CN111552287A - Unmanned ship automatic energy supply system and method based on intelligent dock - Google Patents
Unmanned ship automatic energy supply system and method based on intelligent dock Download PDFInfo
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Abstract
The invention relates to an unmanned ship automatic energy supply system and method based on an intelligent dock, wherein the method comprises the following steps: 1) receiving and docking; 2) energy source supply; 3) the undocking is released. The invention realizes the autonomous energy supply of the unmanned ship through the cooperative dispatching management of the monitoring center on the intelligent dock and the unmanned ship, solves the problem that the unmanned ship is insufficient in energy when long-term task execution is performed, can adopt a plurality of unmanned ships to perform sustainable and all-weather operation in large-area water areas, avoids back-and-forth transportation, saves cost, is unattended in all directions, and greatly improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to an unmanned ship automatic energy supply system and method based on an intelligent dock.
Background
The intelligent ship is the development trend of ships, and unmanned ships have the advantages of high efficiency, low investment, flexible application and the like, so that the intelligent ship has wide application prospects in various fields such as water quality monitoring, water area surveying and mapping, security patrol and the like. However, for some special task scenes requiring sustainable, all-weather operation and unattended operation, a single unmanned ship has many problems no matter endurance or management scheduling, and the requirements are often difficult to meet, which is also a hot spot problem that people pay attention to and urgently solve for a long time.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems in the prior art, the invention provides an unmanned ship automatic energy supply method based on an intelligent dock, which realizes the unmanned ship automatic energy supply through the cooperative scheduling management of the intelligent dock and the unmanned ship by a monitoring center, and can adopt a plurality of unmanned ships to carry out sustainable and all-weather operation in large-area water areas when the problem that the unmanned ship is insufficient in energy source for long-term task execution is solved, thereby avoiding transportation back and forth, saving cost, realizing all-round unattended operation and greatly improving working efficiency.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
an unmanned ship automatic energy supply system based on an intelligent dock is designed, and comprises an unmanned ship, the intelligent dock and a monitoring center; the intelligent dock is provided with a dock controller, a wireless charging device and an executing mechanism, wherein the executing mechanism comprises a ship berthing mechanism, a rear baffle mechanism and a wireless charging mechanism, the wireless charging mechanism and the wireless charging device are used for charging the unmanned ship, and the intelligent dock is used for storing and releasing the unmanned ship by driving the executing mechanism; the intelligent dock is also provided with a weather station device and video monitoring equipment; the unmanned ship is provided with a ship end controller; the intelligent dock and the unmanned ship are both provided with 4G communication modules, and the monitoring center is connected with a public network or a private network through a router and is communicated with the intelligent dock and the unmanned ship; the intelligent dock and the unmanned ship are both provided with wireless measurement and control modules, and the wireless measurement and control modules are used for realizing real-time communication interaction between the intelligent dock and the unmanned ship in a short distance range; the intelligent dock receiving monitoring center configures matching modes of the intelligent dock and the unmanned ship under advanced authority, wherein the matching modes comprise a one-to-one matching mode and a one-to-many matching mode; the intelligent dock receives the intervention of the monitoring center on the current execution task under the high authority and the remote processing of the abnormal condition.
The invention also provides an automatic energy supply method for the unmanned ship based on the intelligent dock, which comprises the following steps:
step 1), accommodating and docking: the unmanned ship automatically returns when the electric quantity is low or returns to the vicinity of the intelligent dock under the dispatching of the monitoring center, docking is requested, the intelligent dock is communicated with the intelligent dock through the wireless measurement and control module, and the intelligent dock guides the unmanned ship to automatically enter the intelligent dock through the driving execution mechanism;
step 2), energy supply: the intelligent dock controls the unmanned ship to enter a dormant state through the wireless measurement and control module, and starts the wireless charging device to realize electric energy supply and state monitoring of the unmanned ship;
step 3), releasing undocking: the intelligent dock receives the dispatching of the monitoring center, awakens the unmanned ship through the wireless measurement and control module, releases the unmanned ship through the execution mechanism and finishes the undocking.
