CN109613922B - Bridge stay cable deicing control system - Google Patents
Bridge stay cable deicing control system Download PDFInfo
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- CN109613922B CN109613922B CN201811489693.XA CN201811489693A CN109613922B CN 109613922 B CN109613922 B CN 109613922B CN 201811489693 A CN201811489693 A CN 201811489693A CN 109613922 B CN109613922 B CN 109613922B
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- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 230000008054 signal transmission Effects 0.000 claims abstract description 13
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000001174 ascending effect Effects 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 32
- 238000012423 maintenance Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 13
- 230000000875 corresponding effect Effects 0.000 description 8
- 230000001276 controlling effect Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
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- Engineering & Computer Science (AREA)
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Selective Calling Equipment (AREA)
- Bridges Or Land Bridges (AREA)
Abstract
The bridge stay cable deicing control system comprises an upper computer, a remote signal transmission module, a sensor module, a motion execution module, an image acquisition module, a power supply module and a deicing device, wherein the upper computer judges and compares signals collected by the sensor module after receiving the signals and feeds the signals back to the motion execution module to perform corresponding motions; the sensor module is used for monitoring the running condition of the whole deicing device in real time; the motion execution module and the power supply module are respectively and directly connected with the deicing device; the image acquisition module is used for monitoring road conditions in the ascending direction of the deicing device, the surface condition of the stay cable after deicing and road conditions in the descending direction during the return; the remote signal transmission module is used for transmitting the position, the height, the inclination angle, the situation of the ice layer in front of the deicing device, the situation of the surface of the stay cable after deicing and the information acquired by the image acquisition module to the upper computer. The invention has the advantages of high control precision, high working efficiency, good system stability and the like.
Description
Technical Field
The invention relates to a deicing control system, in particular to a bridge stay cable deicing control system.
Background
With the maturation of bridge construction technology, a plurality of cross-river and cross-sea bridges are built in succession in China and worldwide. For example, the center span of the Russian island bridge is up to 1100 meters, the length of the stay cable is up to 580 meters, and the highest point of the stay cable is close to 100 meters from the ground; 2470 m of the Chinese Jinjiang big bridge tower, 134 m of the main bridge tower. In such a high-altitude environment, when the weather conditions of severe cold, rain and snow and high humidity are met, water vapor and small water drops in the air are easily condensed and accumulated on the surface of the bridge stay cable to form ice cubes. More specifically, in some extremely cold weather areas, the freezing speed is higher. In addition, in order to reduce the erosion and corrosion of wind and rain to the stay cable in the high-altitude environment, some building companies can add a layer of wind resistance material on the surface of the stay cable, and the layer of material can enable the surface of the stay cable to be more prone to forming ice cubes. Aiming at the problems of ice cubes and snow on the outer part of a bridge stay cable, a stay cable deicing device is generated. At present, as the research of the stay cable deicing device is in a starting stage, a set of proper control system for controlling the device to perform corresponding movement is not developed.
Because the working condition of the stay cable deicing device is extremely complex, the inclination angle of each stay cable is different, the thickness of the ice layer on each stay cable is different, and the stay cable deicing device can be very wet and slippery after deicing. The whole device not only needs to do ascending and descending movements along the stay cable, but also needs to do deicing movements. The deicing device is required to collect and sort the different information during operation, and corresponding instruction actions are made in a very short time, so that the automatic deicing of the whole deicing device is realized. Therefore, how to provide a control system for a bridge stay cable deicing device is an important problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art, and provides a bridge stay cable deicing control system, which aims at the operation of a bridge stay cable deicing device, and a detailed control scheme is provided, so that the full-automatic control of the deicing device when the deicing device operates on a stay cable can be realized, and meanwhile, the remote manual operation can be realized. When faults occur in the operation process, the device can be automatically adjusted or returned to the ground for maintenance.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the bridge stay cable deicing control system comprises an upper computer, a remote signal transmission module, a sensor module, a motion execution module, an image acquisition module, a power supply module and a deicing device, wherein the upper computer comprises a display, a control panel and a main controller, and the main controller is used for judging and comparing after receiving various signals collected by the sensor module and feeding back the signals to the motion execution module to perform corresponding motions; the sensor module is used for positioning the position of the deicing device on the stay cable, judging the movement direction and whether ice blocks are obstacles in front of the deicing device, and monitoring the running condition of the whole deicing device in real time; the motion execution module is directly connected with the deicing device and is used for controlling the lifting, descending and deicing actions of the deicing device; the image acquisition module comprises a first high-definition camera and a second high-definition camera, wherein the first high-definition camera is positioned at the upper half part of the deicing device and used for monitoring road conditions in the ascending direction, and the second high-definition camera is positioned at the lower half part of the deicing device and used for monitoring the surface conditions of the stay cable after deicing and road conditions in the descending direction during the return; the remote signal transmission module is used for transmitting the position, the height, the inclination angle, the situation of a front ice layer, the situation of the surface of a stay cable after deicing and the high-definition picture information shot by the first camera and the second camera of the deicing device to the upper computer; the power supply module is directly connected with the deicing device and is used for providing power support for the deicing device.
