EP3586088A1 - Vorrichtung und verfahren zum bestimmen einer position eines betätigungselements für ein getriebe eines fahrzeugs und system zum bewirken von schaltvorgängen eines getriebes eines fahrzeugs - Google Patents
Vorrichtung und verfahren zum bestimmen einer position eines betätigungselements für ein getriebe eines fahrzeugs und system zum bewirken von schaltvorgängen eines getriebes eines fahrzeugsInfo
- Publication number
- EP3586088A1 EP3586088A1 EP18702437.7A EP18702437A EP3586088A1 EP 3586088 A1 EP3586088 A1 EP 3586088A1 EP 18702437 A EP18702437 A EP 18702437A EP 3586088 A1 EP3586088 A1 EP 3586088A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- magnetic field
- field sensor
- sensor
- actuating element
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
- F16H59/044—Ratio selector apparatus consisting of electrical switches or sensors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/08—Range selector apparatus
- F16H59/10—Range selector apparatus comprising levers
- F16H59/105—Range selector apparatus comprising levers consisting of electrical switches or sensors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
Definitions
- the present invention relates to an apparatus for determining a position of an operating member for a transmission of a vehicle, to a system for effecting shifts of a transmission of a vehicle, and to a method for determining a position of an operating member for a transmission of a vehicle.
- magnetic field sensors In vehicles switching positions of selector levers or the like for automatic transmission can be detected for example by means of magnetic field sensors. Due to safety considerations, such magnetic field sensors can in particular have 3D Hall sensors with two semiconductor chips, so-called double-die 3D Hall sensors, or the like.
- the present invention provides an improved device for determining a position of an actuator for a transmission of a vehicle, an improved system for effecting shifts of a transmission of a vehicle and an improved method for determining a position of an actuator for a transmission of a vehicle according to the claims.
- Advantageous embodiments will become apparent from the dependent claims and the description below.
- a first magnetic field sensor implemented as a 3D Hall sensor on a single semiconductor chip and a second magnetic field sensor referred to as a uniaxial Hall Sensor is executed to be used.
- a magnetic field sensor which is designed as a 3D Hall sensor on two semiconductor chips.
- Product costs, especially material costs, can be reduced by using a single-die 3D Hall sensor as opposed to a double-die 3D Hall sensor.
- digital Hall sensors or 3D Hall sensors on a single semiconductor chip can be used for a sensor to realize an ASIL-B-compliant sensor system according to ISO 26262 . It can be achieved, for example, an ASIL-B conformity of a position detection of a selector lever for a vehicle transmission in particular without 3D Hall Double-Die sensor, with errors, such. It is also possible to determine whether the sensor is defective or whether the driver does not move the lever or if there is no driver request.
- a device for determining a position of an actuating element for a transmission of a vehicle, wherein the actuating element has a magnetic encoder element, wherein the actuating element is movable by a driver of the vehicle in different positions to effect switching operations of the transmission comprises at least the following features:
- a first magnetic field sensor implemented as a 3D Hall sensor on a semiconductor chip, the first magnetic field sensor configured to detect each position of the actuator based on the encoder element;
- the vehicle may be a motor vehicle, for example a land vehicle, in particular a passenger car or a commercial vehicle.
- the transmission can be designed as a manual transmission, an at least partially automatic transmission, an automatic transmission or the like.
- the first magnetic field sensor can not be a 3D Hall sensor with two semiconductor chips or a so-called double-die 3D Hall sensor.
- the first magnetic field sensor may be implemented on and additionally or alternatively in a single semiconductor chip.
- the magnetic donor element may move with the actuator upon actuation thereof.
- a position of the actuating element can be assigned to a position of the transmitter element and additionally or alternatively correspond.
- a size or a change in a size of a magnetic field can be detected.
- the first magnetic field sensor or the second magnetic field sensor can be replaced by at least one inductive sensor.
- the at least one second magnetic field sensor may be embodied as a digital sensor or as an analog sensor.
- the at least one second magnetic field sensor can be embodied as a digital or analog uniaxial Hall sensor.