Preferably, the receiving docking of step 1) specifically comprises the following steps:
step 1-1), after the electric quantity is insufficient or a return instruction of a monitoring center is received, the unmanned ship returns to the vicinity of an intelligent dock and initiates a docking request;
step 1-2), the intelligent dock responds to the request, releases the ship berthing mechanism to be below the water surface, opens the rear baffle mechanism and sends an instruction with a docking condition to the unmanned ship;
step 1-3), the unmanned ship automatically enters an intelligent dock through the guidance of a perception identification system after receiving the instruction; the intelligent dock monitors the position of the hull of the unmanned ship through in-dock sensing until the unmanned ship completely enters the ship berthing mechanism, and then the intelligent dock withdraws the rear baffle mechanism and sends a ship stopping instruction to the unmanned ship;
step 1-4), stopping the propeller after the unmanned ship receives a ship stopping instruction;
and 1-5), after the intelligent dock receives the unmanned ship stopping information, lifting the ship stopping mechanism to enable the unmanned ship to be lifted off the water surface to a specified position.
Preferably, the energy supply of step 2) specifically includes the following steps:
and 2-1), the intelligent dock controls the unmanned ship to enter a dormant state through the wireless measurement and control module.
Step 2-2), the intelligent dock drives the wireless charging mechanism to move close to the unmanned ship, the charging position is adjusted, the wireless charging device is started, and the unmanned ship supplies electric energy;
step 2-3), the intelligent dock communicates with the unmanned ship through the wireless measurement and control module, collects the electric quantity of a battery at the unmanned ship, monitors the charging state in real time, and sends the electric quantity to a monitoring center;
and 2-4), when the intelligent dock detects that the unmanned ship is fully charged, disconnecting charging and waiting for the management and dispatching of the monitoring center.
Preferably, the releasing undocking of step 3) specifically comprises the following steps:
step 3-1), after receiving the undocking instruction of the monitoring center, the intelligent dock withdraws the wireless charging mechanism and drives the ship berthing mechanism to descend so that the unmanned ship descends to the water surface;
step 3-2), the intelligent dock wakes up the unmanned ship through the wireless measurement and control module;
step 3-3), the ship-end controller of the unmanned ship restores 4G communication, and initiates a docking request to the intelligent dock after receiving the docking task of the monitoring center;
step 3-4), the intelligent dock responds to the undocking request, opens the rear baffle mechanism and releases the undocking of the unmanned ship;
and 3-5), after the unmanned ship drives out of the intelligent dock, the intelligent dock withdraws the rear baffle mechanism, and meanwhile, the ship mooring mechanism is lifted to the initial position of the water surface, and the empty dock stands by.
Preferably, in the step 1) to the step 3), the monitoring center may make a calendar task and issue the calendar task to the unmanned ship at a preset time, and the unmanned ship automatically completes operations including, but not limited to, undocking, operation, return voyage docking, and automatic energy supply according to the calendar task.
Preferably, in the step 3), the monitoring center detects weather information before issuing the docking task, and stops scheduling the job task in severe weather.
Preferably, in the step 1) and the step 2), the video monitoring device monitors the parking state and the surrounding environment of the unmanned ship in the dock in real time, and the safety of the process of docking the unmanned ship and automatically supplying energy is guaranteed in multiple directions.
(III) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
1. the working efficiency is improved: the invention provides an automatic energy supply method for an unmanned ship based on an intelligent dock, which meets the task requirement of long-term continuous or all-weather operation in a special task environment, avoids the time cost occupied by the transportation of the unmanned ship to and fro and the frequent dispatching of personnel, and greatly improves the operation efficiency.
2. The cost is reduced: the invention provides an automatic energy supply method for an unmanned ship based on an intelligent dock, which can greatly reduce the cost no matter in the allocation and scheduling of personnel or in the implementation, operation and maintenance of operation tasks of the unmanned ship.
3. Safe parking: no matter face the insufficient energy problem or face other special circumstances such as bad weather, unmanned ship can both in time respond to or accept the dispatch, independently berths intelligent dock to realize the remote monitoring of multiple modes based on intelligent dock, ensured unmanned ship's the safe and reliable of berthing.
4. Unmanned management: the invention provides an automatic energy supply method for unmanned ships based on intelligent docks, and provides an integrated automatic implementation scheme for task scheduling, monitoring, parking and energy supply of single or multiple unmanned ships.
