EP3892777A1 - Road finisher and method with transverse profile control - Google Patents

Abstract

Road paver (1) with a paving screed (3), the paving screed (3) comprising at least one compaction unit (5, 7, 9), and the paving machine (1) furthermore a GNSS receiver (25) and a material conveyor (13) includes. The road finisher (1) furthermore comprises an electronic control system (19) which comprises a memory (21) and a data processor (23), with digital building data (37), in particular a desired height profile (43) in the memory (21). a road surface to be manufactured (15) are stored. The control system (19) is configured to use the building data (37) to use actuators (17, 55, 61, 67) present on the paver finisher (1), in particular leveling cylinders (17) and / or roof profile adjustment (55) and / or slope Adjustment (61) and / or bench adjustment (67), to be controlled automatically, in order to provide paving material (11) with the nominal height profile (43) and thus a defined cross profile for the respective spatial coordinate point ( 45) of the paver finisher (1).

Description

The present invention relates to a road paver and a method for operating a road paver.

Pavements are often not only built in a completely horizontal and flat shape, but also have a transverse profile in order to achieve beneficial effects, such as improved rainwater drainage. Straight sections of the route are manufactured with a roof profile, i.e. sloping outwards on both sides from a highest line in the middle of the road. Curves are made with a superelevation that increases from the inner to the outer curve radius. In order to be able to pave such profiles with a road paver, it has hitherto been known to change the transverse inclination of the screed as a whole and to incline sections of the screed separately from one another. The settings are made by an operator, for example by means of the hydraulic adjustment of the leveling cylinder or manually operated adjusting nuts. A partially automatic control is from the EP 0 849 399 B1 known.

The object of the present invention is to provide a road finisher with an improved control system for automatic transverse profile control and an improved method for operating a road finisher.

The object is achieved by a road paver with the features of claim 1 or by a method for operating a road paver with the features of claim 9. Advantageous further developments of the invention are specified in the subclaims.

A paver according to the invention comprises a screed, the screed comprising at least one compaction unit. The road finisher also includes a GNSS receiver, a material conveyor and an electronic control system, which in turn includes a memory and a data processor. Digital building data, in particular a nominal height profile of a road surface to be produced, are stored in the memory. The control system is configured to use the building data to automatically control an actuator system present on the road paver, in particular a leveling cylinder and / or roof profile adjustment and / or slope adjustment and / or berm adjustment, in order to match the paving material with the target height profile and thus a defined Install the cross profile for the respective location coordinate point of the paver finisher determined with the GNSS receiver. Both the position of the entire screed in the room and the orientation can be adjusted automatically individual plank parts to each other. For example, the transverse inclination of the screed can be set automatically for paving a curve superelevation. Likewise, a left and a right half of the plank can be automatically set at an angle to one another for the production of a roof profile. In addition to the main screed, add-on or pull-out elements can also be set automatically; in particular, their inclination across the direction of travel can be set automatically. The actuators can be, for example, hydraulic or electromotive adjusting elements or drives. The transverse profiles can therefore be precisely planned when the digital building data is created and then installed with the paver using precise coordinates. Possible errors by an operator are excluded and the operator can take care of other operational functions of the paver finisher.

The control system is preferably configured to automatically control the steering of the road finisher as a function of location. This ensures that the road surface is also installed in the exactly foreseen position, which is particularly important in the case of a profiled road surface, since the subgrade and lateral terrain transitions are coordinated with it. The GNSS-based position determination of the road paver means that other reference systems such as mechanical, laser-based or visual monitoring by the operator can be omitted, but they can also continue to be used. The operator is further relieved by the automatic control of the steering.

In an advantageous variant, the control system is configured to automatically set the screed width as a function of location. In this way, changes in the desired width of the road surface are taken into account, whereby the operator is not additionally required or can limit himself to monitoring the automatic settings. The already mentioned, as well as the following automatic functions of the paver finisher, based on the digital building data which are processed by the electronic control system, can overall enable a nearly or completely autonomous paving of a road surface.

The screed preferably has a slope sensor, the control system being configured to automatically control the actuators on the basis of the data received from the slope sensor. The screed can have several inclination sensors, at least one of which is expediently attached to each inclination-adjustable screed part. For example, the transverse inclination of a right and left half of the basic screed, a right and left attachment or extension part and, if necessary, of elements for berm adjustment on the extension or extension parts can be measured. So can it Control system automatically make the required settings with the help of this feedback mechanism. The data from the slope sensors can indicate the absolute slope of the respective screed part in space and / or the relative inclination to one or more other screed parts.

