EP3648647A1 - Procede de regulation de la puissance d'aspiration d'un aspirateur balai sans fil - Google Patents
Procede de regulation de la puissance d'aspiration d'un aspirateur balai sans filInfo
- Publication number
- EP3648647A1 EP3648647A1 EP18752812.0A EP18752812A EP3648647A1 EP 3648647 A1 EP3648647 A1 EP 3648647A1 EP 18752812 A EP18752812 A EP 18752812A EP 3648647 A1 EP3648647 A1 EP 3648647A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- handle
- value
- angular position
- acceleration
- axis
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000001133 acceleration Effects 0.000 claims abstract description 78
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000010408 sweeping Methods 0.000 claims abstract description 14
- 244000007853 Sarothamnus scoparius Species 0.000 claims description 30
- 230000007423 decrease Effects 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 102100031102 C-C motif chemokine 4 Human genes 0.000 claims description 4
- 101100054773 Caenorhabditis elegans act-2 gene Proteins 0.000 claims description 4
- 238000012360 testing method Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000001143 conditioned effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
- A47L9/2863—Control elements activated by pivoting movement of the upright vacuum cleaner handle
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/32—Carpet-sweepers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/32—Handles
Definitions
- the present invention relates to the field of wireless brushes, and more particularly to a method of regulating the suction power of a wireless brush vacuum cleaner according to the conditions of use, determined automatically, and on said vacuum cleaner wireless broom.
- the handling of such an intelligent wireless broom is then detected by a pressure sensor, a brightness sensor, or a capacitive sensor positioned at the level of the handle of the blade and configured to recognize the grip of the latter. by a user.
- the detection of the grip is then combined with a measurement of the acceleration or the speed of the stick to confirm that the grip is for a suction operation and / or scan and trigger accordingly the start of the suction motor.
- the implantation of a sensor in the handle is complicated and can cause failures.
- the operation of the vacuum cleaner is conditioned to the detection of the handling of the handle by the user.
- the sensor can more or less detect this grip.
- the invention aims to increase the reliability of use of a smart vacuum cleaner and thus its ergonomics while achieving more energy savings.
- the invention relates to a method for regulating the suction power of a wireless mop vacuum cleaner comprising a handle, a suction motor or a suction motor and a scanning motor, and an aspiration and / or scanning head, an accelerometer for delivering signals relating to a speed and / or an acceleration of a portion of the wireless broom, and a gyroscope for measuring an angular position of the handle in a determined reference frame of space, means for processing the signals delivered by the accelerometer and the gyroscope, and an electronic unit for controlling the motor or motors connected to the processing means, the method comprising the following steps: at. determining using the accelerometer and the gyroscope over a sliding acquisition period, values of at least one magnitude representative of the speed and / or acceleration, and the angular position of the handle;
- the method allows an intuitive management, without wires or buttons, by the user of the broom vacuum cleaner.
- This intuitive management induces in particular:
- the values of the at least one magnitude representative of the speed and / or acceleration, and the angular position of the handle are obtained in an orthonormal reference system of the space defined by its origin, a first axis facing the front of the vacuum cleaner in a plane transverse to the main direction of the handle, a second axis perpendicular to the plane formed by the first axis and a third axis facing the ground in the main direction of the handle;
- the at least one magnitude representative of the speed and / or acceleration and the angular position of the handle comprises:
- At least one representative magnitude comprises a root mean square of the angular position of the handle relative to a vertical axis
- the power setpoint of the motor or motors is determined at a predetermined minimum level when the value obtained for the root mean square of the angular position is greater than or equal to a first predetermined threshold, and / or in which the power setpoint of the motor or motors is determined at 0 when the value obtained for the root mean square of the angular position is less than a second predetermined threshold.
- the at least one representative magnitude comprises a root mean square of the speed of the accelerometer in a horizontal plane
- the power setpoint of the motor or motors is determined to a value between a predetermined minimum value and a predetermined maximum value, and when the value obtained for the root mean square of the speed is greater than or equal to the predetermined maximum speed value, then the setpoint of power is determined at the predetermined maximum power value.
- the power setpoint is determined at a value equal to
- the power of the motor or motors when the root mean square of the speed increases by being between 0 and the predetermined maximum speed value, the power of the motor or motors is increased, and when the root mean square of the speed decreases by being included between 0 and the predetermined maximum speed value, the power of the motor (s) is reduced after a predetermined time.