As a further improvement of the above technical scheme: the deicing device comprises a frame body, and a deicing head, a first traveling mechanism and a second traveling mechanism which are sequentially arranged on the frame body from top to bottom, wherein the climbing motion of the first traveling mechanism and the second traveling mechanism on the frame body drives the deicing head to ascend along a stay cable to perform deicing, and when the deicing head performs deicing motion, the first traveling mechanism and the second traveling mechanism are respectively in a relative static state with the frame body.
Further, the motion execution module comprises a driver, a motor, an encoder and an electric push rod, wherein the motor comprises a first servo motor, a second servo motor, a first stepping motor and a second stepping motor, and the first servo motor and the second servo motor are arranged at the head of the deicing device and are used for executing deicing actions of the deicing head; the first stepping motor and the second stepping motor are respectively arranged on the first travelling mechanism and the second travelling mechanism of the deicing device and are used for executing clamping and loosening actions of the first travelling mechanism and the second travelling mechanism on the stay cables, and the electric push rod is arranged on the deicing device and is used for pushing the whole deicing device to ascend and descend.
Further, the remote signal transmission module comprises a signal converter, a signal receiver and a signal transmitter, wherein the signal receiver is used for transmitting received signals from the ground to the main controller after being processed by the signal converter, and the signal transmitter is used for transmitting information such as the running state of the deicing device after being processed by the signal converter and the position thereof to the ground.
Further, the power supply module comprises a cable, a frequency converter, a transformer and a switch, and the ground power grid system transmits power to the deicing device through the cable and converts the power to working voltage of the deicing device through the transformer.
Furthermore, the power supply module further comprises a standby power supply, and when the power transmission between the ground power supply system and the deicing device is in a problem, the standby power supply can supply power to drive the whole deicing device to return to the ground for maintenance.
Further, the main controller comprises two modes of automatic control and remote manual control, and the priority level of the remote manual control is higher than that of the automatic control; the control panel can manually input program instructions and store the program instructions in corresponding storage positions in the main controller for automatic control, and can modify the existing program by remote manual control of the input instructions; the main controller is a PLC controller.
Furthermore, the first high-definition camera and the second high-definition camera are fixed on the deicing device and form a fixed angle and a fixed distance with the stay cable, and the angle adjustment can be performed in a tiny range through remote manual control.
Further, the bridge stay cable deicing control system further comprises an illuminating lamp, wherein the illuminating lamp is positioned on the upper portion of the deicing device and used for illuminating the working condition in front when the deicing device works at night.
Further, the sensor module comprises an inclination sensor, a laser ranging sensor, a pressure sensor, a direction sensor and a limit sensor, wherein the laser ranging sensor and the pressure sensor are respectively arranged at two ends of the deicing device.
Compared with the prior art, the invention has the advantages that:
1. the invention makes a detailed control scheme aiming at the operation of the bridge stay cable deicing device, can realize full-automatic control and remote manual operation when the deicing device operates on the stay cable, generally controls corresponding actions by a deicing device control system during normal operation, and meets unexpected conditions such as obstacles in front when the deicing device runs, and can remotely modify operation instructions by manpower at the moment;
2. the power supply module of the invention can transmit power from a ground power grid system through a cable and also has a standby power supply, when the power transmission between the ground power supply system and the deicing device is problematic, the standby power supply can supply power to drive the whole deicing device to return to the ground for maintenance;
3. the sensor module adopted by the invention has an external sensing function, so that the running direction, the position, the angle and the like of the whole device on the stay cable are monitored in real time, and the control error of the whole deicing device in the running process is reduced;
4. the two high-definition cameras of the image acquisition module can carry out high-definition shooting on the top and lower visual angles, and transmit pictures and video information back to the ground so as to be convenient for manually judging the situation on the stay cable.