The road paver expediently has a sensor for measuring an actual height profile, the control system being configured to calculate a deviation of the actual height profile from the target height profile and to automatically control the actuators as a function thereof. A feedback mechanism is used to control the automatic installation activity and the settings can be adjusted automatically in order to achieve the desired result. Not only can the machine settings, as mentioned in the previous section, be monitored, but also the actual paving result, whereby a particularly high paving quality is achieved.

In an advantageous variant, the control system is configured to automatically adjust the actuators at the transition between two transverse profiles. Such transitions, for example from a roof profile on a straight road section to a curve cant, are particularly laborious to create manually, since the angling of two halves of the plank to one another must continuously transition into a transverse slope of an otherwise straight plank, without creating unevenness. A high road quality is particularly important in cornering areas. The automatic adjustment takes care of this installation with the highest quality and excludes setting errors that are possible with manual control. The paver finisher's GNSS positioning ensures the exact positioning of the roadway profiles and their transitions. Slope sensors, for example for one left and one right half of the screed, can monitor the current setting of the screed. The operator does not have to initiate the transition sequence manually on the basis of a position determination carried out by him.

Ideally, the control system is configured to compare the actuator settings required for installing the target height profile with their control limits. This ensures that the paver used can pave the desired profiles. It is conceivable that this check can also be carried out using an external data processing system. In both cases, the paver finisher's data is stored digitally for this purpose.

In a further variant, the control system is configured to compare the adjustment speeds of the actuators required for installing the desired height profile with the possible adjustment speeds. In particular, this enables changes to be made in the Plan the transverse profile exactly and adjust the driving or paving speed of the road paver accordingly.

• Vorhalten von digitalen Bauwerksdaten, insbesondere einem Soll-Höhenprofil und einem damit definierten Querprofil eines zu fertigenden Straßenbelags, in einem Speicher eines elektronischen Steuerungssystems des Straßenfertigers,
• Einbau eines Einbaumaterials mittels einer Einbaubohle des Straßenfertigers, wobei die jeweilige aktuelle Position des Straßenfertigers mittels eines GNSS-Empfängers ermittelt wird und anhand des Soll-Höhenprofils eine am Straßenfertiger vorhandene Aktuatorik, insbesondere Nivellierzylinder und/oder Dachprofilverstellung und/oder Slope-Verstellung und/oder Berme-Verstellung, automatisch gesteuert wird.

A method according to the invention for operating a road paver, in particular a road paver according to one of the preceding embodiments, comprises the following method steps:

• Preservation of digital building data, in particular a target height profile and a transverse profile defined therewith of a road surface to be manufactured, in a memory of an electronic control system of the road paver,
• Installation of a paving material by means of a screed of the paver finisher, the respective current position of the paver finisher being determined by means of a GNSS receiver and an actuator system present on the paver finisher, in particular a leveling cylinder and / or roof profile adjustment and / or slope adjustment and / or, based on the target height profile Berme adjustment, controlled automatically.

The road surface is installed in the desired geometry and in the intended position. The position of the GNSS receiver or the receiving antenna on the paver finisher can be taken into account so that the position of the screed is precisely referenced. Two GNSS receivers can also be used for this purpose.

A transverse inclination of the screed and / or a screed part is expediently determined by means of one or more transverse inclination sensors. Ideally, the transverse inclination of each adjustable screed part, such as the left or right half of the basic screed, pull-out elements, berm elements, if present, is measured by means of a separate sensor on the respective element. The data is received and processed by the control system so that an automatic feedback mechanism monitors the exact setting of the bank slope. The data can also be displayed to an operator.

An actual height profile of the built-in road surface is preferably determined by means of a sensor. This data can, for example, be presented to the operator on a display device. In this way, the operator can also intervene manually in the production process and make corrections if necessary.

In an advantageous variant, a difference between the actual height profile and the target height profile is calculated and the actuators are automatically regulated to minimize the difference. A particularly high manufacturing quality is achieved through this feedback mechanism.

