fixed with a claw-like protrusion 104 that pushes the end of the tray T and feeds the product M to the packaging device 200 side. Accordingly, the placed product M is weighed and then fed together with the tray T onto the elevator mechanism 201 while sliding on the transport surface 105.
[0004]
The elevator mechanism 201 is arranged directly below the packaging station S and can be moved up and down by an elevating means 208. When the product M is supplied from the weighing conveyor 100, the elevator mechanism 201 ascends and lifts the product M to the packaging station S.
[0005]
On the other hand, prior to the packaging operation, the stretched film F is supplied to the packaging station S by the transfer mechanisms 202 and 202. The film F is in close contact with the upper surface of the product M when the product M is pushed up. In this state, the film folding mechanism 203 moves the front and rear of the film F by a pair of left and right folding plates 204, 204, a rear folding plate 205, a round bar-shaped front folding member 206, and a pusher 207 (Fig. 7). The left and right side edge portions are folded into the bottom side of the tray T to package the product M.
[0006]
In such stretch packaging, in order to improve the consumption efficiency of the film F and the finished state of the packaging, the width F2 and the film length (cut) of the film F in FIG. 8 are matched with the depth D and width W of the tray T in FIG. Length) F1 is set. Here, since it is troublesome to input both the dimensions D and W of the tray T for each packaging, the size of the tray T is detected and measured before packaging (see Japanese Patent Publication No. 6-2494). ). An example of this measurement method is shown in FIG.
[0007]
As shown in FIG. 9, a number of reflective photoelectric detectors 300 are provided, and the width of the tray T is calculated from the number of detectors 300 on which the reflected light is incident while the tray T moves on the weighing conveyor 100 (FIG. 7). W is calculated. On the other hand, transmission type photoelectric detectors 301 and 302 are provided, and the depth D of the tray T is calculated from the time when the light is shielded and the conveying speed while the tray T moves on the weighing conveyor 100 (FIG. 7).
[0008]
However, this type of packaging apparatus wraps a large number of products M per minute, whereas measuring the dimensions of the tray T after the tray T has moved inconveniently cannot shorten the cycle time. There is.
[0009]
Therefore, a television camera is provided above the weighing conveyor 100 in FIG. 7, and the tray T is imaged from above, and the dimensions of the tray T are obtained by image processing (see, for example, JP-A-7-257524). . In this prior art, since the dimension of the tray T can be measured before the tray T is conveyed, the cycle time can be shortened. In addition, unlike the case of using a plurality of image pickup apparatuses, since the dimensions are calculated by performing image processing on the video from one television camera, the calculation of the dimensions is easy.
[0010]
[Problems to be solved by the invention]
However, in the prior art, since the dimension of the tray T is calculated from the video imaged by one television camera, the exact dimension of the tray cannot be measured. For example, the size of the tray T having a high height is measured to be larger than the actual size.
[0012]
By the way, in the packaging apparatus which detects the dimension of a tray with the above-mentioned one camera, the reference | standard dimension of a tray is calculated from the image | photographed image. Therefore, the reference dimension itself is likely to be inaccurate, for example, the reference dimension itself is set and registered with a large tray T. On the other hand, as described above, since the measured value measured for each package is also inaccurate, both the reference dimension and the measured value to be compared are inaccurate values, and thus an error tends to occur in the tray specification.
[0013]
Accordingly, a main object of the present invention is to provide a commodity processing apparatus capable of accurately identifying a tray.
[0014]
Next, an example of the dimension detection method according to the present invention will be described prior to the description of the configuration of the present invention.
As shown in FIG. 3B, when a tray having a height H is imaged and the planar dimension W of the tray T is to be measured, the apparent dimension Wa becomes a measured value. Here, the planar dimension W of the actual tray T and the apparent dimension Wa are represented by the relationship of the following equation (1).
Wa: W = Ha: (Ha−H) (1)
However, Ha-H: distance (height) from the imaging device to the edge Te of the tray
Ha: Distance (height) from the imaging device to the conveyance surface 105
From the above equation (1), the actual dimension W of the tray T is expressed by the following equation (2).
