CN107516143A - A kind of preferred AGV handling systems in path based on dijkstra's algorithm - Google Patents

A kind of preferred AGV handling systems in path based on dijkstra's algorithm Download PDF

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Publication number
CN107516143A
CN107516143A CN201710608792.4A CN201710608792A CN107516143A CN 107516143 A CN107516143 A CN 107516143A CN 201710608792 A CN201710608792 A CN 201710608792A CN 107516143 A CN107516143 A CN 107516143A
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agv
dijkstra
algorithm
handling systems
wireless communication
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Inventor
王玉林
魏国亮
宋燕
丁家林
刘嘉莹
肖洒
鲍海锋
李玉齐
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00Administration; Management
    • G06Q10/04Forecasting or optimisation, e.g. linear programming, "travelling salesman problem" or "cutting stock problem"
    • G06Q10/047Optimisation of routes, e.g. "travelling salesman problem"
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D63/00Motor vehicles or trailers not otherwise provided for
    • B62D63/02Motor vehicles
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
    • G06F3/0412Digitisers structurally integrated in a display
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KGRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/067Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
    • G06K19/07Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips

Abstract

A kind of preferred AGV handling systems in path based on dijkstra's algorithm, including workshop, AGV dollies, wireless communication module and the host computer for running dijkstra's algorithm, it is characterised in that:Post colour band track and be provided with multiple stations at station in either inside ground, the colour band track is used for AGV dollies and reads the realization navigation of ground colour band routing information with optical sensor (7), and AGV dollies are mainly made up of vehicle frame (3), controller module (1), obstacle avoidance system, drive mechanism, elevating mechanism, driven pulley (10), wireless communication module and touch-screen (2).Realize colour band to track mode, the positioning method of RFID label tag, and the use of touch-screen 2 also greatly facilitates Field Force's debugging.It is equally applicable in more AGV handling systems, it can be good at avoiding AGV mutually to collide and opposite collision problem, and run according to optimal route, in actual use, only need a small amount of personnel to complete the transport of goods, reduce cost, improve operating efficiency.