Drawings
FIG. 1 is a schematic diagram of the structural composition of the present invention;
FIG. 2 is a control schematic of the motion execution module of the present invention;
FIG. 3 is a flow chart of the deicing operation of the deicing device of the present invention;
fig. 4 is a schematic structural view of the deicing device according to the present invention.
Legend description:
1. an upper computer; 11. a display; 12. a control panel; 13. a main controller; 2. a remote signal transmission module; 21. a signal converter; 22. a signal receiver; 23. a signal transmitter; 3. a sensor module; 31. an inclination sensor; 32. a laser ranging sensor; 33. a pressure sensor; 34. a direction sensor; 35. a limit sensor; 4. a motion execution module; 41. a servo motor I; 42. a driver; 43. a servo motor II; 44. an encoder; 45. a first stepping motor; 46. a step motor II; 47. an electric push rod; 5. an image acquisition module; 51. a first camera; 52. a second camera; 6. a power supply module; 61. a transformer; 62. a frequency converter; 63. a cable; 7. a deicing device; 71. a frame body; 72. deicing the head; 73. a first travelling mechanism; 74. and a walking mechanism II.
Detailed Description
The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments are shown, for the purpose of illustrating the invention, but the scope of the invention is not limited to the specific embodiments shown.
As shown in fig. 1 to 4, a bridge stay cable deicing control system comprises an upper computer 1, a remote signal transmission module 2, a sensor module 3, a motion execution module 4, an image acquisition module 5, a power supply module 6 and a deicing device 7, wherein the upper computer 1 comprises a display 11, a control panel 12 and a main controller 13, and the main controller 13 performs judgment comparison after receiving various signals collected by the sensor module 3 and feeds back the signals to the motion execution module 4 for corresponding motion; the sensor module 3 is used for positioning the position of the deicing device 7 on the stay cable, judging the movement direction and whether ice blocks are obstacles in front of the deicing device, and monitoring the running condition of the whole deicing device 7 in real time; the motion execution module 4 is directly connected with the deicing device 7 and is used for controlling the lifting, descending and deicing actions of the deicing device 7; the image acquisition module 5 comprises a first high-definition camera 51 and a second high-definition camera 52, wherein the first high-definition camera 51 is positioned at the upper half part of the deicing device 7 and used for monitoring road conditions in the ascending direction, and the second high-definition camera 52 is positioned at the lower half part of the deicing device 7 and used for monitoring surface conditions of the stay cable after deicing and road conditions in the descending direction during the return; the remote signal transmission module 2 is used for transmitting the position, the height, the inclination angle, the situation of the front ice layer and the situation of the surface of the stay cable after deicing of the deicing device 7 to the upper computer 1 according to the high-definition picture information shot by the first camera 51 and the second camera 52; the power supply module 6 is directly connected to the de-icing device 7 for providing power support to the de-icing device 7.
In this embodiment, the deicing device 7 includes a frame 71, and a deicing head 72, a first travelling mechanism 73 and a second travelling mechanism 74 which are sequentially installed on the frame 71 from top to bottom, wherein the climbing motion of the first travelling mechanism 73 and the second travelling mechanism 74 on the frame 71 drives the deicing head 72 to ascend along a stay cable to perform deicing, and when the deicing head 72 performs deicing motion, the first travelling mechanism 73 and the second travelling mechanism 74 are respectively in a relatively static state with the frame 71.
In this embodiment, the motion execution module 4 includes a driver 42, a motor, an encoder 44, and an electric push rod 47, where the motor includes a first servomotor 41, a second servomotor 43, a first stepper motor 45, and a second stepper motor 46, and the first servomotor 41 and the second servomotor 43 are installed on the head of the deicing device 7 and are used for executing the deicing operation of the deicing head 72; the first stepping motor 45 and the second stepping motor 46 are respectively arranged on the first travelling mechanism 73 and the second travelling mechanism 74 of the deicing device 7 and are used for executing clamping and loosening actions of the first travelling mechanism 73 and the second travelling mechanism 74 on stay cables, and the electric push rod 47 is arranged on the deicing device 7 and is used for pushing the whole deicing device 7 to ascend and descend.