The actuator system is preferably set automatically at the transition between two transverse profiles. The settings of the paving screed must be changed continuously when two cross sections transition, until the transition is complete. This is extremely difficult and error-prone to do manually. In addition, a second operator is often required. Thanks to the automatic control, installation is always carried out with a consistently high level of quality and the operator is relieved.

At the beginning of the method, the digital building data are expediently transferred from an external data processing system to the memory of the electronic control system by means of a radio or cable connection. All precalculations and data enrichments can be carried out on a PC. For example, the data of the desired height profile of the road surface can be linked to the three-dimensional height profile of the subgrade, or calculated based on this. The formation data can have been obtained beforehand by means of a surface scan. In this way, the layer thickness of the paving material, the material requirements and other additional data can be calculated. However, it is also conceivable to carry out such calculations by means of the control system of the road finisher itself. The external processing of the data is often more practicable, however, and it may be possible to dispense with the otherwise necessary display and input devices on the paver finisher.

In a preferred variant, the actuator settings required for installing the nominal height profile are compared with their control limits before installation begins. This ensures that the paver, and in particular the screed, is suitable for producing the road surface with the desired transverse profiles.

In a further advantageous variant, the necessary adjustment speeds of the actuators are compared with the possible adjustment speeds before installation begins. The paving speed can be planned and adjusted accordingly.

Figur 1:

eine Seitenansicht eines Straßenfertigers,

Figur 2:

eine schematische Ansicht digitaler Bauwerksdaten,

Figur 3:

eine Rückansicht eines Straßenfertigers mit einer Einbaubohle in Querneigung,

Figur 4:

eine Rückansicht eines Straßenfertigers mit einer Einbaubohle in Dachprofilstellung,

Figur 5:

eine Rückansicht eines Straßenfertigers mit einer Einbaubohle in Slope-Stellung

Figur 6:

eine Rückansicht eines Straßenfertigers mit einer Einbaubohle in Berme-Stellung,

Figur 7:

eine Rückansicht eines Straßenfertigers mit einer Einbaubohle mit höhenverstellten Ausziehteilen.

In the following, exemplary embodiments of the invention are described in more detail with reference to the figures. Show it

Figure 1:

a side view of a road paver,

Figure 2:

a schematic view of digital building data,

Figure 3:

a rear view of a road paver with a screed in a cross slope,

Figure 4:

a rear view of a road paver with a screed in roof profile position,

Figure 5:

a rear view of a paver with a screed in slope position

Figure 6:

a rear view of a road paver with a screed in berm position,

Figure 7:

a rear view of a road paver with a screed with height-adjusted extending parts.

