CN102856827B - Omnibearing ground-space isomeric substation polling system - Google Patents

Omnibearing ground-space isomeric substation polling system Download PDF

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Publication number
CN102856827B
CN102856827B CN201210310915.3A CN201210310915A CN102856827B CN 102856827 B CN102856827 B CN 102856827B CN 201210310915 A CN201210310915 A CN 201210310915A CN 102856827 B CN102856827 B CN 102856827B
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China
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subsystem
ground
air
module
energy
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CN102856827A (en
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吴华
仇晓伟
杨国田
柳长安
刘春阳
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North China Electric Power University
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North China Electric Power University
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Publication of CN102856827B publication Critical patent/CN102856827B/en
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02BCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02B90/20Smart grids as enabling technology in buildings sector
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y04INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
    • Y04SSYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
    • Y04S40/00Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them
    • Y04S40/12Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment
    • Y04S40/126Systems for electrical power generation, transmission, distribution or end-user application management characterised by the use of communication or information technologies, or communication or information technology specific aspects supporting them characterised by data transport means between the monitoring, controlling or managing units and monitored, controlled or operated electrical equipment using wireless data transmission

Abstract

The invention discloses an omnibearing ground-space isomeric substation polling system, belonging to the field of substation polling system design. The technical scheme is that the system comprises a ground polling moving robot subsystem, a space poling flying robot subsystem, a monitoring center and an energy supply depot, wherein the ground polling moving robot subsystem, the space poling flying robot subsystem and the monitoring center are connected together through wireless signals. According to the system, robots are combined to carry out the substation polling, a polling angle is flexible, sight is comprehensive, so that a labor resource is saved, polling difficulties under severe geographical condition and meteorological environments are reduced, polling convenience time is shortened, daily examination efficiency is improved, and a situation of false judgment and maloperation when an independent robot is used for polling is solved; and the system is not only applicable to polling of a substation, and can be expanded to be used for searching and polling of more fields.

Description

The comprehensive cruising inspection system of air-ground isomery formula transformer station
Technical field
The invention belongs to substation inspection system design field, particularly relate to the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station.
Background technology
Inspecting substation equipment is for effectively ensureing substation equipment safe operation, improves power supply reliability and an important process carrying out.For a long time, the substation equipment manual inspection operating type that China's power industry is continued to use, because substation inspection circuit is long, scope is wide, and part transformer station region is remote, height above sea level is higher, geographical conditions and weather environment are severe, often occur the inclement weathers such as strong wind, dense fog, ice and snow, thunderstorm, and this makes the routine of every day at least twice patrol and examine only to lean on manual inspection operational difficulties, efficiency low, handling cost is high, and difficulty action accomplishment is undesirable.And under high pressure, ultra-high pressure condition, manual inspection has very large danger.Therefore people start to explore to robot inspection system.
At present, the transformer substation robot of existence is patrolled and examined and is designed ground mobile robot or flying robot often and complete separately and patrol and examine.Because substation equipment is not of uniform size, comprehensively all devices cannot be patrolled and examined with ground mobile robot; Although and flying robot visual angle flexibility and changeability, the flight time is limited, be difficult to the disposable whole process that completes patrol and examine.Therefore ground mobile robot is combined to cooperate with flying robot patrol and examine, contribute to patrolling and examining various kinds of equipment for a long time, in all directions in transformer station.
Summary of the invention
For the deficiency that the current substation inspection mode described in above-mentioned background technology exists, the present invention proposes the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station.
The comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station, it is characterized in that, described system comprises ground and patrols and examines mobile robot's subsystem, patrols and examines flying robot's subsystem, Surveillance center and energy recharge station in the air; Described ground is patrolled and examined mobile robot's subsystem and is comprised multi-sensor data collection and control module, navigation module, energy management module, motion-control module, the first controller, the first wireless communication module, Task-decomposing and planning module and landing platform; Described flying robot's subsystem of patrolling and examining in the air comprises autonomous flight control module, sensor assembly, energy resource supply and administration module, second controller, the second wireless communication module and image capture module;
Wherein, described multi-sensor data collection and control module, navigation module, energy management module, motion-control module, the first wireless communication module and Task-decomposing are connected with described first controller respectively with planning module; Described multi-sensor data collection and control module are used for the data acquisition and controlling of real time data, control ground and patrol and examine the state that mobile robot obtains surrounding devices; Described motion-control module is patrolled and examined mobile robot move for being controlled ground; Described navigation module is used for patrolling and examining mobile robot to ground and positions, and realizes precisely keeping away barrier and location recognition; Described energy management module is used for supply ground and patrols and examines mobile robot's self energy and the aerial crusing robot energy; First wireless communication module be used for the real time data collected being patrolled and examined mobile robot on ground and patrol and examine between flying robot's device people in the air and ground patrol and examine carry out between mobile robot and Surveillance center mutual; The task that described Task-decomposing and planning module are used for Surveillance center to send is decomposed, task is divided into ground and performs part and aerial execution part, and cook up the equipment of polling path and primary part observation, and patrol and examine flying robot's departure time in the air, observe viewpoint and flight path; Described first controller is controlled ground crusing robot by sending controling instruction;
Described autonomous flight control module, sensor assembly, energy resource supply are connected with described second controller respectively with administration module, the second wireless communication module and image capture module; Described autonomous flight control module is used for the flight attitude that flying robot is patrolled and examined in real-time measurement in the air; Described sensor assembly is for measuring air pressure, temperature, humidity and the wind speed in transformer station; Described energy resource supply and administration module are used for calculating the flight time for patrolling and examining flying robot in the air and providing institute's energy requirement; Described second wireless communication module is used for patrolling and examining the sub and ground of flying robot and Surveillance center in the air and patrols and examines mobile robot's subsystem and communicate, interactive task information, relative position and energy level and the status information of equipment collected, and the steering order accepting that Surveillance center's subsystem sends; Described image capture module is used for collecting device status information; Described second controller is controlled patrolling and examining flying robot in the air by sending controling instruction;
Described first wireless communication module is connected by wireless signal with the second wireless communication module and Surveillance center respectively;
Described second wireless communication module is connected by wireless signal with described first wireless communication module and Surveillance center respectively.
Described Surveillance center comprises data storage server, cruising inspection system software server and display screen; Described data storage server, cruising inspection system software server are connected in turn with display screen; Described data storage server is used for the real time data received to store, and real time data is passed to cruising inspection system software server; Described cruising inspection system software server is used for being sent control information by wireless signal, and by the realtime curve of reception on a display screen.
Described energy recharge station comprises two kinds of charging modes; Described charging modes comprise namely arrive mode of namely filling and timing charging modes; Described energy recharge station is used for for the crusing robot supply energy.
Described energy recharge station comprises some charging racks; Described charging side of cabinet is equipped with automatic rotation dust removal brush, for for clearing up on crusing robot surface.
Top, station, described energy recharge station comprises light shield, during for inclement weather, protects crusing robot.
Described energy management module charging modes comprises energy recharge station supply mode and solar recharging mode.
The invention has the beneficial effects as follows:
1. the present invention utilizes robot to combine to carry out substation inspection, and it is flexible to patrol and examine angle, and sight line is comprehensive, thus saves human resources, reduces to patrol and examine difficulty in severe geographical conditions and weather environment, shortens and patrols and examines the convenient time, raising maintenance repair efficiency.
2. native system is cooperated by vacant lot heterogeneous robot, ground is patrolled and examined mobile robot's subsystem, is patrolled and examined flying robot's subsystem, the mutual real-time, interactive of Surveillance center's subsystem in the air, accurately position, solve erroneous judgement maloperation situation when self-control robot is patrolled and examined.
3. the present invention is not only applicable to substation inspection, can be expanded, and is applied to the search of more areas and patrols and examines.
Figure of description
Fig. 1 is the structural representation of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention;
Fig. 2 is the system architecture block scheme of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention;
Fig. 3 is that mobile robot's subsystem structure schematic diagram is patrolled and examined on the ground of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention;
Fig. 4 be the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention patrol and examine flying robot's subsystem structure schematic diagram in the air;
Fig. 5 is Surveillance center's structural representation of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention;
Wherein: 1-patrols and examines flying robot's subsystem in the air; 2-Surveillance center; 3-landing platform; 4-energy management module; 5-patrols and examines on ground mobile robot's subsystem; 6-energy recharge station.