Description

A kind of preferred AGV handling systems in path based on dijkstra's algorithm
Technical field
The present invention is a kind of preferred AGV handling systems in path based on dijkstra's algorithm, belongs to a kind of Dijkstra and calculates The preferred AGV handling systems technical field in path of method.
Background technology
AGV (Automated Guided Vehicle, AGV) is equipped with the homing guidance devices such as electromagnetism or photoelectricity, energy It is enough along defined guide path automatic running, there is programming and mode selector, safeguard protection and various transfer functions to remove Robot is transported, with chargeable lead-acid accumulator etc. for its power resources;Its traveling road is set up using colour band or electromagnetic path Line.
With the development of China's automated workshop system, AGV carriers are got over as the key link in workshop system Carry out more applications.AGV carriers facilitate automatic management, improve system flexibility and flexibility, section mainly for delivery of link About manpower, improve operating efficiency.But AGV, in the rail path circumstances work of complexity, the selection in path is improper, can drop unavoidably Low production efficiency.Therefore, it is imperative that the optimal AGV handling systems in efficient path are researched and developed.
The content of the invention
The present invention provides a kind of preferred AGV handling systems in path based on dijkstra's algorithm, can optimize AGV operation Path, while avoid AGV from mutually colliding, the preferred AGV handling systems in cost-effective path.
The invention provides a kind of preferred AGV handling systems in path based on dijkstra's algorithm, including workshop, AGV small Car, wireless communication module and the host computer for running dijkstra's algorithm, it is characterised in that:Post colour band rail in either inside ground Road and multiple stations at the station are provided with, the colour band track is used for AGV dollies and reads ground with optical sensor (7) Ribbon path information realization navigates, and AGV dollies are mainly by vehicle frame (3), controller module (1), obstacle avoidance system, drive mechanism, liter Descending mechanism, driven pulley (10), wireless communication module and touch-screen (2) are formed, and touch-screen (2) is installed on headstock part, and with Controller module (1) electrically connects, for showing relevant parameter, current state and the warning message of AGV carriers, vehicle frame (3) Front bottom end is provided with optical sensor (7), for reading colour band trace information on ground and then feeding back to controller module (1), vehicle frame (3) side is provided with RFID reader (8), for detecting the RFID tag card on ground, realizes certain bits Positioning is put, driven pulley (10) is four universal wheels, is played a supportive role, and obstacle avoidance system includes a main avoidance sensor (4) and four Individual obstacle avoidance aiding sensor (5), main avoidance sensor (4) are installed on headstock front end, and four obstacle avoidance aiding sensors (5) are pacified respectively Loaded on car body both sides, drive mechanism include two motors (13), two reductors (14), two shaft couplings (15), two Driving wheel (12), reductor (14) axle are connected with driving wheel (12) by shaft coupling (15), two motors (13) respectively by Vehicle-mounted controller module (1) control, using differential type of drive, for realizing that AGV dollies advance, retreat and turned to, lifting Mechanism includes lifting motor (18), reductor (14), two lifts (19), power transmission shaft (20), lifting guide shaft (21), objective table (16), material detection sensor (17), two lifts (19) are connected by power transmission shaft (20), for realizing synchronization lifting, are carried The lower surface of thing platform (16) is provided with four lifting guide shafts (21), and for balance lifting platform, material detection sensor (17) is used for Whether detection AGV dollies have arrived at material frame jacking position, and wireless communication module respectively has one at station and on AGV dollies Block, it is used cooperatively to realize the communication of station and AGV dollies.
The preferred AGV handling systems in path provided by the invention based on dijkstra's algorithm, can also have such special Sign:Wherein, the oriented electronic map of train track built with topological approach is stored with host computer, train track is oriented electronically Figure is node V0, the V1 ... that the right-angled intersection point in AGV trolley travelling tracks and work station point are set to oriented electronic map, is used Weighted graph G=<V, E>Represent, wherein V represents node V0, V1 ... the set in electronic map, and E is each node in electronic map Between side set.
The preferred AGV handling systems in path provided by the invention based on dijkstra's algorithm, can also have such special Sign:Wherein, the right-angled intersection point in the running track of AGV dollies and work station point post RFID tag card.
The preferred AGV handling systems in path provided by the invention based on dijkstra's algorithm, can also have such special Sign:Wherein, optical sensor (7) is infrared reflection optical sensor.
The preferred AGV handling systems in path provided by the invention based on dijkstra's algorithm, can also have such special Sign:Wherein, wireless communication module (6) is installed on car body front end, for the either extraneous communication letter of real-time reception host computer order Breath, and feed back car body running status to host computer.
The preferred AGV handling systems in path provided by the invention based on dijkstra's algorithm, can also have such special Sign:Wherein, wireless communication module is Zigbee wireless communication modules.
The preferred AGV handling systems in path provided by the invention based on dijkstra's algorithm, can also have such special Sign, in addition to:The power module (9) being made up of 48V lead-acid accumulators, for powering.
The effect of invention and effect
