CN113163125A - Self-moving equipment - Google Patents
Self-moving equipment Download PDFInfo
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- CN113163125A CN113163125A CN202010116164.6A CN202010116164A CN113163125A CN 113163125 A CN113163125 A CN 113163125A CN 202010116164 A CN202010116164 A CN 202010116164A CN 113163125 A CN113163125 A CN 113163125A
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- 239000011248 coating agent Substances 0.000 claims description 10
- 238000000576 coating method Methods 0.000 claims description 10
- 238000004140 cleaning Methods 0.000 claims description 9
- 239000002131 composite material Substances 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 6
- 239000013589 supplement Substances 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 3
- 230000004313 glare Effects 0.000 description 3
- 241001417527 Pempheridae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/84—Camera processing pipelines; Components thereof for processing colour signals
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Abstract
The invention relates to a self-moving device, comprising: a housing; the moving device is arranged on the shell and used for driving the self-moving equipment to move; the working device is arranged on the shell and used for executing a working task; the self-moving device further comprises: the image acquisition device is used for acquiring image information of a working environment of the mobile equipment; a light source system for performing an irradiation work; the main control module is connected with the mobile device, the working device, the image acquisition device and the light source system and is used for controlling the movement and the work of the mobile equipment; the self-moving equipment provided by the invention has the advantages that the light source system provides sufficient light supplement for the image acquisition device, so that the image quality acquired by the image acquisition device is high, the detection result is accurate, and the self-moving equipment can obtain better image quality in day/night.
Description
Technical Field
The invention relates to a self-moving device, in particular to a self-moving device with a light source system.
Background
At present, with the development of digital image technology and automation technology, image acquisition devices are often installed on mobile devices. The self-moving equipment with the image acquisition device not only can acquire the working environment information in real time, but also can save a large number of various sensors configured for acquiring the working environment information in the past. Therefore, the application fields of the method are wider and wider, such as the fields of automatic house cleaning, lawn trimming and the like.
The existing self-moving equipment provided with the image acquisition device can generate projection on the ground due to complex light in dark environments such as at night, and can cause misjudgment if reasonable compensation is not available, and for example, when a light source is in flat view, the light easily and directly enters human eyes to cause glare and other problems.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The technical problem solved by the invention is as follows: the self-moving equipment with high image acquisition quality and accurate detection result is provided.
In order to solve the above technical problem, a technical solution of the present invention is an autonomous mobile device, including: a housing; the moving device is arranged on the shell and used for driving the self-moving equipment to move; the working device is arranged on the shell and used for executing a working task; the self-moving device further comprises: the image acquisition device is used for acquiring the image information of the working environment of the mobile equipment; a light source system for performing an irradiation work; the main control module is connected with the mobile device, the working device, the image acquisition device and the light source system and is used for controlling the movement and the working of the mobile equipment; the irradiation range projected on the working environment by the light source system covers the field range of the field angle shot on the working environment by the image acquisition device.
In a specific embodiment, the light source system comprises a light emitter, a control circuit and a light sensor which are connected with each other.
In a specific embodiment, the light sensor detects an external light source, and the control circuit automatically adjusts the brightness and/or color temperature of the light source emitted by the light emitter.
In a specific embodiment, the light source system is an annular light source, and the luminous bodies of the annular light source are arranged around the circumference of the image acquisition device.
In a specific embodiment, the light source system is a surface light source, and the surface light source is arranged on at least one side of the image acquisition device.
In a specific embodiment, the light source system is a bowl-shaped light source, the bowl-shaped light source comprises a bowl-shaped reflective coating and a luminous body arranged at the inner edge of the reflective coating, and light emitted by the luminous body is reflected to the working environment through the reflective coating.
In a specific embodiment, the light source system comprises a coaxial light source, the coaxial light source comprises a luminous body and a half-reflecting mirror arranged below the luminous body, and light rays emitted by the luminous body are reflected to a working environment through the half-reflecting mirror.
In a specific embodiment, the light source system is a strip-shaped combined light source which is arranged around the circumference of the image acquisition device.
In a particular embodiment, the light source emitted by the light source system comprises a non-visible light source and/or a visible light source.