Embodiment
Below in conjunction with accompanying drawing, preferred embodiment is elaborated.It should be emphasized that following explanation is only exemplary, instead of in order to limit the scope of the invention and apply.
Fig. 1 is the structural representation of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention.In Fig. 1, the comprehensive cruising inspection system of one provided by the invention air-ground isomery formula transformer station comprise patrol and examine flying robot's subsystem 1 in the air, Surveillance center 2, landing platform 3, energy management module 4, ground patrols and examines mobile robot's subsystem 5 and energy recharge station 6.
Fig. 2 is the system architecture block scheme of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention.In Fig. 2, patrol and examine in the air flying robot's subsystem 1, Surveillance center 2 and the ground of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention are patrolled and examined mobile robot's subsystem 5 and are interconnected by wireless signal, achieve and patrol and examine flying robot and Surveillance center and ground in the air and patrol and examine mobile robot's subsystem and communicate, interactive task information, relative position and energy level and the status information of equipment collected, and the steering order accepting that Surveillance center's subsystem sends.
Fig. 3 is that mobile robot's subsystem structure schematic diagram is patrolled and examined on the ground of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention.In Fig. 3, ground is patrolled and examined mobile robot's subsystem and is comprised multi-sensor data collection and control module, navigation module, energy management module, motion-control module, the first controller, the first wireless communication module, Task-decomposing and planning module and landing platform.Described multi-sensor data collection and control module, navigation module, energy management module, motion-control module, the first wireless communication module and Task-decomposing are connected with described first controller respectively with planning module.
Described multi-sensor data collection and control module are used for the data acquisition and controlling of real time data, control ground and patrol and examine the state that mobile robot obtains surrounding devices; Described motion-control module is patrolled and examined mobile robot move for being controlled ground; Described navigation module is used for patrolling and examining mobile robot to ground and positions, and realizes precisely keeping away barrier and location recognition; Described energy management module is used for supply ground and patrols and examines mobile robot's self energy and the aerial crusing robot energy; First wireless communication module be used for the real time data collected being patrolled and examined mobile robot on ground and patrol and examine between flying robot's device people in the air and ground patrol and examine carry out between mobile robot and Surveillance center mutual; The task that described Task-decomposing and planning module are used for Surveillance center to send is decomposed, task is divided into ground and performs part and aerial execution part, and cook up the equipment of polling path and primary part observation, and patrol and examine flying robot's departure time in the air, observe viewpoint and flight path; Described first controller is controlled ground crusing robot by sending controling instruction.
Fig. 4 be the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention patrol and examine flying robot's subsystem structure schematic diagram in the air.In Fig. 4, patrol and examine flying robot's subsystem in the air and comprise autonomous flight control module, sensor assembly, energy resource supply and administration module, second controller, the second wireless communication module and image capture module; Described autonomous flight control module, sensor assembly, energy resource supply are connected with described second controller respectively with administration module, the second wireless communication module and image capture module.
Described autonomous flight control module is used for the flight attitude that flying robot is patrolled and examined in real-time measurement in the air; Described sensor assembly is for measuring air pressure, temperature, humidity and the wind speed in transformer station; Described energy resource supply and administration module are used for calculating the flight time for patrolling and examining flying robot in the air and providing institute's energy requirement; Described second wireless communication module is used for patrolling and examining the sub and ground of flying robot and Surveillance center in the air and patrols and examines mobile robot's subsystem and communicate, interactive task information, relative position and energy level and the status information of equipment collected, and the steering order accepting that Surveillance center's subsystem sends; Described image capture module is used for collecting device status information; Described second controller is controlled patrolling and examining flying robot in the air by sending controling instruction;
Fig. 5 is Surveillance center's structural representation of the comprehensive cruising inspection system of a kind of air-ground isomery formula transformer station provided by the invention.In Fig. 5, described Surveillance center comprises data storage server, cruising inspection system software server and display screen; Described data storage server, cruising inspection system software server are connected in turn with display screen; Described data storage server is used for the real time data received to store, and real time data is passed to cruising inspection system software server; Described cruising inspection system software server is used for being sent control information by wireless signal, and by the realtime curve of reception on a display screen.