According to the preferred AGV handling systems in the path involved in the present invention based on dijkstra's algorithm, the present invention is for the back of the body Deficiency in scape technology is improved, and is realized colour band and is tracked mode, the positioning method of RFID label tag, and touch-screen 2 Debugged using Field Force is also greatly facilitated.The preferred AGV handling systems in the path based on dijkstra's algorithm of the present invention exist It is equally applicable in more AGV handling systems, it can be good at avoiding AGV mutually to collide and opposite collision problem, and according to most Major path is run, and in actual use, is only needed a small amount of personnel to complete the transport of goods, is reduced cost, improves work effect Rate, the market competitiveness is improved, it is versatile, suitable for polytype workshop handling system.
Brief description of the drawings
Fig. 1 is AGV of the present invention structure chart;
Fig. 2 is AGV of the present invention top view;
Fig. 3 is the AGV driving mechanism structure figures of the present invention;
Fig. 4 is the AGV elevating mechanism structure charts of the present invention;And
Fig. 5 is the part workshop electronic map schematic diagram of the present invention.
Wherein:1 is Vehicle Controller module, and 2 be touch-screen, and 3 be vehicle frame, and 4 be main avoidance sensor, and 5 be obstacle avoidance aiding Sensor, 6 be wireless communication module, and 7 be optical sensor, and 8 be RFID reader, and 9 be battery, and 10 be driven pulley, 11 be damping spring, and 12 be driving wheel, and 13 be motor, and 14 be reductor, and 15 be shaft coupling, and 16 be objective table, and 17 be thing Expect detection sensor, 18 be lifting motor, and 19 be lift, and 20 be power transmission shaft, and 21 be lifting guide shaft.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, it is real below Example combination accompanying drawing is applied to be specifically addressed the preferred AGV handling systems in path of the present invention based on dijkstra's algorithm.
A kind of preferred AGV handling systems in path based on dijkstra's algorithm, including workshop, AGV dollies, wireless telecommunications mould Block and the host computer for running dijkstra's algorithm.
Either inside ground posts colour band track and is provided with multiple stations at station, and the colour band track is used for AGV dollies read ground colour band routing information with optical sensor (7) and realize navigation.
AGV dollies are mainly by vehicle frame (3), controller module (1), obstacle avoidance system, drive mechanism, elevating mechanism, driven pulley (10), wireless communication module and touch-screen (2) are formed.
Touch-screen (2) is installed on headstock part, and is electrically connected with controller module (1), for showing the phase of AGV carriers Related parameter, current state and warning message.
The front bottom end of vehicle frame (3) is provided with optical sensor (7), then anti-for reading colour band trace information on ground Feed controller module (1).
Vehicle frame (3) side is provided with RFID reader (8), for detecting the RFID tag card on ground, realizes special Positioning is put in positioning.
Driven pulley (10) is four universal wheels, is played a supportive role.
Obstacle avoidance system includes a main avoidance sensor (4) and four obstacle avoidance aiding sensors (5), main avoidance sensor (4) headstock front end is installed on, four obstacle avoidance aiding sensors (5) are respectively arranged in car body both sides.
Drive mechanism includes two motors (13), two reductors (14), two shaft couplings (15), two driving wheels (12), reductor (14) axle is connected with driving wheel (12) by shaft coupling (15).
Two motors (13) are controlled by vehicle-mounted controller module (1) respectively, using differential type of drive, for reality Existing AGV dollies advance, retreat and turned to.
Elevating mechanism is led including lifting motor (18), reductor (14), two lifts (19), power transmission shaft (20), lifting Axle (21), objective table (16), material detection sensor (17).
Two lifts (19) are connected by power transmission shaft (20), for realizing synchronization lifting.
The lower surface of objective table (16) is provided with four lifting guide shafts (21), for balance lifting platform.
Material detection sensor (17) is used to detect whether AGV dollies have arrived at material frame jacking position.
Wireless communication module respectively has one piece at station and on AGV dollies, be used cooperatively to realize station and AGV dollies Communication.
Specifically, AGV structures are as shown in figure 1, the wireless communication module 6 positioned at the front end of vehicle frame 3 is used to receive host computer hair The mission bit stream gone out, and be communicated to Vehicle Controller module 1 and perform, car body running status in itself and positional information are also via nothing Line communication module 6 feeds back to host computer and made a decision.
Headstock bottom is provided with optical sensor 7, can read colour band trace information on ground and then feed back to vehicle-mounted control Device module 1 processed, Vehicle Controller module 1 control the rotation of two motors 13, enable car body all the time along colored band respectively Move track.
The side of vehicle frame 3 is provided with RFID reader 8, for detecting the RFID tag card on ground, and feeds back to car Set controller module 1, so as to obtain car body current location information.
Main avoidance sensor 4 is installed on headstock front end, scans ranging using infrared LEDs, non-contact measurement, its is effective Sphere of action is 3m semicircle.Four obstacle avoidance aiding sensors 5 are respectively arranged in car body both sides, are non-contact infrared avoidance It sensor, can be used to detect the obstacle information of car body both sides, fed back according to main avoidance sensor 4 and obstacle avoidance aiding sensor 5 The obstacle information returned, Vehicle Controller module 1 will produce corresponding warning message and pass to the progress acousto-optic report of touch-screen 2 It is alert, and control drive mechanism to slow down or stop, until barrier is removed, while warning message also can be via wireless communication module 6 feed back to host computer.