• Figur 1 zeigt einen Straßenfertiger 1 mit einer Einbaubohle 3 mit Tamper 5, Glättblech 7 und Pressleiste 9 zum Verdichten von Einbaumaterial 11, welches mittels einem Materialförderer 13 vor der Einbaubohle 3 abgelegt ist. Die Einbaubohle 3 fertigt einen Straßenbelag 15 mit einem vorgegebenen Querprofil. In dieser Seitenansicht ist des Weiteren ein Nivellierzylinder 17 zu erkennen, welcher unter Anderem zur Einstellung einer Querneigung der Einbaubohle 3 angesteuert werden kann. Dazu ist ein Steuerungssystem 19, welches einen Speicher 21 und einen Datenprozessor 23 umfasst, auf geeignete Weise mit dem Nivellierzylinder 17 bzw. einer mit diesem verbundenen Hydrauliksteuerung verbunden. Der Straßenfertiger 1 umfasst zudem einen GNSS-Empfänger 25 zur Ermittlung der aktuellen Ortskoordinate, wobei eine Entfernung der tatsächlichen Empfängerantenne 27 zur Einbaubohle 3 berücksichtigt werden kann, um die tatsächliche Position der Bohle 3 zu bestimmen. Alternativ kann die GNSS-Empfängerantenne 27 auch auf der Einbaubohle 3 angeordnet sein. Auch können zwei GNSS-Empfängerantennen 27 verwendet werden, um die Position der Einbaubohle 3 exakt zu bestimmen. Eine externe Datenverarbeitungseinheit 29 kann mittels Funkverbindung 31 oder Kabelverbindung 33 Daten mit dem Steuerungssystem 19 austauschen. Wenigstens eine Achse des Straßenfertigers 1 ist mit einer Lenkung 35 ausgestattet, welche ebenfalls von dem Steuerungssystem 19 ansteuerbar sein kann.
• Figur 2 zeigt eine schematische Darstellung digitaler Bauwerksdaten 37, welche in diesem Beispiel ein Höhenprofil 39 eines Planums 41, sowie ein Soll-Höhenprofil 43 des zu fertigenden Straßenbelags 15 umfassen. Das Soll-Höhenprofil 43 ist bzw. definiert das Querprofil und ist hier in Form eines Dachprofils dargestellt. Die Bauwerksdaten 37 sind jeweils für Ortskoordinatenpunkte 45 gespeichert und stellen zusammen mit den Höhendaten einen dreidimensionalen Datensatz dar. Die Querprofileinstellung der Einbaubohle 3 wird anhand der Bauwerksdaten 37 für den jeweiligen mit dem GNSS-Empfänger 25 erfassten Ortskoordinatenpunkt 45 eingestellt. Es versteht sich, dass Übergänge zwischen zwei Profilarten zweckmäßig graduell, also ohne abrupte Änderungen gestaltet sind. Die Planumsdaten 39 können beispielsweise durch einen Oberflächenscan gewonnen werden. Hierzu wird beispielsweise mit einem Fahrzeug das Planum abgefahren, wobei ein Oberflächenscanner und ein GNSS-Empfänger am Fahrzeug angeordnet sind und die Höhendaten 39 mit der jeweiligen Ortskoordinate abgespeichert werden.
• Figur 3 zeigt eine Rückansicht eines Straßenfertigers 1 mit der Einbaubohle 3 in Querneigung zur Fertigung einer schrägen Fahrbahnoberfläche, wie sie beispielsweise als Kurvenüberhöhung verwendet wird. In der hier dargestellten Variante weist bereits das Planum 41 die gewünschte Querneigung im Vergleich zur Horizontalen auf. Somit fährt der Straßenfertiger 1 bereits geneigt auf dem Planum 41, wobei die Einbaubohle 3 mit ihrer Rechts-Links-Achse im Wesentlichen senkrecht zum restlichen Straßenfertiger 1 steht. Ebenso ist es jedoch möglich bei einem horizontalen Planum 41 die Einbaubohle 3 in eine Querneigung relativ zum Chassis des Straßenfertigers 1 und zum Planum 41 zu bringen, um einen Straßenbelag 15 mit quergeneigter Fahrbahnoberfläche auf dem horizontalen Planum 41 zu fertigen. Die Querneigung der gesamten Einbaubohle 3 wird dabei durch die Verstellung der Nivellierzylinder 17 vorgenommen.. Für alle Ausführungsformen kann die Einbaubohle 3 eine linke Bohlenhälfte 47, eine rechte Bohlenhälfte 49 sowie Verbreiterungs- und/oder Ausziehteile 51 aufweisen. Zur Überwachung der Querneigung können Querneigungssensoren 53 an der Einbaubohle 3 bzw. an den jeweiligen Bohlenteilen 47, 49, 51 angeordnet sein.
• Figur 4 zeigt eine Rückansicht eines Straßenfertigers 1 mit der Einbaubohle 3 in einer Dachprofilstellung. Eine linke Bohlenhälfte 47 und eine rechte Bohlenhälfte 49 sind mittels eines Aktuators zur Dachprofilverstellung 55 in eine zueinander geneigte Position verstellt. Hier ist ein positives Dachprofil gezeigt, bei dem die äußeren Enden der Einbaubohle 3 nach unten geneigt sind. Ebenso ist auch ein negatives Dachprofil möglich, bei dem die äußeren Enden nach oben weisen. In diesem Beispiel ist eine Einbaubohle 3 ohne Ausziehteile 51 gezeigt, wobei die Ausziehteile 51 vorhanden sein können.

Components that correspond to one another are provided with the same reference symbols in each of the figures.