- Such an embodiment offers the advantage that, depending on the specific application scenario, at least one suitably designed second magnetic field sensor can be used.
- the device can also have a plurality of second magnetic field sensors.
- a second magnetic field sensor of the plurality of second magnetic field sensors can be provided for one of the different positions.
- a second magnetic field sensor may be provided for at least a subset of the different positions.
- a second magnetic field sensor may be provided for each of the different positions.
- Such an embodiment offers the advantage that operational reliability can be increased and an error, for example, of the first magnetic field sensor can be detected even more reliably.
- the first magnetic field sensor and the at least one second magnetic field sensor can be arranged spaced apart from one another by at least one distance between two positions of the actuating element. Such an embodiment offers the advantage that a movement of the actuating element and also a possible error of one of the magnetic field sensors can be reliably detected.
- the first magnetic field sensor can be arranged at a rest position of the actuating element.
- the at least one second magnetic field sensor can be arranged on at least one deflection position of the actuating element.
- the device may have an evaluation device.
- the evaluation device can be connectable or connected to the first magnetic field sensor in a manner capable of transmitting signals, and to the at least one second magnetic field sensor.
- the evaluation device can be designed to evaluate a first sensor signal of the first magnetic field sensor and at least one second sensor signal of the at least one second magnetic field sensor.
- An evaluation device can be an electrical device which processes electrical signals, for example sensor signals, and outputs control signals in dependence thereon.
- the evaluation device may have one or more suitable interfaces, which may be formed in hardware and / or software. In a hardware training, the
- Interfaces for example, be part of an integrated circuit, are implemented in the functions of the evaluation.
- the interfaces may also be their own integrated circuits or at least partially consist of discrete components.
- the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.
- the evaluation device can be designed to perform a comparison of the first sensor signal with the at least one second sensor signal in order to detect a fault of the first magnetic field sensor or of the at least one second magnetic field sensor.
- Such an embodiment offers the advantage that a reliable error detection can be made possible.
- the actuating element which has the magnetic encoder element, wherein the first magnetic field sensor and the at least one second magnetic field sensor of the device are magnetically coupled or coupled to the encoder element.
- an embodiment of the aforementioned device may be advantageously used or used to determine the position of the actuator.
- the actuating element may be designed as a selector lever or as a rotary selector switch.
- an operating element designed as a selector lever at least some of the various positions may be arranged along an axis.
- at least some of the various positions may be arranged along a circular path about an axis of rotation.
- a method for determining a position of an actuating element for a transmission of a vehicle, wherein the actuating element comprises a magnetic encoder element, wherein the actuating element is movable by a driver of the vehicle in different positions to effect switching operations of the transmission comprises at least the following steps:
- the method can be carried out in conjunction with an embodiment of the abovementioned system and additionally or alternatively using an embodiment of the abovementioned device.
- Also of advantage is a computer program product with program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above, if the program is on a computer or an evaluation device is performed.
- a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory
- Fig. 1 is a schematic representation of a system according to an embodiment of the present invention in a vehicle
- FIG. 2 is a flowchart of a method for determining according to an embodiment of the present invention.
- Fig. 3 is a schematic representation of a system according to an embodiment of the present invention.
- the vehicle 100 is, for example, a motor vehicle, in particular a land vehicle or watercraft, for example a passenger car.
- the vehicle 100 has a transmission 105 for driving the vehicle 100.
- the system 110 is configured to effect gear shift operations of the transmission 105.
- the transmission 105 is, for example, an automatic transmission.
- the system 110 includes an actuator 120 having a magnetic encoder element 125 and a device 130 for determining a position of the actuator 120.
- the actuator 120 is movable to various positions by a driver of the vehicle 100 to effect gear shift operations of the transmission 105.
- the actuator 120 is designed as a shift lever.
- the actuator 120 may be configured as a rotary selector switch.
- the device 130 has a first magnetic field sensor 140 and at least one second magnetic field sensor 150. According to the embodiment of the present invention shown in FIG. 1, the device 130 has the first magnetic field sensor 140 and by way of example only a second magnetic field sensor 150.