W = Wa · (Ha−H) / Ha (2)
Therefore, by knowing the distance (Ha−H) from the imaging device to the edge Te of the tray, the actual size of the tray can be known.
[0015]
[Means for Solving the Problems]
The product processing apparatus of the present invention sets and registers the processing content of each product in advance for each tray in the product processing device that performs predetermined processing on the product placed on the tray based on the type of tray. The rectangular and long side dimensions of the tray are input and set and registered from the input operation means, and both the dimensions of the tray are detected prior to the product processing, and the measured values obtained by the detection and the settings are registered. In addition, the type of tray is specified by comparing the set registration values of both dimensions, the processing content of the product is selected based on the specified type of tray, and the tray to be used for each product is set and registered in advance. while, in identifying the tray, a product processing apparatus which allows to find and select the tray from the type of the tray in accordance with the type of product, the product processing apparatus, weighing conveyor A weighing and packaging device for feeding the product weighed in step 1 to the packaging device and packaging the product with a film by the packaging device, and detecting the both dimensions of the tray when the weight detector of the weighing conveyor is stabilized. characterized in that it was.
[0016]
According to the present invention, since a tray can be preferentially selected from trays corresponding to the type of product, candidates are narrowed down in advance, so that the tray can be specified quickly and accurately.
Further, according to the present invention, since the size of the tray is detected when the weight detector on which the tray is placed is stabilized, there is no possibility of erroneously detecting the operator's hand and clothes.
[0017]
In the present invention, an imaging device that captures an image of a product placed on a tray from above, a calculation unit that calculates apparent dimension information of the tray obtained by the imaging, and height information detection that detects the height information of the tray A tray, the apparent dimension information of the tray is corrected by the height information to obtain the planar dimension information of the tray, and the product is subjected to predetermined processing based on the dimension information. preferable.
According to this aspect, since the apparent dimension of the tray is corrected by height information or the like, the size of the tray can be accurately and quickly adjusted by one image pickup device and the height information detector, that is, by a simple device. Can be measured.
Note that the "size information apparent tray" is not limited to such planar dimensions Wa apparent tray of FIG. 3 (a), also includes location information of an apparent edge P _N.
[0019]
In the present invention, it is preferable to detect the height information of the product, and calculate the height of the product protruding above the edge of the tray based on the height information of the product and the height of the tray. .
According to this aspect, the film length can be changed according to the height by calculating the height of the product protruding upward from the edge of the tray.
[0020]
In the present invention, for the rectangular side dimension and the long side dimension, the measured value is compared with the set registered value of each tray, and the absolute value of the difference with respect to the rectangular side dimension and the difference with respect to the long side dimension are compared. It is preferable to select a tray having the smallest sum of the absolute values of.
[0021]
In the present invention, for each of the rectangular side dimension and the long side dimension, the measured value is compared with a set registered value of each tray, and the absolute value of the difference between the rectangular side dimensions and the long side dimension are compared. It is preferable to select a tray when the absolute values of the differences are each smaller than a predetermined threshold value, and to perform processing according to the measured value of the tray when the absolute value is larger than the predetermined threshold value.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows a weighing / packaging apparatus as an example of a commodity processing apparatus. The measuring / packaging mechanism of the apparatus is the same as that of the conventional example shown in FIG. 7. In the following description, different parts will be mainly described.
In this figure, a plurality of film rolls Fr having different widths F2 (FIG. 8) are housed in the main body frame 20, and any one film roll Fr is selected and the film F is fed to the packaging station S. Can be unwound. A labeling machine 13 is disposed above the packaging station S. The label applicator 13 applies the label issued from the label printer 12 to the surface of the film F at the packaging station S in FIG. The label printer 12 and the label applicator 13 shown in FIG. 1 are supported by an upper support frame 21 so as to be movable in the left-right direction X, and are also supported so as to be pivotable about a vertical axis so as to apply a label. The position (pasting position) and the direction of the label can be selected.