As shown in Figure 1, Figure 3, AGV chassis of vehicle bodies are provided with four universal wheels and played as driven pulley 10, while to car body Supporting role.It is drive mechanism in the middle part of AGV car bodies, drive mechanism includes two reductors 14, two of motor 13, two and joined 15, two solid driving wheels 16 of axle device, working method is driven using bi-motor differential, two motors 13 are respectively by vehicle-mounted control Device module 1 processed is controlled, and the axle of reductor 14 is connected with driving wheel 12 by shaft coupling 15.
As Figure 1 and Figure 4, the top of AGV vehicle frames 3 is provided with elevating mechanism, and elevating mechanism includes objective table 16, material is examined Sensor 17, lifting motor 18, two lifts 19, power transmission shaft 20, lifting guide shafts 21 are surveyed, wherein two lifts 19 pass through biography Moving axis 20 is connected, and power is provided by lifting motor 18, realizes synchronization lifting, and the lower surface of objective table 16 is provided with four lifting guide shafts 21, for balance lifting platform.When AGV car bodies reach the " loaded " position specified, if material detection sensor 17 detects that AGV is removed When fortune car has arrived at material frame jacking position, corresponding signal will be sent to Vehicle Controller module 1, then Vehicle Controller Module 1 controls lifting motor 18 to complete corresponding actions.
The oriented electronic map of train track environment is as shown in figure 5, A, B, C, D, E, F, G, H in oriented electronic map are ground Node in figure, the direction of arrow of line segment represents the direct of travel of AGV one-way movements between each node, in actual workshop condition A represents the general node in warehouse, other node on behalf work station points or AGV operations, and call button is fitted with station, when When AGV is needed at station, call button is pressed, work station point information is transmitted to by wireless communication module by host computer, host computer root According to AGV starting point (warehouse) and terminal (work station point) information, the most short of AGV transport vehicles is calculated with dijkstra's algorithm Obtained optimal path information is passed through wireless communication transmission to AGV Vehicle Controllers by path either optimal path, host computer And then AGV is moved according to specified path.AGV charging zones are provided with warehouse, can be returned automatically when AGV completes carrying task The charging zone charging returned in warehouse.The guide rail that colour band known to length is run as AGV is all posted between each node, in workshop Coloured track is pasted in portion, and AGV dollies travel in orbit.
For the oriented electronic map in workshop, calculating source node with dijkstra's algorithm, into map, each node is most During short path, relation and weights between each node in oriented electronic map are stored with adjacency matrix.Oriented electronics Ground Fig. 5 adjacency matrix W represents as follows:
W=[0 5 inf inf inf inf inf inf;
inf 0 6 inf inf inf inf inf;
inf inf 0 8 4 inf inf inf;
inf inf inf 0 inf inf inf 10;
inf inf inf 9 0 6 inf inf;
inf 5 inf inf inf 0 inf inf;
6 inf inf inf inf 7 0 inf;
inf inf inf inf 14 inf 12 0;]
Wherein inf represents not to be directly connected between two nodes, or the unidirectional limitation in direction.Dijkstra's algorithm is thought Want to write realization in host computer, the order of increasing lengths produces algorithm by path, by way of this example, by algorithm optimization path Optimal path from start node A to destination node H is:A-B-C-D-H, optimal distance are:29.AGV backhaul route can root Reasonable circuit colour band arrangement is made according to factory floor actual conditions.
When some station needs AGV, call button is pressed, call signal will be transferred to by wireless communication module Position machine system, master system call Dijkstra to calculate according to starting point (warehouse) and target point (calling station) information known Obtained path optimizing information command is transferred to Vehicle Controller mould by method path optimizing, host computer by wireless communication module Block so that Vehicle Controller controls AGV to be moved to along the path optimized at calling station;Vehicle Controller module is to upper AGV position is shown after machine transmission position signalling on host computer;The oriented electronics of train track environment is built with topological approach Map, the selection of AGV optimal paths is realized with dijkstra's algorithm.Path of the invention based on dijkstra's algorithm is preferred It AGV handling systems, can be good at avoiding AGV from mutually colliding, and run according to optimal route, in actual use, only needed A small amount of personnel can complete the transport of goods, reduce cost, improve operating efficiency, improve the market competitiveness, versatile, Suitable for polytype workshop delivery system.
When AGV dollies are when avoidance sensor detects barrier during traveling, dolly will stop motion and Alert is until staff removes barrier;When dolly electric quantity of power supply is less than predetermined value, carrying task is completed After will automatic running charged to charging zone.
The effect of embodiment and effect
The preferred AGV handling systems in the path based on dijkstra's algorithm according to involved by the present embodiment, the present invention are directed to Deficiency in background technology is improved, and is realized colour band and is tracked mode, the positioning method of RFID label tag, and touch-screen 2 Use also greatly facilitate Field Force debugging.The preferred AGV handling systems in the path based on dijkstra's algorithm of the present invention It is equally applicable in more AGV handling systems, it can be good at avoiding AGV mutually to collide and opposite collision problem, and according to Optimal route is run, and in actual use, is only needed a small amount of personnel to complete the transport of goods, is reduced cost, improve work Efficiency, the market competitiveness is improved, it is versatile, suitable for polytype workshop handling system.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding And modification, the scope of the present invention is by appended claims and its equivalent limits.