Drawings
Fig. 1 is a schematic diagram of an unmanned ship automatic energy supply system based on an intelligent dock according to an embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
As shown in fig. 1, the invention provides an unmanned ship automatic energy supply system based on an intelligent dock, which comprises an unmanned ship, an intelligent dock and a monitoring center. The intelligent dock is provided with a dock controller, a wireless charging device and an executing mechanism, wherein the executing mechanism comprises a ship berthing mechanism, a back baffle mechanism and a wireless charging mechanism, the wireless charging mechanism and the wireless charging device are used for charging an unmanned ship, the intelligent dock is used for storing and releasing the unmanned ship by driving the executing mechanism, the unmanned ship is ensured to be safely berthed in the intelligent dock, and meanwhile, automatic energy supply is realized, wherein the ship berthing mechanism is used for placing the unmanned ship, and the unmanned ship is lifted or lowered into water by lifting and descending the ship berthing mechanism; the rear baffle mechanism realizes the stabilizing effect of the unmanned ship hull in the mooring mechanism; the wireless charging mechanism is mainly used for adjusting the position of the wireless charging device, so that the charging efficiency is ensured. The intelligent dock is also provided with a weather station device and video monitoring equipment; the unmanned ship is provided with a ship end controller; the intelligent dock and the unmanned ship are both provided with 4G communication modules, and the monitoring center is connected with a public network or a private network through a router and is communicated with the intelligent dock and the unmanned ship. The intelligent dock and the unmanned ship are both provided with wireless measurement and control modules, and the wireless measurement and control modules are used for realizing real-time communication interaction between the intelligent dock and the unmanned ship in a short distance range. The monitoring center is a remote centralized control system and can monitor and manage a plurality of intelligent docks and unmanned ships simultaneously. The intelligent dock receives the matching modes of the intelligent dock and the unmanned ship configured by the monitoring center under the advanced authority, wherein the matching modes comprise a one-to-one matching mode and a one-to-many matching mode, under the one-to-one matching mode, the intelligent dock only responds to a docking request of the designated unmanned ship to realize energy supply in the dock, and the configuration proportion requirement of the unmanned ship and the intelligent dock is one-to-one; under the one-to-many matching mode, the intelligent dock can respond to docking requests of a plurality of unmanned ships, and in the mode, a monitoring center needs to make a good scheduling scheme according to the parking state of the unmanned ships in the dock, so that the intelligent dock parking and energy supply resources are efficiently applied. The intelligent dock receives the intervention of the monitoring center on the current execution task under the high authority and the remote processing of the abnormal condition. If abnormality occurs in the dock collaborative docking process, the monitoring center can remotely control and process the collaborative execution process of the intelligent dock under a high authority, and remote troubleshooting is carried out by combining intelligent alarm through the monitoring center.
The invention also provides an automatic energy supply method for the unmanned ship based on the intelligent dock, which comprises the following steps:
step 1), accommodating and docking: the unmanned ship automatically returns to the ground or returns to the place near the intelligent dock under the dispatching of the monitoring center when the electric quantity of the unmanned ship is insufficient, docking is requested, the intelligent dock is communicated with the intelligent dock through the wireless measurement and control module, and the intelligent dock guides the unmanned ship to automatically enter the intelligent dock through the driving execution mechanism. The step 1) of receiving and docking specifically comprises the following steps:
step 1-1), when the electric quantity is lower than 30% or after receiving a return command of a monitoring center, the unmanned ship returns to the vicinity of the intelligent dock and initiates a docking request. In the embodiment of the invention, the threshold value of the low power of the unmanned ship can be flexibly adjusted according to the actual situation. When the unmanned ship has low electric quantity, the unmanned ship automatically triggers the return journey to initiate a docking request to supplement energy under the condition of not needing the dispatching of a monitoring center. In addition, the docking scheduling of the unmanned ship can be directly initiated by the scheduling of the monitoring center, and when the unmanned ship completes the task in the same day or special treatment is needed in extreme weather such as typhoon, hail, rainstorm and the like, even if the electric quantity of the unmanned ship is sufficient, the monitoring center can issue a preset return-to-navigation task or remotely control the unmanned ship to return to the docking.