[0023]
In FIG. 2, an ultrasonic distance meter 1 and a CCD camera (imaging device) 2 are provided above the weighing conveyor 100. The ultrasonic distance meter 1 constitutes a distance information detector and a height information detector according to the present invention, and transmits an ultrasonic pulse of a predetermined frequency downward, from the product M and the tray T. The shortest distance to the product M and the tray T is calculated according to the time until the reflected wave is received, and is output to the microcomputer 3 in FIG. The CCD camera 2 images a tray T placed on a predetermined area on the weighing conveyor 100 at a predetermined angle from a predetermined position above as shown in FIG. 3A to obtain luminance information (imaging information). Is output.
[0024]
In FIG. 4, in addition to the ultrasonic distance meter 1 and the CCD camera 2 described above, the microcomputer 3 has a measuring means 106, a touch screen (input operation means) 10, a stroke key portion (input operation) via an interface (not shown). (Means) 11, a label printer 12, and a weighing / packaging value controller 14 are connected. The microcomputer 3 includes a CPU 4 and a memory 5. The CPU 4 includes an image processing means 40, a dimension correcting means 41, and a tray specifying means 42. On the other hand, the memory 5 includes a product information storage unit 50 and a tray information storage unit 51.
[0025]
In the product information storage unit 50, one or a plurality of tray numbers to be used are stored in addition to the product name and unit price for each product in correspondence with the product call number shown in FIG. It is remembered. The product name and unit price information is used as label printing information.
[0026]
On the other hand, in the tray information storage unit 51 of FIG. 5B, for each tray, the size of the tray including the width (long side dimension) W and the depth (rectangular side dimension) D of the tray and the processing of various products. The contents are stored. The processing contents are determined by the weight of the tray for taring, the film number (film width) determined by the depth of the tray, the film length (cut length) determined by the tray width, and the size of the tray. There is a label position and orientation.
The information in the product information storage unit 50 and the tray information storage unit 51 is set and registered by inputting from the touch screen 10 and the stroke key unit 11 in FIG.
[0027]
The image processing means 40 of FIG. 4 detects the position of the apparent planar edge of the tray T from the luminance information input from the CCD camera 2 by the method described below, and further, the position of the edge From this, the apparent size of the tray T is calculated.
The first image storage unit 52 of the memory 5 stores in advance an image of the weighing conveyor 100 in which the tray T is not placed, while the second image storage unit 53 stores the image of FIG. An image with the tray T placed thereon is stored. The image processing means 40 in FIG. 4 obtains the position of the edge Te on the tray T from the change in luminance of the first and second image storage units 52 and 53.
[0028]
On the other hand, in the imaging area A of the CCD camera 2 in FIG. 3A, first and second reference lines C1 and C2 are set vertically and horizontally, and both the reference lines C1 and C2 and the end of the imaging area A are set. the intersection O _N and, on the basis of the distance between the intersection P _N of both reference lines C1, C2 and edge Te, the apparent size of the tray T is calculated. For example, the apparent width Wa of the tray T is calculated by the following equation (3).
Wa = Wo− (W ₁ + W ₂ ) (3)
[0029]
The dimension correcting means 41 in FIG. 4 corrects the apparent dimension (width) Wa of the tray T in FIG. 3B by the height to the tray (Ha−H) according to a predetermined arithmetic expression. Obtain the sizes W and D of the tray.
For example, the width W of the tray T is calculated by the following equation (2).
W = Wa · (Ha−H) / Ha (2)
[0030]
The tray specifying means 42 in FIG. 4 compares the size (measured values) W and D of the tray T obtained by the detection and calculation with the registered set value of the tray stored in FIG. 5B. The tray number (type of tray) is specified by the following procedure.
First, the tray specifying means 42 reads out the tray number corresponding to the commodity call number input from the stroke key section 11, and the measured values for the tray width W and depth D of the read tray numbers are respectively measured. Are compared with the set registered value to obtain an absolute value ΔW of the difference with respect to the width W and an absolute value ΔD of the difference with respect to the depth D. Subsequently, the tray specifying means 42 sets the tray having the smallest sum of the absolute values ΔW + ΔD as candidates to be specified.