- the first magnetic field sensor 140 and the at least one second magnetic field sensor 150 of the device 130 are magnetically coupled to the transmitter element 125. At least the first magnetic field sensor 140 and the second magnetic field sensor 150 of the device 130 are arranged adjacent to the encoder element 125 of the actuating element 120.
- the first magnetic field sensor 140 is embodied as a 3D Hall sensor on a semiconductor chip.
- the first magnetic field sensor 140 is designed to detect each position of the actuating element 120 on the basis of the encoder element 125.
- the second magnetic field sensor 150 is implemented as a single-axis Hall sensor. In this case, the second magnetic field sensor 150 is designed to detect a position of the actuating element 120 on the basis of the encoder element 125.
- the device 130 further has an optional evaluation device 160.
- the evaluation device 160 is capable of transmitting signals to the first magnetic field sensor 140 and connected to the second magnetic field sensor 150.
- the evaluation device 160 is designed to evaluate or read in and evaluate a first sensor signal 145 of the first magnetic field sensor 140 and a second sensor signal 155 of the second magnetic field sensor 150.
- the evaluation device 160 is designed to generate and / or provide a determination signal 165.
- the determination signal 165 represents a position of the actuation element 120 determined using the evaluated sensor signals 145, 155.
- the evaluation device 160 is designed to perform a comparison of the first sensor signal 145 with the second sensor signal 155 to detect an error of the first magnetic field sensor 140 or of the second one Detect magnetic field sensor 150.
- the device 130 is configured to generate the sensor signals 145, 150 and to generate and output, using the sensor signals 145, 150, the determination signal 165 representing the particular position of the actuator 120.
- FIG. 2 shows a flow chart of a method 200 for determining according to an embodiment of the present invention.
- the method 200 is executable to determine a position of an actuator for a transmission of a vehicle.
- the method 200 for determining can be implemented in conjunction with the system from FIG. 1 or a similar system and / or in conjunction with the device from FIG. 1 or a similar device.
- the driving 200 in conjunction with an actuating element executable comprising a magnetic encoder element, wherein the actuating element is movable by a driver of the vehicle in different positions to effect switching operations of the transmission.
- the method 200 for determining includes a step 210 of reading in and a step 220 of evaluating.
- a first sensor signal from an interface to a first magnetic field sensor and at least a second sensor signal from an interface to at least one second magnetic field sensor are read in.
- the first magnetic field sensor is designed as a 3D Hall sensor on a semiconductor chip.
- the first magnetic field sensor is designed to detect each position of the actuating element on the basis of the transmitter element.
- the at least one second magnetic field sensor is designed as a single-axis Hall sensor. In this case, the at least one second magnetic field sensor is designed to detect at least one position of the actuating element on the basis of the encoder element.
- the first sensor signal and the at least one second sensor signal are evaluated in order to determine the position of the actuating element.
- the method 200 for determining may also include a step of providing or outputting a determination signal representing the particular position of the actuator.
- FIG. 3 shows a schematic representation of a system 110 according to an embodiment of the present invention.
- System 110 in FIG. 3 is similar to the system of FIG. 1.
- system 110 in FIG. 3 corresponds to the system of FIG. 1, except that in FIG a movement axis 325 of the magnetic donor element 125, only two additional optional second magnetic field sensors 352, 354 and merely exemplary five positions 371, 372, 373, 374 and 375 of the actuating element or the magnetic encoder element 125 are shown, wherein the actuating element and further features the device in the illustration are omitted and the device is not explicitly shown.
- the actuating element or its magnetic encoder element 125 is movable along the movement axis 325 between the positions 371, 372, 373, 374 and 375.
- the actuating element is for example part of a so-called 2x2 shift-by-wire circuit for detecting the driver's request.
- the first magnetic field sensor 140 is arranged in the region of a first position 371, which represents a stable position or rest position.
- the second magnetic field sensor 150 is arranged in the region of a first deflection position 372 or A1.
- the first magnetic field sensor 140 and the second magnetic field sensor 150 are spaced from each other.
- the distance corresponds at least to the distance between two positions which can be captured by the actuating element, in this case the distance between the first position 371 or stable position and the first deflection position 372.