- the at least one representative quantity comprises an angular position of the handle measured around an axis contained in a plane transverse to a main direction of the handle and oriented towards the front of the broom vacuum, the angular origin being defined by the main direction of the handle;
- the at least one representative quantity comprises an acceleration in a plane transverse to the main direction of the shaft, with a first average value of the acceleration measured at the beginning of a predetermined period of time, and a second average value of the acceleration measured at the end of the predetermined period of time;
- the power setpoint of the motor or motors is kept constant if a determined criterion is satisfied, said criterion being determined as a function of the values obtained for the at least one quantity representative of the angular position and of the acceleration.
- the determined criterion is satisfied if:
- an average value of the angular position is negative, and the first average value of the acceleration is strictly greater than the second average value of the acceleration.
- the at least one representative quantity comprises an angular position of the handle measured around an axis contained in a plane transverse to a main direction of the handle and oriented towards the front of the broom vacuum, the angular origin being defined by the main direction of the stick, with a first average value of the angular position measured at the beginning of a predetermined period of time, and a second average value of the angular position measured at the end of the predetermined period of time;
- the at least one representative quantity comprises an acceleration in the main direction of the handle, with a first value average of the acceleration measured at the beginning of the predetermined period of time, and a second average value of the acceleration measured at the end of the predetermined period of time;
- the power setpoint of the motor or motors is kept constant if a determined criterion is satisfied, said criterion being determined as a function of the values obtained for the at least one quantity representative of the angular position and of the acceleration.
- the determined criterion is satisfied if:
- an absolute value of a minimum of the angular position is greater than or equal to 15 degrees
- the first average value is strictly less than the second average value
- the first average value is strictly greater than the second average value.
- the at least one representative quantity comprises a first angular position of the handle measured around a first axis contained in a plane transverse to a main direction of the handle and oriented towards the front of the vacuum cleaner, the angular origin being defined by the main direction of the handle;
- the at least one representative quantity comprises a second angular position of the handle measured around a second axis in a plane formed by a third longitudinal axis at the main direction of the shaft and the first axis, the angular origin being defined by the first axis; axis;
- the at least one representative quantity comprises an acceleration along the first axis
- the power setpoint of the motor or motors is determined to a predetermined minimum value if a determined criterion is satisfied, said criterion being determined as a function of the values obtained for the at least one quantity representative of the angular position and of the acceleration.
- the power setpoint of the motor (s) is determined at 0 if during a predetermined period of time the determined criterion is satisfied.
- the criterion is satisfied if: an average value of an absolute value of the first angular position of the handle is less than or equal to 5 degrees, and an average value of the second angular position of the handle is greater than 10 degrees, and
- an absolute value of an average value of the acceleration along the first axis is greater than 3.5 m / s 2 .
- the at least one representative quantity comprises a first angular position of the handle measured around a first axis contained in a plane transverse to a main direction of the handle and facing the front of the cordless vacuum cleaner, the angular origin being defined by the main direction of the handle;
- the at least one representative quantity comprises a second angular position of the handle measured around a second axis in a plane formed by a third longitudinal axis at the main direction of the shaft and the first axis, the angular origin being defined by the first axis; axis;
- the at least one representative quantity comprises an acceleration along the third axis
- the power setpoint of the motor or motors is kept constant if a determined criterion is satisfied, said criterion being determined as a function of the at least one quantity representative of the angular position and of the acceleration.
- the determined criterion is satisfied if:
- an average value of the first angular position is greater than or equal to 35 degrees
- an average value of the second angular position is greater than 0 degrees
- an average value of an absolute value of the acceleration is greater than 2.5 m / s 2 .
- the power setpoint of the motor or motors is determined by adjusting the frequency and the pulse width of an electronic control of the motor or motors.
- the invention also relates to a cordless vacuum cleaner comprising a handle, a suction motor or a suction motor and a scanning motor, and a suction and / or scanning head, an accelerometer for delivering relative signals. at a speed and / or an acceleration of a portion of the wireless broom, a gyroscope for measuring an angular position of the handle in a determined reference space, means for processing the signals delivered by the accelerometer and the gyroscope, and an electronic control unit connected to the processing means and configured to regulate the power of the motor or motors by implementing the method as described above.