Embodiment:
When the work of patrolling and examining starts to carry out, first send task by Surveillance center 2, be transferred to ground by wireless communication module and patrol and examine mobile robot's subsystem 1.Received Task-decomposing is that ground performs part and aerial execution part by the Task-decomposing of this subsystem and planning module immediately, and ground robot starts mobile, cooks up this task path and primary part observation equipment; Aerial execution partial information is transmitting wirelessly to and patrols and examines flying robot's subsystem 5 in the air simultaneously.Patrol and examine flying robot in the air to take off according to the departure time obtained in information, and cook up observation viewpoint and flight path.
Patrol and examine in process, ground is patrolled and examined mobile robot's subsystem 1 and is patrolled and examined that flying robot's subsystem 5 is uninterrupted must be shared by real-time information with by wireless telecommunications and beam back Surveillance center 2 in the air.Information comprises: environmental data collecting information, positional information, self-energy horizontal information and image information.Every setpoint distance, an energy recharge station 6 is installed in transformer station, when ground patrol and examine mobile robot's subsystem by and energy management module 4 monitor self energy not enough and current sun power is not enough to be full of electricity time, it charges independently going in station; And when to patrol and examine flying robot in the air and need the supplementary energy, then patrol and examine landing platform 3 on mobile robot's subsystem 5 by seeking ground, determine landing place and posture position according to identifier, then drop to ground by independent navigation and patrol and examine on mobile robot's landing platform and charge.
When Surveillance center 2 finds to pass back in image or data to occur abnormal conditions, monitor staff can send manual mode operation instruction to patrolling and examining flying robot's subsystem in the air, full angle is carried out to trouble spot and repeats shooting, and urgent ground of adjusting is patrolled and examined near mobile robot to place, trouble spot equipment, makes feasibility process also for flying robot's makeup energy is prepared.Maintainer will reach the spot in time according to passed back positional information simultaneously, process abnormal conditions.
The above; be only the present invention's preferably embodiment, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (6)

1. the comprehensive cruising inspection system of air-ground isomery formula transformer station, is characterized in that, described system comprises ground and patrols and examines mobile robot's subsystem, patrols and examines flying robot's subsystem, Surveillance center and energy recharge station in the air; Described ground is patrolled and examined mobile robot's subsystem and is comprised multi-sensor data collection and control module, navigation module, energy management module, motion-control module, the first controller, the first wireless communication module, Task-decomposing and planning module and landing platform; Described flying robot's subsystem of patrolling and examining in the air comprises autonomous flight control module, sensor assembly, energy resource supply and administration module, second controller, the second wireless communication module and image capture module;
Wherein, described multi-sensor data collection and control module, navigation module, energy management module, motion-control module, the first wireless communication module and Task-decomposing are connected with described first controller respectively with planning module; Described multi-sensor data collection and control module are used for the data acquisition and controlling of real time data, control ground and patrol and examine the state that mobile robot's subsystem obtains surrounding devices; Described motion-control module is patrolled and examined mobile robot's subsystem move for being controlled ground; Described navigation module is used for patrolling and examining mobile robot's subsystem to ground and positions, and realizes precisely keeping away barrier and location recognition; Described energy management module is used for supply ground and patrols and examines mobile robot's subsystem self energy and patrol and examine flying robot's subsystem energy in the air; First wireless communication module be used for the real time data collected being patrolled and examined mobile robot's subsystem on ground and patrol and examine between flying robot's subsystem in the air and ground patrol and examine carry out between mobile robot's subsystem and Surveillance center mutual; The task that described Task-decomposing and planning module are used for Surveillance center to send is decomposed, task is divided into ground and performs part and aerial execution part, and cook up the equipment of polling path and primary part observation, and patrol and examine flying robot's subsystem departure time in the air, observe viewpoint and flight path; Described first controller is patrolled and examined mobile robot's subsystem by sending controling instruction to ground and is controlled;
Described autonomous flight control module, sensor assembly, energy resource supply are connected with described second controller respectively with administration module, the second wireless communication module and image capture module; Described autonomous flight control module is used for the flight attitude that flying robot's subsystem is patrolled and examined in real-time measurement in the air; Described sensor assembly is for measuring air pressure, temperature, humidity and the wind speed in transformer station; Described energy resource supply and administration module are used for calculating the flight time for patrolling and examining flying robot's subsystem in the air and providing institute's energy requirement; Described second wireless communication module is used for patrolling and examining flying robot's subsystem in the air and patrols and examines mobile robot's subsystem with Surveillance center and ground and communicate, interactive task information, relative position and energy level and the status information of equipment collected, and the steering order accepting that Surveillance center sends; Described image capture module is used for collecting device status information; Described second controller is controlled patrolling and examining flying robot's subsystem in the air by sending controling instruction;