- the two further second magnetic field sensors 352, 354 are arranged merely by way of example at a second deflection position 373 or B1 and at a third deflection position 374 or B2.
- the rest position 371 or first position 371 is arranged between the first deflection position 372 and the second deflection position 373.
- the second deflection position 373 is disposed between the rest position 371 and the third deflection position 374.
- the first deflection position 372 is disposed between the rest position 371 and a fourth deflection position 375 and A2, respectively.
- the second magnetic field sensor 150 and the two further second magnetic field sensors 352, 354 are designed as digital sensors. According to an alternative embodiment, the second magnetic field sensor 150 and the two further second magnetic field sensors 352, 354 are designed as analog sensors.
- the device comprises the first magnetic field sensor 140 and three second magnetic field sensors 150, 352, 354.
- the rest position 371, the first displacement position 372, the second Displacement position 373 and the third deflection position 374 each associated with a magnetic field sensor 140, 150, 352, and 354.
- the cost of the device decreases by, for example, about half.
- a driver's desire to change the drive level can be detected, even if the 3D Hall sensor were defective. Ie.
- the at least one single-axis Hall sensor monitors the single-die 3D Hall sensor.
- both values or the first sensor signal 145 and at least one second sensor signal 155 would change. For example, in the first deflection position 372, the values of the first sensor signal 145 and the second sensor signal 155 should change. Otherwise there would be an error. This can be combined arbitrarily, for example, to secure certain positions or shift travel.
- another simple analog Hall sensor can be used as the second magnetic field sensor 150 and / or further second magnetic field sensor 352 or 354. It is also possible to use a plurality of digital uniaxial Hall sensors as a plurality of second magnetic field sensors 150, 352, 354.
- the device 130 would be ASIL-B compliant and also more cost effective than a double-die 3D Hall sensor solution as the first magnetic field sensor.
- the savings are in the range of, for example, about 30 percent based on the individual material costs of the sensors, which also depends on the number of uniaxial Hall sensors or second magnetic field sensor used.
- the actuating element 120 may also be a rotary switch for detecting the driver's position or the driver's request.
- a combination of inductive sensors and digital Hall sensors or 3D sensors can be provided.
- An advantage of a combination of different solutions is for example in reduced material costs.
- an exemplary embodiment comprises a "and / or" link between a first feature and a second feature
- this can be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment, either only the first Feature or only the second feature.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Control Of Transmission Device (AREA)
- Arrangement Or Mounting Of Control Devices For Change-Speed Gearing (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017202833.5A DE102017202833A1 (de) | 2017-02-22 | 2017-02-22 | Vorrichtung und Verfahren zum Bestimmen einer Position eines Betätigungselements für ein Getriebe eines Fahrzeugs und System zum Bewirken von Schaltvorgängen eines Getriebes eines Fahrzeugs |
PCT/EP2018/051427 WO2018153585A1 (de) | 2017-02-22 | 2018-01-22 | Vorrichtung und verfahren zum bestimmen einer position eines betätigungselements für ein getriebe eines fahrzeugs und system zum bewirken von schaltvorgängen eines getriebes eines fahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3586088A1 true EP3586088A1 (de) | 2020-01-01 |