- Figure 1 is a view of a vacuum cleaner wireless brush that illustrates the general principle of the invention.
- Figure 2 is a schematic representation of the control board of the wireless broom.
- Fig. 3 is a schematic representation of an embodiment of the wireless mop motor control algorithm.
- Figure 4 is a schematic representation of a variant of the wireless mop motor control algorithm.
- FIG. 5 is an example of a timing diagram of the operation of the motor control by pulse width modulation (PWM).
- PWM pulse width modulation
- Figure 6 is a representation of the wireless broom in a space mark in which linear and angular displacement parameters are measured.
- the cordless vacuum cleaner 1, shown in FIG. 1, comprises a handle 3, a motor part and a suction head 2.
- the handle 3 is integrally connected to the motor part and the suction head 2 is connected to the motor part by a pivot connection.
- the wireless broom vacuum cleaner 1 is equipped with an inertial unit 4.
- this inertial unit 4 comprises an accelerometer 5 and a gyroscope 6.
- This inertial unit is connected to signal processing means 7, making it possible to interpret the signals delivered by the accelerometer 5 and the gyroscope 6 and to deduce the movements of the handle 3, generally driven by a user.
- the movements of the handle 3 are interpreted according to various parameters such as a direction of movement of the handle, the speed and acceleration of the handle during its movement, as well as a direction of orientation and an amplitude of this orientation.
- the signal processing means 7 are connected to an electronic control unit 8 arranged to drive a motor 9 among the suction or scanning motors.
- the processing means 7 and the electronic control unit 8 are mounted on one and the same main electronic card 10 positioned inside the handle 3.
- the main electronic card 10 is fixed inside the handle 3 so that the inertial unit 4 is at the maximum near the free end of the handle 3. This makes it possible to detect a larger race of the handle 3 during a change of orientation of the handle 3 and thus to benefit from increased sensitivity of the gyroscope 6.
- the method for regulating the suction power of a wireless broom vacuum cleaner 1 according to the invention is therefore implemented by the electronic control unit 8 which executes a decision algorithm whose flow chart is represented in FIG. according to a first embodiment, and in Figure 4 according to a more elaborate variant.
- the method performed by the electronic control unit 8 comprises a first step a. which consists, in a first time of acquisition, in determining over a rolling period of a predetermined duration of approximately 3 to 5 seconds, the series of values of the various components of the speed, of the acceleration measured by the accelerometer and the orientation of the shaft measured by the gyroscope.
- a power setpoint of the suction motor (s) and / or sweeping motor are, for example, means or quadratic averages of measured and recorded instantaneous value sequences; they are calculated over predetermined sliding periods of time, in particular to smooth the measurement noise.
- the speeds, accelerations and orientations considered will be represented by their components in an orthonormal frame (O, X, Y, Z) integral with the handle 3 of the wireless broom vacuum cleaner 1, as represented in FIG. Figure 6,
- the origin O is located at a point of the handle 3 near its end in the opposite direction to the suction head 2, at the location of the inertial unit 4;
- the Z axis of the mark is oriented in the main direction of the handle and to the suction head 2;
- the X axis is located in a plane perpendicular to the Z axis and oriented substantially towards the front F of the wireless broom vacuum cleaner 1;
- the Y axis is perpendicular to the plane formed by the X and Z axes.
- the orientation, or angular position along the X axis designates the angle of rotation of the handle 3 around the X axis.
- Orientation, or angular position, along the Y axis also called pitching, designates the angle of rotation of the handle 3 around Y.
- the orientation, or angular position, along the Z axis also called yaw, designates the angle of rotation of the handle 3 around Z.
- an angular displacement around a given axis is positive in the trigonometric direction seen by an observer placed on the axis considered and looking in the positive direction of this axis.
- the origin of the orientation or the angular position about the X axis is defined by the Z axis
- the origin of the orientation or the angular position around the Y axis is defined by the X axis
- the origin of the orientation or the angular position around the Z axis is defined by the X axis.