Claims (7)

1. a kind of preferred AGV handling systems in path based on dijkstra's algorithm, including workshop, AGV dollies, wireless communication module And the host computer of operation dijkstra's algorithm, it is characterised in that:
The either inside ground posts colour band track and is provided with multiple stations at station, and the colour band track is used for AGV dollies read ground colour band routing information with optical sensor (7) and realize navigation,
The AGV dollies are mainly by vehicle frame (3), controller module (1), obstacle avoidance system, drive mechanism, elevating mechanism, driven pulley (10), wireless communication module and touch-screen (2) are formed,
The touch-screen (2) is installed on headstock part, and is electrically connected with the controller module (1), for showing AGV carriers Relevant parameter, current state and warning message,
The front bottom end of the vehicle frame (3) is provided with optical sensor (7), then anti-for reading colour band trace information on ground Feed controller module (1),
Vehicle frame (3) side is provided with RFID reader (8), for detecting the RFID tag card on ground, realizes certain bits Put positioning,
The driven pulley (10) is four universal wheels, is played a supportive role,
The obstacle avoidance system includes a main avoidance sensor (4) and four obstacle avoidance aiding sensors (5), the main avoidance sensing Device (4) is installed on headstock front end, and four obstacle avoidance aiding sensors (5) are respectively arranged in car body both sides,
The drive mechanism includes two motors (13), two reductors (14), two shaft couplings (15), two driving wheels (12), reductor (14) axle is connected with the driving wheel (12) by the shaft coupling (15),
Two motors (13) are controlled by the vehicle-mounted controller module (1) respectively, using differential type of drive, are used In realizing that the AGV dollies advance, retreat and turn to,
The elevating mechanism is led including lifting motor (18), reductor (14), two lifts (19), power transmission shaft (20), lifting Axle (21), objective table (16), material detection sensor (17),
Two lifts (19) are connected by the power transmission shaft (20), for realizing synchronization lifting,
The lower surface of the objective table (16) is provided with four lifting guide shafts (21), for balance lifting platform,
The material detection sensor (17) is used to detect whether the AGV dollies have arrived at material frame jacking position,
The wireless communication module respectively has one piece at the station and on the AGV dollies, is used cooperatively to realize the work Position and the communication of the AGV dollies.
2. the preferred AGV handling systems in the path according to claim 1 based on dijkstra's algorithm, it is characterised in that:
Wherein, the oriented electronic map of train track built with topological approach is stored with the host computer,
The oriented electronic map of train track is to set the right-angled intersection point in the AGV trolley travelling tracks and work station point For node V0, the V1 ... of oriented electronic map, with weighted graph G=<V, E>Representing, wherein V represents the node V0 in electronic map, V1 ... gathers, and E is the set on side between each node in electronic map.
3. the preferred AGV handling systems in the path according to claim 2 based on dijkstra's algorithm, it is characterised in that:
Wherein, the right-angled intersection point in the running track of the AGV dollies and the work station point post RFID tag card.
4. the preferred AGV handling systems in the path according to claim 1 based on dijkstra's algorithm, it is characterised in that:
Wherein, the optical sensor (7) is infrared reflection optical sensor.
5. the preferred AGV handling systems in the path according to claim 1 based on dijkstra's algorithm, it is characterised in that:
Wherein, the wireless communication module (6) is installed on car body front end, either extraneous logical for the order of real-time reception host computer Information is interrogated, and car body running status is fed back to the host computer.
6. the preferred AGV handling systems in the path according to claim 1 based on dijkstra's algorithm, it is characterised in that:
Wherein, described wireless communication module is Zigbee wireless communication modules.
7. the preferred AGV handling systems in the path according to claim 1 based on dijkstra's algorithm, it is characterised in that also Including:
The power module (9) being made up of 48V lead-acid accumulators, for powering.
CN201710608792.4A 2017-07-24 2017-07-24 A kind of preferred AGV handling systems in path based on dijkstra's algorithm Pending CN107516143A (en)

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CN109144629B (en) * 2018-07-13 2021-03-30 华南理工大学 Establishing and working method of flexible production line AGV system semantic web
CN109178143A (en) * 2018-08-24 2019-01-11 通彩智能科技集团有限公司 A kind of non-contact wheel of ball-type magnetic suspension and the trolley using the wheel
CN110356760A (en) * 2018-12-04 2019-10-22 天津京东深拓机器人科技有限公司 Control method and device based on transfer robot
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CN111231748A (en) * 2020-01-23 2020-06-05 奥动新能源汽车科技有限公司 Battery replacement system and battery replacement system control method
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