Family
ID=61132405
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18702437.7A Withdrawn EP3586088A1 (de) | 2017-02-22 | 2018-01-22 | Vorrichtung und verfahren zum bestimmen einer position eines betätigungselements für ein getriebe eines fahrzeugs und system zum bewirken von schaltvorgängen eines getriebes eines fahrzeugs |
Country Status (5)
Country | Link |
---|---|
US (1) | US20200248795A1 (de) |
EP (1) | EP3586088A1 (de) |
CN (1) | CN110325826A (de) |
DE (1) | DE102017202833A1 (de) |
WO (1) | WO2018153585A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102018220665A1 (de) * | 2018-11-30 | 2020-06-18 | Zf Friedrichshafen Ag | Drehwinkel-Erfassung mit 3-D-Sensor und Leiterplatten-paralleler Drehachse |
DE102019109970A1 (de) * | 2019-04-16 | 2020-10-22 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Sensorvorrichtung für ein Fahrzeug, Verfahren zum Herstellen einer Sensorvorrichtung für ein Fahrzeug, Verfahren zum Betreiben einer Sensorvorrichtung für ein Fahrzeug und Sensorsystem für ein Fahrzeug |
DE102019214788A1 (de) * | 2019-09-26 | 2021-04-01 | Zf Friedrichshafen Ag | Hebelvorrichtung zum Einstellen einer Getriebestufe für ein Automatikgetriebe für ein Fahrzeug und Automatikgetriebe mit einer Hebelvorrichtung |
JP2021127725A (ja) * | 2020-02-14 | 2021-09-02 | 東洋電装株式会社 | ポジションセンサ及びポジション検出方法 |
DE102020126169A1 (de) * | 2020-10-07 | 2022-04-07 | Zf Cv Systems Global Gmbh | Sensoranordnung eines automatisierten Schaltgetriebes und Verfahren zur Ermittlung eines magnetischen Störfeldes |
CN115264044B (zh) * | 2022-06-30 | 2023-07-21 | 岚图汽车科技有限公司 | 用于车辆的电子换挡器、电子换挡方法及相关设备 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19749330C2 (de) * | 1997-11-07 | 2003-10-30 | Kostal Leopold Gmbh & Co Kg | Vorrichtung zum Erfassen von Schaltstellungen eines mechanisch betätigbaren Schaltmittels |
US6550351B1 (en) * | 1999-08-06 | 2003-04-22 | Stoneridge Control Devices, Inc. | Transmission range selector system |
DE102007026303B4 (de) * | 2007-06-06 | 2011-05-26 | Zf Friedrichshafen Ag | Wählhebelmodul mit 3D-Magnetsensorelement |
FR2917479B1 (fr) * | 2007-06-13 | 2009-11-20 | Sc2N Sa | Capteur de position d'une boite de vitesses |
DE102008061336A1 (de) * | 2008-07-02 | 2010-01-07 | Lemförder Electronic GmbH | Wählhebelvorrichtung für ein Kraftfahrzeug |
DE102008058163A1 (de) * | 2008-11-20 | 2010-05-27 | Schaeffler Kg | Vorrichtung zur Erfassung sämtlicher Schaltpositionen eines Schaltgetriebes |
DE102011078728A1 (de) * | 2011-07-06 | 2013-01-10 | Zf Friedrichshafen Ag | Schaltung, Verfahren und Vorrichtung zur redundanten Bestimmung einer Schaltstellung eines Gangwahlhebels eines Fahrzeugs |
DE102011119862A1 (de) * | 2011-12-01 | 2013-01-17 | Jopp Holding GmbH | Schalthebel mit Positionserkennung |
DE102012204634A1 (de) * | 2012-03-22 | 2013-09-26 | Zf Friedrichshafen Ag | Magnetfeldsensor, Betätigungsvorrichtung und Verfahren zur Bestimmung einer Relativposition |
KR101509940B1 (ko) * | 2013-10-17 | 2015-04-07 | 현대자동차주식회사 | 차량용 전자식 수동변속기의 변속레버 장치 |
KR101536987B1 (ko) * | 2014-03-20 | 2015-07-15 | 경창산업주식회사 | 차량용 변속제어 레버 장치 |
-
2017
- 2017-02-22 DE DE102017202833.5A patent/DE102017202833A1/de not_active Withdrawn
-
2018
- 2018-01-22 EP EP18702437.7A patent/EP3586088A1/de not_active Withdrawn
- 2018-01-22 WO PCT/EP2018/051427 patent/WO2018153585A1/de unknown
- 2018-01-22 CN CN201880012807.3A patent/CN110325826A/zh active Pending
- 2018-01-22 US US16/487,967 patent/US20200248795A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US20200248795A1 (en) | 2020-08-06 |
DE102017202833A1 (de) | 2018-08-23 |
WO2018153585A1 (de) | 2018-08-30 |
CN110325826A (zh) | 2019-10-11 |
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