Step 1-2), the intelligent dock responds to the request, releases the ship berthing mechanism to be below the water surface, opens the rear baffle mechanism and sends an instruction with a docking condition to the unmanned ship;
step 1-3), the unmanned ship automatically enters an intelligent dock through the guidance of a perception identification system after receiving the instruction; the intelligent dock monitors the position of the hull of the unmanned ship through in-dock sensing until the unmanned ship completely enters the ship berthing mechanism, the back baffle mechanism is retracted, and a ship stopping instruction is sent to the unmanned ship. If the unmanned ship guides the docking to be abnormal through the perception identification system, the intelligent dock responds to a new docking request of the unmanned ship and allows the unmanned ship to perform the docking for multiple times. The intelligent dock monitors data of a plurality of sensors in real time, and the intelligent dock can ensure that an unmanned ship hull can stably and safely enter a ship berthing mechanism by combining a docking guiding state of the unmanned ship and detecting the ultrasonic detection of a dock entrance position and the contact detection of a front end position of the ship berthing mechanism, so that the safety and reliability of the docking process are ensured.
Step 1-4), stopping the propeller after the unmanned ship receives a ship stopping instruction;
and 1-5), after the intelligent dock receives the unmanned ship stopping information, lifting the ship stopping mechanism to enable the unmanned ship to be lifted off the water surface to a specified position.
Step 2), energy supply: the intelligent dock controls the unmanned ship to enter a dormant state through the wireless measurement and control module, and the wireless charging device is started to realize electric energy supply and state monitoring of the unmanned ship. The energy supply of the step 2) specifically comprises the following steps:
and 2-1), the intelligent dock controls the unmanned ship to enter a dormant state through the wireless measurement and control module. The dormant state means that the power supplies of the main controller and each device of the unmanned ship are disconnected, so that the whole unmanned ship is in a low power consumption state, the electric quantity state of the ship end of the unmanned ship is collected in real time only through the wireless measurement and control module, and the safety and reliability of the charging process of the unmanned ship are guaranteed.
And 2-2), driving the wireless charging mechanism to move close to the unmanned ship by the intelligent dock, adjusting the charging position, starting the wireless charging device, and supplying electric energy to the unmanned ship. In the invention, the wireless charging device is an electric device for realizing wireless charging; the wireless charging mechanism is a dock actuating mechanism, a charging coil matched with the wireless charging device is installed at the tail end of the mechanism, before wireless charging is carried out, the intelligent dock drives the wireless charging mechanism to move and approach to the unmanned ship, and the charging coil and a receiving coil of the unmanned ship are adjusted to be in a proper charging position and range, so that the charging efficiency of the unmanned ship is guaranteed to the maximum extent. In addition, the electric energy for charging the unmanned ship by the intelligent dock is from solar energy and commercial power, the intelligent switching between the solar energy and the commercial power is realized by adopting an energy management method based on the dock controller, the full utilization of the solar energy and the electric energy can be ensured, and the environment-friendly and energy-saving effects are achieved.
Step 2-3), the intelligent dock communicates with the unmanned ship through the wireless measurement and control module, collects the electric quantity of a battery at the unmanned ship, monitors the charging state in real time, and sends the electric quantity to a monitoring center;
and 2-4), when the intelligent dock detects that the unmanned ship is fully charged, disconnecting charging and waiting for the management and dispatching of the monitoring center.
Step 3), releasing undocking: the intelligent dock receives the dispatching of the monitoring center, awakens the unmanned ship through the wireless measurement and control module, releases the unmanned ship through the execution mechanism and finishes the undocking. The step 3) of releasing undocking specifically comprises the following steps:
step 3-1), after receiving the undocking instruction of the monitoring center, the intelligent dock withdraws the wireless charging mechanism and drives the ship berthing mechanism to descend so that the unmanned ship descends to the water surface;
and 3-2), awakening the unmanned ship by the intelligent dock through the wireless measurement and control module. The waking up of the unmanned ship means that the intelligent dock remotely controls a ship-end controller and a device power supply of the unmanned ship to be electrified and normally started through the wireless measurement and control module, and normal connection of 4G communication is achieved. The intelligent dock monitors the starting and communication connection conditions of the unmanned ship in real time, and if the unmanned ship is woken up abnormally, the dock performs resetting processing. If the repeated resetting processing is invalid or the hardware abnormality of the unmanned ship is monitored, the intelligent dock sends an alarm to the monitoring center in time.