In a specific embodiment, when the shooting angle of the image acquisition device is approximately horizontal or inclined upwards, the light emitted by the light source system is invisible light.
In a specific embodiment, the invisible light includes near infrared light.
In a specific embodiment, the wavelength range of the near infrared light is 780-2526 nm.
In a specific embodiment, when the shooting angle of the image capturing device is inclined downward, the light emitted by the light source system is visible light and/or invisible light.
In a particular embodiment, the visible light comprises composite light.
In a particular embodiment, the working module comprises a cutting module for performing a cutting task or the working module comprises a cleaning module for performing a cleaning task.
The invention has the beneficial effects that:
1. according to the self-moving equipment provided by the invention, the light supplement is provided for the image acquisition device through the light source system, so that the image quality acquired by the image acquisition device is high, the detection result is accurate, and the self-moving equipment can obtain better image quality in the day/night.
2. The irradiation area of the light source system on the target covers the field area of the field angle of the image acquisition device on the target, so that the acquisition area of the image acquisition device has sufficient light and the image acquisition quality is good.
3. By supplementing the invisible light source for the image acquisition device, the phenomena of glare and the like caused by the incident of the light source to human eyes are avoided.
4. By adopting the light source system structures such as the annular light source, the surface light source, the strip-shaped combined light source, the bowl light source, the coaxial light source and the like, the emitted light source has higher uniformity and the image acquisition quality is improved.
5. The light sensor automatically detects an external light source, automatically adjusts the brightness and/or color temperature of the light source, and effectively saves energy.
Drawings
The technical problems, technical solutions, and advantages of the present invention described above will be clearly understood from the following detailed description of preferred embodiments of the present invention, which is to be read in connection with the accompanying drawings.
The same reference numbers and symbols in the drawings and the description are used to indicate the same or equivalent elements.
Fig. 1 is a schematic diagram of a self-moving device in an embodiment of the present invention.
Fig. 2 is a schematic diagram of a self-moving device from another perspective in an embodiment of the present invention.
Fig. 3 is a block diagram of a light source system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an oblique downward-looking shooting angle adopted by an image acquisition device of a self-moving device in an embodiment of the present invention.
FIG. 5 is a schematic diagram of a light source system using a ring light source according to an embodiment of the present invention.
FIG. 6 is a schematic view of a ring light source mounted on a self-moving device in an embodiment of the invention.
Fig. 7 is a schematic diagram of a light source system using a surface light source according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a surface light source mounted on a self-moving device in an embodiment of the present invention.
FIG. 9 is a schematic diagram of a light source system of a self-moving device using a bowl-shaped light source according to an embodiment of the invention.
FIG. 10 is a schematic view of a bowl-shaped light source mounted on a self-moving device according to an embodiment of the invention.
FIG. 11 is a schematic diagram of a light source system using coaxial light sources according to an embodiment of the present invention.
Fig. 12 is a schematic view of a coaxial light source mounted on a self-moving device in an embodiment of the invention.
FIG. 13 is a schematic diagram of a light source system using a combined bar light source according to an embodiment of the present invention.
FIG. 14 is a schematic view of a combined light source in the form of a strip mounted on a self-moving device in accordance with an embodiment of the present invention.
Detailed Description
The following detailed description and technical contents of the present invention are described with reference to the accompanying drawings, however, the accompanying drawings only provide references and explanations, and do not limit the present invention.