In this embodiment, the remote signal transmission module 2 includes a signal converter 21, a signal receiver 22 and a signal transmitter 23, where the signal receiver 22 transmits the received signal from the ground to the main controller 13 after being processed by the signal converter, and the signal transmitter 23 transmits the information such as the operating condition of the deicing device 7 after being processed by the signal converter and its position to the ground.
In this embodiment, the power supply module 6 includes a cable 63, a frequency converter 62, a transformer 61, and a switch, and the ground power grid system transmits power to the deicer 7 through the cable 63, and converts the power into an operating voltage (24V) of the deicer 7 through the transformer 61.
In this embodiment, the power supply module 6 further includes a standby power supply, and when a problem occurs in power transmission between the ground power supply system and the deicing device 7, the standby power supply can supply power to drive the entire deicing device 7 to return to the ground for maintenance.
In this embodiment, the main controller 13 includes two modes of automatic control and remote manual control, and the remote manual control has a higher priority than the automatic control; the control panel 12 can manually input program instructions and store the program instructions in corresponding storage positions in the main controller 13 for automatic control, and can also modify the existing program by remote manual control input instructions; the main controller 13 is a PLC controller.
In this embodiment, the first high-definition camera 51 and the second high-definition camera 52 are fixed on the deicing device 7 and form a fixed angle and a fixed distance with the stay cable, so that the angle adjustment can be performed in a tiny range by remote manual control.
In this embodiment, the bridge stay cable deicing control system further includes an illumination lamp, where the illumination lamp is located on the upper portion of the deicing device 7, and is used to illuminate the working condition in front of the deicing device 7 during night working.
In this embodiment, the sensor module 3 includes an inclination sensor 31, a laser ranging sensor 32, a pressure sensor 33, a direction sensor 34, and a limit sensor 35, and the laser ranging sensor 32 and the pressure sensor 33 are respectively installed at two ends of the deicing device 7.
The working principle of the bridge stay cable deicing control system of the embodiment is as follows (refer to the figure 3):
when the deicing device 7 is required to move upwards, the running direction is judged by the direction sensor 34, the inclination angle is judged by the inclination angle sensor 31, the distance from the upper ice block obstacle and the distance from the lower ground are judged by the laser ranging sensor 32, the information is transmitted to the main controller 13, and after being analyzed by the main controller 13, running instructions are sent to the movement executing module 4 to control the corresponding driver 42 and motor to work.
When the deicing device 7 is lifted to the ice block obstacle position, the pressure sensor 33 collects information of increasing contact pressure between the deicing head 72 of the deicing device 7 and the ice block obstacle, and at this time, the main controller 13 analyzes the information and then sends an operation instruction to the driver 42 and the motor in the motion execution module 4 for driving the deicing head 72 to move.
When judging other obstacles or emergency situations or situations such as problems of the running conditions of the deicing device transmitted back by the remote signal transmission module 2 according to the pictures transmitted back by the first high-definition camera 51 and the second high-definition camera 52, the ground staff can remotely control the deicing device: re-edit the operating instructions of the deicing device 7 or directly manually control the whole deicing device 7 to return to the ground for related maintenance.