[0031]
Next, the tray specifying means 42 determines whether or not the absolute values ΔW and ΔD are both within a predetermined measurement error range (threshold value) ΔA, and if both are within the measurement error range ΔA. In this case, it is determined that the imaged tray is that of the tray number. On the other hand, if one or both of the absolute values ΔW and ΔD are larger than the predetermined measurement error range ΔA, the tray specifying means 42 does not specify the tray number and is the same as described above for all types of trays. The tray number is specified from all the types of trays. If no tray number can be specified from all trays, no tray is specified.
[0032]
When the tray number is specified, the CPU 4 reads the processing content of the product of the tray number from the tray information storage unit 51 in FIG. Perform output, etc. The CPU 4 calculates the weight of the product M by subtracting the tare weight of the specified tray number from the measured value, and causes the label printer 12 to print the weight information. In addition, the weighing / packaging controller 14 packages the product M based on the film number and the film length of the specified tray number. Moreover, the label sticking machine 13 sticks a label according to the output sticking position and orientation. If the tray number is not specified, the CPU 4 calculates the processing content of the product according to a predetermined arithmetic expression, and outputs the processing content to the weighing packaging price controller 14 or the like.
[0033]
Next, the operation of the above configuration will be described.
First, a registration mode is set in advance, and a product call number, product name, unit price, tray number to be used, and the like are set and registered for each product from the touch screen 10 and the stroke key unit 11. Further, for each tray number, the depth, width, tare weight, film number to be used, film length, attachment position and orientation are set and registered from the touch screen 10 and the stroke key section 11.
[0034]
On the other hand, when packaging a product, first, the packaging mode is set.
Next, after the operator inputs the calling number of the product to be packaged, the tray T on which the product M is placed is placed on the weighing conveyor 100 in FIG. 4, and the weighing means 106 outputs the output from the weight detector 101 to the weight. Is converted to and output to the microcomputer 3. The microcomputer 3 captures luminance information from the CCD camera 2 and height information from the ultrasonic distance meter 1 when the weight signal is stabilized (the weight detector 101 is stabilized). Here, since the trays T are successively placed on the weighing conveyor 100 by the operator, the CCD camera 2 captures the operator's hands and clothes, and the ultrasonic rangefinder 1 reflects with the hands and clothes. However, when the weight detector 101 is stabilized, that is, when the operator's hand leaves the tray T, the brightness information and the height information are captured. Errors due to hands and clothes are less likely to occur.
[0035]
Thereafter, the CPU 4 detects the edge Te of the tray based on the above-described method, obtains the apparent dimension of the tray from the edge Te, corrects the apparent dimension with the height information, and determines the width W and the depth of the tray. D is determined, and the tray is specified. According to the product processing content of the specified tray No., the product M is stretch-wrapped together with the tray T and the label is attached at the same time.
[0036]
In the above-described configuration, the apparent planar dimension of the tray is corrected by the height information as in the above-described formula (2), so that the accurate dimension of the tray can be measured. In addition, the size can be measured by one CCD camera 2 and the ultrasonic distance meter 1, and the calculation formula is simple. Therefore, the measurement can be performed quickly with a simple device and software.
[0037]
In particular, as shown in FIG. 3A, if reference lines C1 and C2 are set vertically and horizontally in the imaging area A and the dimensions of the tray T are measured on the reference lines C1 and C2, the number of measurement points is remarkably reduced. Therefore, quick measurement is possible.
[0038]
In the present embodiment, the ultrasonic distance meter 1 is used as the height information detector. However, in the present invention, a laser distance meter or other detectors may be used. For example, a plurality of transmissive photoelectric detectors can be arranged in the height direction, and the height can be obtained from the number of light-shielded detectors.
[0039]
However, if the height information is obtained by using a laser distance meter or the like instead of the ultrasonic distance meter 1, the directivity is too strong and the distance at a place where the product on the tray is not placed is measured. The distance to the edge Te cannot be measured accurately. Further, if it is attempted to obtain height information with a large number of photoelectric detectors, it is not possible to reduce the height resolution, and it is necessary to develop special software or the like.