Step 3-3), the ship-end controller of the unmanned ship restores 4G communication, and initiates a docking request to the intelligent dock after receiving the docking task of the monitoring center;
step 3-4), the intelligent dock responds to the undocking request, opens the rear baffle mechanism and releases the undocking of the unmanned ship;
and 3-5), after the unmanned ship drives out of the intelligent dock, the intelligent dock withdraws the rear baffle mechanism, and meanwhile, the ship mooring mechanism is lifted to the initial position of the water surface, and the empty dock stands by.
In the embodiment of the present invention, in order to prevent the unmanned ship from encountering severe weather during undocking, in step 3), the monitoring center detects weather information before issuing the undocking task, and stops scheduling the operation task in severe weather.
In the embodiment of the invention, in order to enable the unmanned ship to execute the task requirement in real time, in the steps 1) to 3), the monitoring center can make a calendar task and issue the calendar task to the unmanned ship within preset time, and the unmanned ship automatically completes operations including but not limited to undocking, operation, return to the air and docking and automatic energy supply according to the calendar task.
In the embodiment of the invention, in order to ensure the safety of the unmanned ship docking and automatic energy supply processes in multiple directions, in the step 1) and the step 2), the video monitoring device monitors the docking state and the surrounding environment of the unmanned ship in the dock in real time. The monitoring center detects meteorological information before issuing a docking task, operation task scheduling is stopped in severe weather, and the video monitoring equipment monitors the parking state and the surrounding environment of the unmanned ship in the dock in real time, so that the safety of the automatic energy supply process of the unmanned ship is guaranteed in multiple directions.
While the present invention has been described with reference to the particular embodiments illustrated in the drawings, which are meant to be illustrative only and not limiting, it will be apparent to those of ordinary skill in the art in light of the teachings of the present invention that numerous modifications can be made without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. An unmanned ship automatic energy supply system based on an intelligent dock is characterized by comprising an unmanned ship, an intelligent dock and a monitoring center; the intelligent dock is provided with a dock controller, a wireless charging device and an executing mechanism, wherein the executing mechanism comprises a ship berthing mechanism, a rear baffle mechanism and a wireless charging mechanism, the wireless charging mechanism and the wireless charging device are used for charging the unmanned ship, and the intelligent dock is used for storing and releasing the unmanned ship by driving the executing mechanism; the intelligent dock is also provided with a weather station device and video monitoring equipment; the unmanned ship is provided with a ship end controller; the intelligent dock and the unmanned ship are both provided with 4G communication modules, and the monitoring center is connected with a public network or a private network through a router and is communicated with the intelligent dock and the unmanned ship; the intelligent dock and the unmanned ship are both provided with wireless measurement and control modules, and the wireless measurement and control modules are used for realizing real-time communication interaction between the intelligent dock and the unmanned ship in a short distance range; the intelligent dock receiving monitoring center configures matching modes of the intelligent dock and the unmanned ship under advanced authority, wherein the matching modes comprise a one-to-one matching mode and a one-to-many matching mode; the intelligent dock receives the intervention of the monitoring center on the current execution task under the high authority and the remote processing of the abnormal condition.
2. An unmanned ship automatic energy supply method based on an intelligent dock is characterized by comprising the following steps:
step 1), accommodating and docking: the unmanned ship automatically returns when the electric quantity is low or returns to the vicinity of the intelligent dock under the dispatching of the monitoring center, docking is requested, the intelligent dock is communicated with the intelligent dock through the wireless measurement and control module, and the intelligent dock guides the unmanned ship to automatically enter the intelligent dock through the driving execution mechanism;
step 2), energy supply: the intelligent dock controls the unmanned ship to enter a dormant state through the wireless measurement and control module, and starts the wireless charging device to realize electric energy supply and state monitoring of the unmanned ship;
step 3), releasing undocking: the intelligent dock receives the dispatching of the monitoring center, awakens the unmanned ship through the wireless measurement and control module, releases the unmanned ship through the execution mechanism and finishes the undocking.