- the intermediate values calculated in real time from the series of values measured previously can be for example the following:
- a mean acceleration Act in a plane transverse to the handle with a first average value of acceleration Act1 measured at the beginning of a predetermined period of time, and a second average value of acceleration Act2 measured at the end of the predetermined period of time;
- a mean acceleration Acx along the X axis with a first average acceleration value Acx1 along the X axis measured at the beginning of a predetermined period of time, and a second average acceleration value Acx2 along the X axis measured at the end of the predetermined period of time;
- a mean acceleration Acm according to the direction of the stick with a first average value of acceleration Acm1 according to the direction of the handle measured at the beginning of a predetermined period of time, and a second average value of acceleration Acm2 according to the direction of the handle measured at the end of the predetermined period of time;
- the predetermined periods of time considered above are of the order of a few seconds, preferably 2 to 3 seconds; the duration of the period of time considered may be different depending on whether one tries to identify a particular behavior of the vacuum cleaner broom wireless 1, especially during a turn, or when passing under a piece of furniture.
- the next step b. of the algorithm implemented by the electronic control unit 8 is to perform the test b10: with the test b10 the average angular position Am of the angle A between the axis of the handle 3 and the vertical is compared with a predetermined threshold Amax.
- the predetermined threshold Amax is preferably between 0 and 30 °. If the average angular position Am is less than the predetermined threshold Amax, the electronic control unit 8 will consider that the vacuum has not left or returned to its parking position (ie substantially vertical position) and will stop if necessary or engines, or keep them stopped if they were already stopped. The algorithm then returns to step b. It being understood that a new series of measurements of the values of speed, acceleration and angular position of the stick will have been carried out before that the b10 test is again performed on the average values derived from this new series of measurements.
- the algorithm will command a start of the motor (s) with a power level which will be a function of the mean velocity Vm quadratic horizontal velocities Vh displacement of the handle 3 in a horizontal plane and measured by the accelerometer 5 during the last sliding period of 3 to 5 seconds.
- the transfer function between the average speed Vm quadratic and the suction and / or controlled sweeping power will preferably be a linear function of the type
- P0 is the minimum power provided for a zero displacement speed
- Pmax the maximum power acceptable by the engine and applied as soon as the average speed Vm becomes greater than or equal to the predetermined maximum speed value Vmax.
- P0 10% Pmax.
- the suction and / or sweeping power will be instantaneously, and preferably proportionally, adjusted upwards if the average speed Vm increases below the predetermined maximum speed value Vmax , while this power will be reduced, in the event of a decrease in the average speed Vm less than the predetermined maximum speed value Vmax, only after a predetermined delay time D1; the flow of the delay is measured by means of a known chronometer, represented in FIG. 3 by a counter C1 1.
- this proportional control can be achieved very simply by a modulation of the pulse width (PWM) sent to the electric motor: as shown in Figure 5, plus the movement of the vacuum cleaner broom wireless 1 or the handle 3 will be fast, the speed of the suction or sweeping motor (s) 9 will be faster by the effect of an increase in the duty cycle of the modulation of the width pulse of pulses illustrated by an area 12 of the graph of Figure 5, and conversely the more the movement will be slow, the lower the duty cycle will be reduced as shown by the areas 1 1 and 13 of the graph of Figure 5; the suction or sweeping power of the motor (s) will be reduced accordingly.
- PWM pulse width
- the first average acceleration value Act1 is strictly greater than the second average acceleration value Act2.
- the first average value of acceleration Acm1 is strictly greater than the second average value of acceleration Acm2.
- the average value of the absolute value absR is less than or equal to 5 degrees, and o
- the average angular position Tm along the Y axis is greater than 10 degrees
- the absolute value of the average Acx acceleration is greater than 3.5m / s 2 .
- the average angular position Rm along the X axis is greater than or equal to 35 degrees
- the angular position Tm along the Y axis is greater than 0 degrees
- the average value of the absolute value of absAcm acceleration is greater than 2.5m / s 2 .
- the fall identification criterion consists in verifying that none of the aforementioned identification criteria is verified.
- the decision algorithm corresponding to this variant of the invention is represented in FIG. 4.