[0040]
On the other hand, in the present embodiment, since the ultrasonic rangefinder 1 having a small directivity is used, the distance to the tray edge Te can be accurately and easily determined by one detector. In addition, since the ultrasonic waves are reflected not only on the edge of the tray but also on the upper surface of the product M, the distance to the product M is often measured, but in general, the height of the contents of the high tray is high, On the other hand, the contents of the low tray are low so there is no problem.
[0041]
In this embodiment, since the value input from the input operation means such as the touch screen 10 or the stroke key unit 11 is used as the reference dimension to specify the tray, the reference dimension of each tray is accurate, Since the actual tray dimensions are measured rather than the apparent dimensions of the tray, the tray can be accurately identified.
[0042]
By the way, the tray to be used is determined in advance depending on the type of product (product name or the like). Here, in the above-described embodiment, first, the tray is specified by selecting the tray from the types of trays corresponding to the product call numbers. Accordingly, since the tray candidates specified by the product call number are narrowed down in advance, the tray specification is accurate and quick.
[0043]
By the way, in the said embodiment, the height to goods may be detected instead of the edge of a tray. Moreover, since it is preferable not only to change the film length depending on the height of the tray but also to change the film length depending on the height of the product, it is preferable to detect the height of the product. An example of the method is shown in FIG.
[0044]
In FIG. 6A, the first and second ultrasonic distance meters 1A and 1B are installed above the placement area of the tray T. The first ultrasonic distance meter 1A is disposed immediately above the edge Te of the tray T, and detects the distance Dt to the edge Te of the tray. On the other hand, the second ultrasonic distance meter 1B is disposed in the vicinity of the approximate center of the tray T, and detects the distance Dm to the apex of the product M. The microcomputer 3 (FIG. 4) obtains the height H of the tray T from the distance Dt to the edge Te. Further, the microcomputer 3 (FIG. 4) obtains the height Hm from the following equation (4).
Hm = Dt−Dm (4)
[0045]
In addition, as shown in FIG. 6B, the ultrasonic distance meter 1 can be provided above the downstream where the tray T passes, and the height H and the height Hm of the tray T can be obtained. That is, the microcomputer 3 (FIG. 4) determines that the tray edge Te exists when the distance output from the ultrasonic rangefinder 1 has suddenly decreased, and determines the tray information from the height information at the edge position. Find the height. Further, the microcomputer 3 (FIG. 4) determines that there is a peak at a position where the height is higher than the height of the edge Te and the maximum height, and obtains the height Hm from the above equation (4).
[0046]
Further, as shown in FIG. 6C, the height and height Hm of the tray edge Te may be obtained by scanning the ultrasonic distance meter 1 in the direction Y orthogonal to the transport direction X of the tray T. As described above, when detecting the height Hm of the product in addition to the height of the tray, it is better to increase the directivity of the ultrasonic distance meter 1 (decrease the incident angle of the ultrasonic wave). preferable.
[0047]
Further, in the above embodiment, the planar dimensions of the tray having a substantially square shape in plan view are measured. However, the dimensions of the object to be measured other than the tray, such as an oval or other shape, are measured using the method of the present invention. May be. Further, the height and length of the object to be measured may be measured by measuring the horizontal distance to the object to be measured instead of the planar dimensions (width and depth).
[0048]
Further, in the embodiment it has been corrected by the height information dimensions Wa apparent in FIG. 3 (b), corrected by the apparently flat edge height information the position P _N in shown in FIG. 3 (a) May be. That is, in the present invention, information relating to the dimensions of the tray (dimension information) may be corrected with the height information.
[0049]
In the present embodiment, the weighing and packaging pricing device is described as an example of the product processing device. However, the present invention can be applied to a product processing device having one or more functions of weighing, packaging, and pricing. it can. Further, the height information detector and the imaging device may be provided in a stock conveyor or the like upstream of the weighing conveyor.
[0050]
【The invention's effect】
The product processing device of the present invention does not specify the tray by comparing the apparent dimensions of the tray imaged by the imaging device, but inputs the actual rectangular side and long side of the tray from the input operation means, so that the correct reference A value is obtained, and instead of detecting the dimensions of the rectangular and long sides of the apparent tray, both actual sides are detected and measured, and the measured value is compared with the correct reference value. Therefore, it is difficult to make an error in specifying the tray.