Claims (7)
1. The utility model provides a bridge suspension cable deicing control system which characterized in that: the intelligent control system comprises an upper computer (1), a remote signal transmission module (2), a sensor module (3), a motion execution module (4), an image acquisition module (5), a power supply module (6) and a deicing device (7), wherein the upper computer (1) comprises a display (11), a control panel (12) and a main controller (13), and the main controller (13) judges and compares various signals collected by the sensor module (3) after receiving the signals and feeds the signals back to the motion execution module (4) to perform corresponding motions; the sensor module (3) is used for positioning the position of the deicing device (7) on the stay cable, judging the moving direction and whether ice blocks are obstacles in front of the deicing device, and monitoring the running condition of the whole deicing device (7) in real time; the motion execution module (4) is directly connected with the deicing device (7) and is used for controlling the lifting, descending and deicing actions of the deicing device (7); the image acquisition module (5) comprises a first high-definition camera (51) and a second high-definition camera (52), the first high-definition camera (51) is positioned at the upper half part of the deicing device (7) and used for monitoring road conditions in the ascending direction, and the second high-definition camera (52) is positioned at the lower half part of the deicing device (7) and used for monitoring the surface conditions of the stay ropes after deicing and road conditions in the descending direction during the return; the remote signal transmission module (2) is used for transmitting the position, the height, the inclination angle, the situation of a front ice layer, the situation of a stay cable surface after deicing and the high-definition picture information shot by the first camera (51) and the second camera (52) of the deicing device (7) to the upper computer (1); the power supply module (6) is directly connected with the deicing device (7) and is used for providing power support for the deicing device (7); the deicing device (7) comprises a frame body (71), and a deicing head (72), a first travelling mechanism (73) and a second travelling mechanism (74) which are sequentially arranged on the frame body (71) from top to bottom, wherein the first travelling mechanism (73) and the second travelling mechanism (74) drive the deicing head (72) to ascend along a stay cable to perform deicing through climbing motion on the frame body (71), and when the deicing head (72) performs deicing action, the first travelling mechanism (73) and the second travelling mechanism (74) are respectively in a relatively static state with the frame body (71); the remote signal transmission module (2) comprises a signal converter (21), a signal receiver (22) and a signal transmitter (23), wherein the signal receiver (22) is used for transmitting received signals from the ground to the main controller (13) after being processed by the signal converter, and the signal transmitter (23) is used for transmitting information such as the running state of the deicing device (7) after being processed by the signal converter and the position thereof to the ground; the power supply module (6) comprises a cable (63), a frequency converter (62), a transformer (61) and a switch, the ground power grid system transmits power to the deicing device (7) through the cable (63), and the power is converted into working voltage of the deicing device (7) through the transformer (61).
2. The bridge stay cable deicing control system as set forth in claim 1, wherein: the motion execution module (4) comprises a driver (42), a motor, an encoder (44) and an electric push rod (47), wherein the motor comprises a first servo motor (41), a second servo motor (43), a first stepping motor (45) and a second stepping motor (46), and the first servo motor (41) and the second servo motor (43) are arranged at the head part of the deicing device (7) and are used for executing deicing actions of the deicing head part (72); the first stepping motor (45) and the second stepping motor (46) are respectively arranged on a first travelling mechanism (73) and a second travelling mechanism (74) of the deicing device (7) and are used for executing clamping and loosening actions of the first travelling mechanism (73) and the second travelling mechanism (74) on the stay cable, and the electric push rod (47) is arranged on the deicing device (7) and is used for pushing the whole deicing device (7) to ascend and descend.
3. The bridge stay cable deicing control system as set forth in claim 1, wherein: the power supply module (6) further comprises a standby power supply, and when the power transmission between the ground power supply system and the deicing device (7) is in a problem, the standby power supply can supply power to drive the whole deicing device (7) to return to the ground for maintenance.
4. A bridge stay cable deicing control system as claimed in claim 1 or 2, wherein: the main controller (13) comprises two modes of automatic control and remote manual control, and the priority level of the remote manual control is higher than that of the automatic control; the control panel (12) can manually input program instructions and store the program instructions in corresponding storage positions in the main controller (13) for automatic control, and can modify the existing program by remotely manually controlling the input instructions; the main controller (13) is a PLC controller.
5. The bridge stay cable deicing control system of claim 4, wherein: the first high-definition camera (51) and the second high-definition camera (52) are fixed on the deicing device (7) and form a fixed angle and a fixed distance with the stay cable, and the angle adjustment can be performed in a tiny range by remote manual control.
6. A bridge stay cable deicing control system as claimed in claim 1 or 2, wherein: the ice removing device also comprises an illuminating lamp, wherein the illuminating lamp is positioned on the upper part of the ice removing device (7) and is used for illuminating the working condition in front of the ice removing device (7) during night work.
7. A bridge stay cable deicing control system as claimed in claim 1 or 2, wherein: the sensor module (3) comprises an inclination sensor (31), a laser ranging sensor (32), a pressure sensor (33), a direction sensor (34) and a limit sensor (35), wherein the laser ranging sensor (32) and the pressure sensor (33) are respectively arranged at two ends of the deicing device (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811489693.XA CN109613922B (en) | 2018-12-06 | 2018-12-06 | Bridge stay cable deicing control system |
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| CN201811489693.XA CN109613922B (en) | 2018-12-06 | 2018-12-06 | Bridge stay cable deicing control system |
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| CN109613922B true CN109613922B (en) | 2024-03-05 |
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