As shown in fig. 1-2, an embodiment of the present invention provides a self-moving device 100, which includes a housing 10, a moving module 20 mounted on the housing, the moving module being configured to support the self-moving device and move the self-moving device, the moving module including a wheel set mounted on the housing and a driving motor for driving the wheel set to operate; also included is a work module mounted on the housing 10 for performing work tasks, the work module being of a different type in different types of self-moving equipment, such as a cutting module for performing cutting tasks when the self-moving equipment is garden lawnmower, robotic lawnmower, or the like. For example, when the self-moving device is a cleaning robot such as a floor sweeper, a mopping machine, etc., the work module is a cleaning module for performing cleaning tasks. The self-moving device 100 in the embodiment of the present invention further includes an image capturing device 30 mounted on the housing, the image capturing device 30 is used for obtaining image information of the working environment of the self-moving device 100, understandably, the image capturing device 30 is, for example, a camera rotatably mounted on the housing, and the camera is used for capturing an image of a target to identify the boundary of the working area, or to establish a map of the working area, or to identify an obstacle to avoid the obstacle, and the specific function of the image capturing device is not limited. The self-moving apparatus 100 further comprises a light source system 40, wherein the light source system 40 is used for performing an illumination operation and can provide illumination for the image capturing device 30. For example, at night or in a working scene with uneven light, the light source system 40 provides auxiliary lighting for image acquisition of the image acquisition device 30, so that the image quality acquired by the image acquisition device 30 is improved, and the accuracy of the detection result is improved. The self-moving device 100 may be an automatic or semi-automatic machine such as an intelligent lawn mower, a cleaning robot, an intelligent snow sweeper, an intelligent sprinkler, an intelligent camera robot, or the like. In embodiments described herein below, the self-moving device is a smart lawn mower. The self-moving device further includes a power module and the like, which are not described herein again.
As shown in fig. 3, the light source system 40 includes a light source 41, a control circuit 42, and a light sensor 43 connected to each other, and the light sensor 43 detects external light and transmits the detection result to the control circuit 42, and the control circuit controls the light source 41 to emit light outwards or stops emitting light outwards. The light source system 40 can be powered by the power module of the mobile device 100, and the light source system 40 includes a conversion circuit for converting the power provided by the power module of the mobile device 100 into its own available constant current power. A power supply module can be independently arranged to supply power to the power supply module. Specifically, the light source emitted by the light emitting body 41 is not limited, and may be an invisible light source or a visible light source.
In the embodiment of the present invention, the installation position and the shooting angle of the image capturing device 30 on the mobile device are not limited, and the image capturing device can effectively capture images around the mobile device, for example, images from the front of the mobile device or images from the back of the mobile device, and meanwhile, the installation positions of the light source system 40 and the image capturing device 30 are not limited, specifically, the irradiation range projected by the light source system 40 on the working environment covers the field range of the field angle of the image capturing device 30 on the working environment, so that the light source system 40 can provide enough light for the image capturing device 30. So set up for the target scope homoenergetic that image acquisition device 30 gathered supplements light through light source system 40, improves image acquisition quality, and the object that can not appear shooing partly light is dark, the condition that partly light is bright.
In the embodiment shown in fig. 4, the image capturing device 30 is installed in front of the housing 10, and when the shooting angle is inclined downward, the light emitting body 41 may be installed above the image capturing device 30 or below the image capturing device 30, in which case the light source emitted by the light emitting body 41 may be visible light, for example, composite light, and of course, the light source emitted by the light emitting body 41 may also be invisible light.
In the embodiment shown in fig. 1, the image capturing device 30 is installed in front of the housing 10, and when the shooting angle is substantially horizontal or inclined upward, the light emitting body 41 may be installed above the image capturing device 30 or below the image capturing device 30. At this time, the light source emitted by the light emitting body 41 is invisible, such as near infrared light, and the wavelength range is 780-2526 nm. The light source system 40 adopts an invisible light source, so that the condition that light emitted by the light source system 40 is incident to human eyes to cause glare and the like can be avoided.
Understandably, the light source system 40 may also be integrated with the image capturing device 30, for example, the light source system is disposed around the image capturing device 30.
In order to improve the uniformity of the light emitted from the light source system 40, the light system 40 may be configured in various ways, for example, as shown in fig. 5-6, the light emitting body 41 of the light source system 40 is disposed around the circumference of the image capturing device 30 to form the ring-shaped light source 410, the uniformity of the light emitted from the ring-shaped light source 410 to the working environment is high, and specifically, the ring-shaped light source 410 and the image capturing device 30 may be disposed in front of the mobile device 100.