• Figure 1 shows a road finisher 1 with a screed 3 with a tamper 5, screed 7 and pressure bar 9 for compacting paving material 11, which is deposited in front of the screed 3 by means of a material conveyor 13. The screed 3 produces a road surface 15 with a predetermined transverse profile. In this side view, a leveling cylinder 17 can also be seen, which, among other things, can be controlled to set a transverse inclination of the screed 3. For this purpose, a control system 19, which comprises a memory 21 and a data processor 23, is connected in a suitable manner to the leveling cylinder 17 or to a hydraulic control connected to it. The road finisher 1 also includes a GNSS receiver 25 for determining the current location coordinate, it being possible to take into account a distance between the actual receiver antenna 27 and the screed 3 in order to determine the actual position of the screed 3. Alternatively, the GNSS receiver antenna 27 can also be arranged on the screed 3. Two GNSS receiver antennas 27 can also be used in order to determine the position of the screed 3 exactly. An external data processing unit 29 can exchange data with the control system 19 by means of radio connection 31 or cable connection 33. At least one axle of the road paver 1 is equipped with a steering 35, which can also be controlled by the control system 19.
• Figure 2 shows a schematic representation of digital building data 37, which in this example include a height profile 39 of a subgrade 41 and a target height profile 43 of the road surface 15 to be produced. The desired height profile 43 is or defines the transverse profile and is shown here in the form of a roof profile. The building data 37 are each stored for location coordinate points 45 and, together with the height data, represent a three-dimensional data set. It goes without saying that transitions between two types of profile are expediently designed gradually, that is to say without abrupt changes. The formation data 39 can be obtained, for example, by a surface scan. For this purpose, a vehicle is used, for example, to drive over the subgrade, a surface scanner and a GNSS receiver being arranged on the vehicle and the altitude data 39 being stored with the respective location coordinates.
• Figure 3 shows a rear view of a road paver 1 with the screed 3 in a transverse inclination for the production of an inclined road surface, as it is used, for example, as a curve superelevation. In the variant shown here, the planum 41 already has the desired transverse slope compared to the horizontal. The road paver 1 is thus already traveling inclined on the subgrade 41, the right-left axis of the screed 3 being essentially perpendicular to the rest of the road paver 1. However, in the case of a horizontal subgrade 41 it is also possible to bring the screed 3 into a transverse slope relative to the chassis of the paver 1 and to the subgrade 41 in order to produce a road surface 15 with a transversely inclined road surface on the horizontal subgrade 41. The transverse inclination of the entire screed 3 is made by adjusting the leveling cylinder 17. For all embodiments, the screed 3 can have a left screed half 47, a right screed half 49 and widening and / or extending parts 51. To monitor the transverse inclination, transverse inclination sensors 53 can be arranged on the screed 3 or on the respective screed parts 47, 49, 51.
• Figure 4 shows a rear view of a road paver 1 with the screed 3 in a roof profile position. A left screed half 47 and a right screed half 49 are adjusted into a mutually inclined position by means of an actuator for roof profile adjustment 55. Here a positive roof profile is shown in which the outer ends of the screed 3 are inclined downwards. A negative roof profile with the outer ends pointing upwards is also possible. In this example, a screed 3 is shown without extension parts 51, it being possible for extension parts 51 to be present.

In addition, sensors 57 for measuring the actual height profile 59 of the built-in road surface 15 are shown. The measurement data are compared by the control system 19 with the nominal height profile 43, and the actuator or actuators for the roof profile adjustment 55 are readjusted accordingly in order to prevent deviations. With the actuators 55 for adjusting the roof profile, the geometry of the screed 3 can be adjusted. In addition, the transverse inclination of the entire screed 3 and the paving thickness of the road surface 15 can be adjusted by means of the leveling cylinder 17.

Figure 5 shows a rear view of a road finisher 1 with the screed 3 in the slope position. The pull-out parts 51 are inclined in addition to the halves 47, 49 of the basic screed. The settings are made with appropriate actuators for slope adjustment 61. For example, rain drains with a steep incline can be created at the edges of a roadway.

Figure 6 shows a rear view of a road paver 1 with a screed 3 in the berm position. For this purpose, sections 63 of the pull-out parts 51 can be brought into the angled position shown. These berm sections 63 make it possible, for example, to produce a channel for the water to run off on the side of the road. The berm sections 63 can be automatically controlled by the control system 19 by means of actuators for berm adjustment 67 and can have further inclination sensors 53 so that both the transverse inclination of the main surface 65 of the pull-out part and the transverse inclination of the berm section 63 can be measured.