- test b12 of the rest is negative, one returns to the nominal case with a test on the average speed Vm; if the average speed Vm is less than the predetermined maximum speed value Vmax, and if the average speed Vm then decreases the algorithm applies a test b13 to determine whether the conditions of use of the wireless broom vacuum cleaner correspond to the passage under a furniture or a bend: in in both cases, the suction or sweeping power of the motor will be kept constant; otherwise the counter C1 will be incremented, as indicated in C1 1 of Figure 4; this counter will trigger a reduction in the suction or sweeping power of the motor when the delay time D2 expires.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1756479A FR3068839B1 (fr) | 2017-07-07 | 2017-07-07 | Procede de regulation de la puissance d’aspiration d’un aspirateur balai sans fil |
PCT/FR2018/051678 WO2019008280A1 (fr) | 2017-07-07 | 2018-07-05 | Procede de regulation de la puissance d'aspiration d'un aspirateur balai sans fil |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3648647A1 true EP3648647A1 (fr) | 2020-05-13 |
Family
ID=59811605
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18752812.0A Pending EP3648647A1 (fr) | 2017-07-07 | 2018-07-05 | Procede de regulation de la puissance d'aspiration d'un aspirateur balai sans fil |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3648647A1 (fr) |
CN (1) | CN110831473B (fr) |
FR (1) | FR3068839B1 (fr) |
WO (1) | WO2019008280A1 (fr) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2910899A1 (es) * | 2020-11-13 | 2022-05-13 | Cecotec Res And Development Sl | Aparato electronico de limpieza y/o desinfeccion con medios de medicion inercial (imu) y metodo para operarlo |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111568319B (zh) * | 2020-04-29 | 2022-03-15 | 尚科宁家(中国)科技有限公司 | 一种清洁设备的配对方法及清洁设备 |
GB2596854B (en) * | 2020-07-10 | 2023-03-29 | Dyson Technology Ltd | Vacuum cleaner |
CN113057518A (zh) * | 2021-03-19 | 2021-07-02 | 台山市捷达电器有限公司 | 具有双涡轮风扇的吸尘器 |
CN115062440B (zh) * | 2022-08-18 | 2022-10-25 | 国网山东省电力公司东营供电公司 | 基于弧垂变化的架空线清扫调控分析方法、系统及装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105962843B (zh) * | 2016-06-30 | 2019-03-29 | 江苏美的清洁电器股份有限公司 | 手持吸尘器和手持吸尘器的控制方法 |
WO2009103585A1 (fr) * | 2008-02-20 | 2009-08-27 | BSH Bosch und Siemens Hausgeräte GmbH | Dispositif de régulation automatique de la puissance d’aspiration d’un aspirateur |
CN101554306B (zh) * | 2008-04-11 | 2012-06-27 | 乐金电子(天津)电器有限公司 | 主动驱动式真空吸尘器 |
EP2301401A1 (fr) * | 2009-09-25 | 2011-03-30 | Koninklijke Philips Electronics N.V. | Aspirateur doté d'une télécommande |
JP2011206351A (ja) * | 2010-03-30 | 2011-10-20 | Panasonic Corp | 電気掃除機 |
DE102012105845A1 (de) * | 2012-07-02 | 2014-01-02 | Miele & Cie. Kg | Staubsauger mit einer Vorrichtung zur Einstellung einer Gebläseleistung und Verfahren zum Betrieb eines solchen Staubsaugers |
CN203107005U (zh) * | 2013-02-19 | 2013-08-07 | 浙江大学 | 一种吸尘器刷头角度控制系统 |
DE102015108464A1 (de) * | 2015-05-28 | 2016-12-01 | Vorwerk & Co. Interholding Gmbh | Verfahren zum Betrieb eines elektromotorisch angetriebenen Gerätes |
-
2017
- 2017-07-07 FR FR1756479A patent/FR3068839B1/fr active Active
-
2018
- 2018-07-05 CN CN201880045125.2A patent/CN110831473B/zh active Active
- 2018-07-05 WO PCT/FR2018/051678 patent/WO2019008280A1/fr unknown
- 2018-07-05 EP EP18752812.0A patent/EP3648647A1/fr active Pending
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2910899A1 (es) * | 2020-11-13 | 2022-05-13 | Cecotec Res And Development Sl | Aparato electronico de limpieza y/o desinfeccion con medios de medicion inercial (imu) y metodo para operarlo |
Also Published As
Publication number | Publication date |
---|---|
CN110831473A (zh) | 2020-02-21 |
FR3068839B1 (fr) | 2019-07-26 |
WO2019008280A1 (fr) | 2019-01-10 |
CN110831473B (zh) | 2021-09-21 |
FR3068839A1 (fr) | 2019-01-11 |
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