In the embodiment shown in fig. 7-8, the light source system 40 may be a surface light source 420, and the light emitted from a planar light source with a certain area has higher uniformity than the light emitted from a linear light source/a point light source, specifically, the surface light source 420 may be disposed at least in a partial region around the image capturing device 30, and as shown in fig. 7-8, the surface light source 420 may be disposed around the image capturing device 30 to supplement the light to the image capturing device 30.
In the embodiment shown in fig. 9-10, the light source system 40 is a bowl-shaped light source 430, and the structure includes a bowl-shaped reflective coating 431, the inner edge of the reflective coating 431 is provided with a light emitting body 41, the light emitting body 41 emits light to the reflective coating 431, the light source is reflected by the bowl-shaped reflective coating 431 and finally enters the work environment to be photographed, and the light is supplemented to the image capturing device 30.
In the embodiment shown in fig. 11-12, the light source system 40 is a coaxial light source 440, the coaxial light source 440 includes a light emitting body 41, a half mirror 441 is disposed below the light emitting body 41, the image capturing device 30 is disposed behind the light emitting body 41, the light emitting body 41 emits light onto the half mirror 441, and the half mirror 441 reflects the light into a working environment to be photographed, so that the light emitted by the light source system 40 is more uniform, and a clearer and more accurate image is formed.
In the embodiment shown in fig. 13-14, the light source system 40 is a combined light source strip 450, and the combined light source strip 450 is disposed around the circumference of the image capturing device 30, similar to a ring light source, and emits light to the working environment with high uniformity.
The light source system 40 with the above modes has high uniformity of the emitted light source, so that shadow weakening or elimination in dark light can be realized, the image acquisition quality of the image acquisition device can be effectively improved, and the identification rate can be ensured.
Meanwhile, the uniformity of the light emitted by the light source system in the above embodiments is high, so that the non-uniformity of the radiance at each position in the field of view of the image capturing device, i.e. the camera, should be less than 3-7%, for example, less than 5%, of the maximum radiance. Meanwhile, in the image acquisition process of the image acquisition device, the variation of the measured brightness along with the time is within the range of +/-2%, the light brightness change is small, the response time of the sensing element along with the light change is short, the image acquisition quality is improved, and the situations of overexposure or over-darkness due to the long response time of the sensing element caused by the large light brightness change can be avoided.
Understandably, the light sensor can automatically detect the external light source, and transmit the detection result to the control circuit, the control circuit analyzes the brightness of the external light source, and automatically adjusts the brightness and/or color temperature of the light source transmitted by the light emitter 41, for example, when the brightness of the external light is high enough for the image acquisition device to acquire the required brightness, the control circuit automatically reduces the brightness and/or color temperature of the light source transmitted by the light emitter 41 or closes the light emitter 41, so as to achieve the purpose of saving energy, of course, if the brightness of the external light source is low, the brightness and/or color temperature of the light source transmitted by the light emitter 41 can be automatically increased to supplement the light for the image acquisition device.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (15)
1. An autonomous mobile device comprising:
a housing;
the moving device is arranged on the shell and used for driving the self-moving equipment to move;
the working device is arranged on the shell and used for executing a working task;
the self-moving device further comprises:
the image acquisition device is used for acquiring the image information of the working environment of the mobile equipment;
a light source system for performing an irradiation work;
the main control module is connected with the mobile device, the working device, the image acquisition device and the light source system and is used for controlling the movement and the working of the mobile equipment;
the illumination range of the light source system projected on the working environment covers the field range of the field angle of the image acquisition device shot on the working environment.
2. The self-moving device of claim 1, wherein the light source system comprises interconnected light emitters, control circuitry, and light sensors.
3. The self-moving device as claimed in claim 2, wherein the light sensor detects an external light source, and the control circuit automatically adjusts the brightness and/or color temperature of the light source emitted by the light emitter.
4. The self-moving apparatus according to claim 2, wherein the light source system is a ring light source, and a light emitting body of the ring light source is arranged around the circumference of the image capturing device.
5. The self-moving apparatus according to claim 2, wherein the light source system is a surface light source disposed on at least one side of the image capture device.