[0051]
In particular, according to the present invention, a tray can be searched and preferentially selected from trays corresponding to the type of product, so that candidates are narrowed down in advance, so that the tray can be identified quickly and accurately. be able to.
[0052]
In addition, if the dimensions of the tray are measured with an ultrasonic distance meter, not only will the cost be reduced, but the ultrasonic wave has a small directivity that spreads moderately, so the edges and contents of the tray ( Product) is easy to detect, so the height detection accuracy is accurate.
[0053]
Further, if the tray size information and height information are detected when the weight detector on which the tray is placed is stabilized, there is no possibility of erroneously detecting the operator's hand and clothes.
[0054]
Note that if the height of the product protruding above the edge of the tray is calculated, the film length can be changed according to the height.
[Brief description of the drawings]
FIG. 1 is a schematic perspective view of a weighing packaging price attaching device according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view showing the same mechanism.
FIG. 3 is a diagram for explaining a method of calculating the width and depth of a tray from apparent dimensions.
FIG. 4 is a schematic configuration diagram of a weighing package pricing apparatus.
FIG. 5 is a chart showing stored contents of a product and tray information storage unit.
FIG. 6 is a conceptual diagram illustrating an example of a detection method in the case of detecting the height of a product in addition to the edge height of a tray.
FIG. 7 is a cross-sectional view showing a schematic mechanism of a conventional weighing and packaging apparatus.
FIG. 8 is a perspective view showing a packaging method.
FIG. 9 is a perspective view showing a tray dimension detection method.
[Explanation of symbols]
1: Ultrasonic rangefinder (distance information detector, height information detector)
2: CCD camera (imaging device)
10, 11: input means 100: weighing conveyor 101: weight detector 106: weighing means T: tray (object to be measured)
Te: Edge M: Product Wa: Apparent width (dimensions)
W: Tray width H: Tray height

Claims (5)

In a product processing apparatus that performs predetermined processing based on the type of tray for products placed on a tray,
Set and register the processing content of the product for each tray in advance, and input and set the rectangular side dimension and long side dimension of the tray from the input operation means for each tray,
Prior to processing the product, both the dimensions of the tray are detected, the measured value obtained by the detection is compared with the registered setting values of the both dimensions registered, and the type of the tray is specified, Select product processing based on the identified tray type,
A product processing apparatus that pre-sets and registers a tray to be used for each product, and enables searching and selecting a tray from among the types of trays according to the type of the product when specifying the tray Because
The product processing device includes a weighing and packaging device that sends a product weighed on a weighing conveyor to a packaging device and wraps the product with a film by the packaging device,
A product processing apparatus configured to detect both dimensions of the tray when the weight detector of the weighing conveyor is stabilized . In Claim 1, the imaging device which images the goods on a tray from above,
Calculating means for calculating apparent dimension information of the tray obtained by the imaging;
A height information detector for detecting the height information of the tray;
A product processing apparatus characterized in that apparent dimensional information of the tray is corrected by the height information to obtain planar dimensional information of the tray, and a predetermined process is performed on the product based on the dimensional information. . In claim 2,
A product processing apparatus that detects height information of a product and calculates a height of the product protruding above the edge of the tray based on the height information of the product and the height of the tray. In any one of Claims 1 thru | or 3 ,
For each of the rectangular side dimension and the long side dimension, the measured value is compared with the set registered value of each tray, and the absolute value of the difference with respect to the rectangular side dimension and the absolute value of the difference with respect to the long side dimension are calculated. A product processing device that selects the tray with the smallest sum. In any one of Claims 1 thru | or 3 ,
For each of the rectangular side dimension and the long side dimension, the measured value is compared with a set registered value of each tray, and the absolute value of the difference in the rectangular side dimension and the absolute value of the difference in the long side dimension are A product processing apparatus that selects a tray when it is smaller than a predetermined threshold value, and performs processing according to the measured value of the tray when it is larger than the predetermined threshold value.

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