Described first wireless communication module is connected by wireless signal with the second wireless communication module and Surveillance center respectively;
Described second wireless communication module is connected by wireless signal with described first wireless communication module and Surveillance center respectively;
The working method of this cruising inspection system is:
When the work of patrolling and examining starts to carry out, first send task by Surveillance center, be transferred to ground by the first wireless communication module and patrol and examine mobile robot's subsystem; The Task-decomposing of mobile robot's subsystem is patrolled and examined on ground and received Task-decomposing is that ground performs part and aerial execution part by planning module immediately, ground is patrolled and examined mobile robot's subsystem and is started mobile, cooks up this task path and primary part observation equipment; Aerial execution partial information is transmitting wirelessly to and patrols and examines flying robot's subsystem in the air simultaneously; Patrol and examine flying robot's subsystem in the air to take off according to the departure time obtained in aerial execution partial information, and cook up observation viewpoint and flight path;
Patrol and examine in process, ground is patrolled and examined mobile robot's subsystem and to be patrolled and examined that flying robot's subsystem is uninterrupted must be shared by real-time information with by wireless telecommunications and beam back Surveillance center in the air; Real-time information comprises: environmental data collecting information, positional information, self-energy horizontal information and image information; Every setpoint distance, an energy recharge station is installed in transformer station, when ground patrol and examine mobile robot's subsystem by energy management module monitors to self energy is not enough and current sun power is not enough to be full of electricity time, it charges independently going in station; And when to patrol and examine flying robot's subsystem in the air and need the supplementary energy, then patrol and examine landing platform on mobile robot's subsystem by seeking ground, determine landing place and posture position according to identifier, then drop to by independent navigation on the landing platform of patrolling and examining mobile robot's subsystem in ground and charge;
When Surveillance center finds to pass back in image or data to occur abnormal conditions, monitor staff sends manual mode operation instruction to patrolling and examining flying robot's subsystem in the air, full angle is carried out to trouble spot and repeats shooting, and urgent ground of adjusting is patrolled and examined near mobile robot's subsystem to place, trouble spot equipment, makes feasibility process and prepares for patrolling and examining flying robot's subsystem makeup energy in the air; Maintainer will reach the spot in time according to passed back positional information simultaneously, process abnormal conditions.
2. the comprehensive cruising inspection system of one according to claim 1 air-ground isomery formula transformer station, is characterized in that, described Surveillance center comprises data storage server, cruising inspection system software server and display screen; Described data storage server, cruising inspection system software server are connected in turn with display screen; Described data storage server is used for the real time data received to store, and real time data is passed to cruising inspection system software server; Described cruising inspection system software server is used for being sent control information by wireless signal, and by the realtime curve of reception on a display screen.
3. the comprehensive cruising inspection system of one according to claim 1 air-ground isomery formula transformer station, is characterized in that, described energy recharge station comprises two kinds of charging modes; Described charging modes comprise namely arrive mode of namely filling and timing charging modes; Described energy recharge station is used for for patrolling and examining mobile robot's subsystem supply energy in ground.
4. the comprehensive cruising inspection system of one according to claim 1 air-ground isomery formula transformer station, is characterized in that, described energy recharge station comprises some charging racks; Described charging side of cabinet is equipped with automatic rotation dust removal brush, clears up for patrolling and examining mobile robot's subsystem surface for ground.
5. the comprehensive cruising inspection system of one according to claim 1 air-ground isomery formula transformer station, is characterized in that, top, station, described energy recharge station comprises light shield, during for inclement weather, patrols and examines mobile robot's subsystem protect ground.
6. the comprehensive cruising inspection system of one according to claim 1 air-ground isomery formula transformer station, is characterized in that, described energy management module charging modes comprises energy recharge station supply mode and solar recharging mode.
CN201210310915.3A 2012-08-28 2012-08-28 Omnibearing ground-space isomeric substation polling system Expired - Fee Related CN102856827B (en)

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