6. The self-moving device as claimed in claim 2, wherein the light source system is a bowl-shaped light source, the bowl-shaped light source comprises a bowl-shaped reflective coating and a luminous body arranged at the inner edge of the reflective coating, and light emitted by the luminous body is reflected to the working environment through the reflective coating.
7. The self-moving device as claimed in claim 2, wherein the light source system comprises a coaxial light source, the coaxial light source comprises a light-emitting body and a half mirror disposed below the light-emitting body, and light emitted by the light-emitting body is reflected to the working environment through the half mirror.
8. The self-moving apparatus according to claim 2, wherein the light source system is a bar-shaped combined light source disposed around a circumference of the image capturing device.
9. The self-moving device according to claim 1, wherein the light source emitted by the light source system comprises a non-visible light source and/or a visible light source.
10. The mobile device according to claim 9, wherein the light emitted from the light source system is invisible light when the shooting angle of the image capturing device is substantially horizontal or inclined upward.
11. The self-moving device of claim 10, wherein the invisible comprises near infrared light.
12. The self-moving apparatus as claimed in claim 11, wherein the wavelength range of the near infrared light is 780-2526 nm.
13. The self-moving device of claim 9, wherein when the shooting angle of the image capturing device is inclined downwards, the light emitted by the light source system is visible light and/or invisible light.
14. The self-moving device of claim 13, wherein the visible light comprises composite light.
15. The self-moving apparatus according to claim 1, wherein the work module comprises a cutting module to perform a cutting task or the work module comprises a cleaning module to perform a cleaning task.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/128485 WO2021135673A1 (en) | 2020-01-03 | 2020-11-13 | Self-moving device |
| PCT/CN2020/139808 WO2021136122A1 (en) | 2020-01-03 | 2020-12-28 | Image acquisition system and method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020100065800 | 2020-01-03 | ||
| CN202010006580 | 2020-01-03 |
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| CN113163125A true CN113163125A (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010116164.6A Pending CN113163125A (en) | 2020-01-03 | 2020-02-25 | Self-moving equipment |
| CN202011564893.4A Pending CN113163126A (en) | 2020-01-03 | 2020-12-25 | Image acquisition system and method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011564893.4A Pending CN113163126A (en) | 2020-01-03 | 2020-12-25 | Image acquisition system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022135556A1 (en) * | 2020-12-25 | 2022-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning control method therefor |
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| KR20140031038A (en) * | 2012-09-04 | 2014-03-12 | 엘지전자 주식회사 | Moving robot and driving method of the same |
| CN106258166A (en) * | 2015-05-14 | 2017-01-04 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| CN108574804A (en) * | 2018-07-04 | 2018-09-25 | 珠海市微半导体有限公司 | A kind of Light Source Compensation system and method for vision robot |
| WO2019234384A1 (en) * | 2018-06-05 | 2019-12-12 | Dyson Technology Limited | A mobile robot and method of controlling a mobile robot illumination system |
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| CN104797033A (en) * | 2014-01-17 | 2015-07-22 | 苏州宝时得电动工具有限公司 | Automatic working equipment |
| CN108777782A (en) * | 2018-07-27 | 2018-11-09 | 黄小翠 | A kind of outdoor monitoring device of computer control |
| CN110363754A (en) * | 2019-07-16 | 2019-10-22 | 上海秒针网络科技有限公司 | Mosquito killer lamp adjusting method and device, storage medium and electronic device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20140031038A (en) * | 2012-09-04 | 2014-03-12 | 엘지전자 주식회사 | Moving robot and driving method of the same |
| CN106258166A (en) * | 2015-05-14 | 2017-01-04 | 苏州宝时得电动工具有限公司 | Self-movement robot |
| WO2019234384A1 (en) * | 2018-06-05 | 2019-12-12 | Dyson Technology Limited | A mobile robot and method of controlling a mobile robot illumination system |
| CN108574804A (en) * | 2018-07-04 | 2018-09-25 | 珠海市微半导体有限公司 | A kind of Light Source Compensation system and method for vision robot |
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| WO2022135556A1 (en) * | 2020-12-25 | 2022-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot and cleaning control method therefor |
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| CN113163126A (en) | 2021-07-23 |
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Application publication date: 20210723 |