Figure 7 shows a rear view of a road paver 1 with a screed 3 with extending parts 51, the lower surfaces of which, including the main surface 65 and, if present, a berm section 63, are height-adjustable. This can be done, for example, by hydraulic or electrical drives and in addition to the inclination adjustment.

Based on the above-described embodiments of a road paver 1 and a method for operating a road paver 1, many variations of the same are conceivable. Thus, M or W transverse profiles can be set by combinations of the transverse inclinations of the pile parts 47, 49, 51.

Claims (15)

Road paver (1) with a paving screed (3), the paving screed (3) comprising at least one compaction unit (5, 7, 9), and the paving machine (1) furthermore a GNSS receiver (25) and a material conveyor (13) comprises, wherein the road finisher (1) is characterized by an electronic control system (19) which comprises a memory (21) and a data processor (23), digital building data (37), in particular a desired height profile, in the memory (21) (43) of a road surface (15) to be produced are stored, and the control system (19) is configured to use the building data (37) to use actuators (17, 55, 61, 67) present on the road paver (1), in particular leveling cylinders ( 17) and / or roof profile adjustment (55) and / or slope adjustment (61) and / or berm adjustment (67) to be controlled automatically in order to provide paving material (11) with the desired height profile (43) and thus a defined transverse profile for each with the GNSS receiver (25) determined location coordinate point (45) of the road finisher (1) to be installed. Road paver according to Claim 1, characterized in that the control system (19) is configured to automatically control the steering (35) of the road paver (1) as a function of location. Road paver according to one of the preceding claims, characterized in that the control system (19) is configured to automatically adjust the screed width as a function of location. Road finisher according to one of the preceding claims, characterized in that the screed (3) has a slope sensor (53), the control system (19) being configured to use the data received from the slope sensor (53) to control the actuators (17, 55, 61, 67) to be controlled automatically. Road paver according to one of the preceding claims, characterized in that it has a sensor (57) for measuring an actual height profile (59), the control system (19) being configured to detect a deviation of the actual height profile (59) from the target height profile (43) and to automatically control the actuators (17, 55, 61, 67) as a function thereof. Road finisher according to one of the preceding claims, characterized in that the control system is configured to automatically adjust the actuator system (17, 55, 61, 67) when the transition between two transverse profiles occurs. Road paver according to one of the preceding claims, characterized in that the control system (19) is configured to compare the actuator settings required for installing the desired height profile (43) with their control limits. Road paver according to one of the preceding claims, characterized in that the control system (19) is configured to compare the adjustment speeds of the actuators (17, 55, 61, 67) required for installing the nominal height profile (43) with the possible adjustment speeds. Method for operating a road paver (1), in particular a road paver (1) according to one of the preceding claims, comprising the following method steps: - Provision of digital building data (37), in particular a desired height profile (43) and a transverse profile defined therewith of a road surface (15) to be produced, in a memory (21) of an electronic control system (19) of the road paver (1), - Installation of a paving material (11) by means of a screed (3) of the paver (1), the respective current position of the paver (1) being determined by means of a GNSS receiver (25) and an am Paver (1) existing actuators (17, 55, 61, 67), in particular leveling cylinder (17) and / or roof profile adjustment (55) and / or slope adjustment (61) and / or berm adjustment (67), is controlled automatically . Method according to claim 9, characterized in that a transverse inclination of the screed (3) and / or a screed part (47, 49, 51, 63) is determined by means of one or more transverse inclination sensors (53). Method according to claim 9 or 10, characterized in that an actual height profile (59) of the built-in road surface (15) is determined by means of a sensor (57) and a difference between the actual height profile (59) and the target height profile (43) is calculated and the actuators (17, 55, 61, 67) are automatically controlled to minimize the difference. Method according to one of Claims 9 to 11, characterized in that the actuator system (17, 55, 61, 67) is automatically set at the transition between two transverse profiles. Method according to one of Claims 9 to 12, characterized in that the digital building data (37) at the beginning of the method from an external data processing system (29) be transmitted to the memory (21) of the electronic control system (19) by means of radio or cable connection (31, 33). Method according to one of Claims 9 to 13, characterized in that, before the start of installation, the actuator settings required for installing the desired height profile (43) are compared with their control limits. Method according to one of Claims 9 to 14, characterized in that the necessary adjustment speeds of the actuators (17, 55, 61, 67) are compared with the possible adjustment speeds before installation begins.

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