3. The method for automatically replenishing the energy sources to the unmanned ship based on the intelligent dock according to claim 2, wherein the step 1) of receiving and docking specifically comprises the following steps:
step 1-1), after the electric quantity is insufficient or a return instruction of a monitoring center is received, the unmanned ship returns to the vicinity of an intelligent dock and initiates a docking request;
step 1-2), the intelligent dock responds to the request, releases the ship berthing mechanism to be below the water surface, opens the rear baffle mechanism and sends an instruction with a docking condition to the unmanned ship;
step 1-3), the unmanned ship automatically enters an intelligent dock through the guidance of a perception identification system after receiving the instruction; the intelligent dock monitors the position of the hull of the unmanned ship through in-dock sensing until the unmanned ship completely enters the ship berthing mechanism, and then the intelligent dock withdraws the rear baffle mechanism and sends a ship stopping instruction to the unmanned ship;
step 1-4), stopping the propeller after the unmanned ship receives a ship stopping instruction;
and 1-5), after the intelligent dock receives the unmanned ship stopping information, lifting the ship stopping mechanism to enable the unmanned ship to be lifted off the water surface to a specified position.
4. The method for automatically supplementing energy for the unmanned ship based on the intelligent dock according to claim 2, wherein the energy supplementation in the step 2) specifically comprises the following steps:
and 2-1), the intelligent dock controls the unmanned ship to enter a dormant state through the wireless measurement and control module.
Step 2-2), the intelligent dock drives the wireless charging mechanism to move close to the unmanned ship, the charging position is adjusted, the wireless charging device is started, and the unmanned ship supplies electric energy;
step 2-3), the intelligent dock communicates with the unmanned ship through the wireless measurement and control module, collects the electric quantity of a battery at the unmanned ship, monitors the charging state in real time, and sends the electric quantity to a monitoring center;
and 2-4), when the intelligent dock detects that the unmanned ship is fully charged, disconnecting charging and waiting for the management and dispatching of the monitoring center.
5. The method for automatically replenishing the energy sources to the unmanned ship based on the intelligent dock according to claim 2, wherein the step 3) of releasing the undocking comprises the following steps:
step 3-1), after receiving the undocking instruction of the monitoring center, the intelligent dock withdraws the wireless charging mechanism and drives the ship berthing mechanism to descend so that the unmanned ship descends to the water surface;
step 3-2), the intelligent dock wakes up the unmanned ship through the wireless measurement and control module;
step 3-3), the ship-end controller of the unmanned ship restores 4G communication, and initiates a docking request to the intelligent dock after receiving the docking task of the monitoring center;
step 3-4), the intelligent dock responds to the undocking request, opens the rear baffle mechanism and releases the undocking of the unmanned ship;
and 3-5), after the unmanned ship drives out of the intelligent dock, the intelligent dock withdraws the rear baffle mechanism, and meanwhile, the ship mooring mechanism is lifted to the initial position of the water surface, and the empty dock stands by.
6. The unmanned ship automatic energy supply method based on intelligent dock according to claim 2, wherein in the steps 1) to 3), the monitoring center can make a calendar task and issue the calendar task to the unmanned ship at a preset time, and the unmanned ship automatically completes operations including but not limited to undocking, operation, returning to dock and automatic energy supply according to the calendar task.
7. The unmanned ship automatic energy supply method based on intelligent dock of claim 2 or 5, wherein in step 3), the monitoring center detects weather information before issuing a dock task, and stops scheduling the work task in severe weather.
8. The method for automatically supplying energy to unmanned ship based on intelligent dock according to claim 2, 3 or 4, wherein in step 1) and step 2), the video monitoring device monitors the parking state and surrounding environment of unmanned ship in dock in real time, and the safety of the process of docking unmanned ship and automatically supplying energy is ensured in multiple directions.
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| CN112198845A (en) * | 2020-09-03 | 2021-01-08 | 深圳市云洲创新科技有限公司 | Offshore service prevention system |
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Application publication date: 20200818 |