JP2010259167A - Vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle wherein it is possible to ensure safety and continue running even when a position signal cannot be received from any ground device installed along a track and prevent degradation in the availability of an overall system. <P>SOLUTION: The vehicle has a function of recognizing an absolute position based on a position signal received from a ground device when it passes by the ground device installed along a track and computing the present position from a travel distance starting at the absolute position. The vehicle includes: a positioning radio wave receiver that receives a radio wave containing positioning information and computes the present position based on the positioning information; and a vehicle controller that, when a position signal cannot be received from a ground device, determines whether or not the present position computed from the travel distance based on the present position computed at the positioning radio wave receiver is within an allowable range. When the present position is within the allowable range, the vehicle controller controls operation so as to continue running with a restrictive condition. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

 The present invention relates to a vehicle, and more particularly to a vehicle used in a new transportation system.

  As is well known, the new transportation system was developed as a public transportation system with intermediate transportation capacity between railways and buses in a relatively densely populated urban space. It is also used as a moving means. Such a new transportation system employs a system in which a vehicle supported by rubber tires on a dedicated track is guided by a guide rail (guide rail), thus providing excellent comfort, low pollution and safety. Has attracted attention as a transport system (see, for example, Patent Document 1 below).

  In the conventional new transportation system, ground elements for position detection are arranged at regular intervals along the trajectory of the vehicle, and the absolute position of the vehicle is based on the position signal received from the ground element when passing over the ground element. After that, a positioning function for calculating the current position by integrating the travel distance starting from the absolute position using an encoder installed on the vehicle body is provided. In this positioning function, the current position is corrected based on the absolute position obtained each time the vehicle passes through the ground element, thereby resetting the accumulated error of the travel distance by the encoder.

JP 2005-335505 A

  Conventionally, when the position signal cannot be received from the position detecting ground element while the vehicle is running, it is determined that the current position is incorrect from the viewpoint of security, and the current position is reset and the vehicle is brought to an emergency stop. It was. For this reason, the automatic driving of the vehicle is stopped and the following vehicle is also stopped at the rear block, which causes a problem that the availability of the entire system is lowered.

  The present invention has been made in view of the above-described circumstances, and even when a position signal cannot be received from a ground element arranged along a track, it is possible to continue traveling while ensuring safety, and the entire system. An object of the present invention is to provide a vehicle capable of preventing a decrease in availability.

In order to solve the above problems, a vehicle according to the present invention recognizes an absolute position based on a position signal received from the ground element when passing over the ground element arranged along a track, and the absolute position A vehicle having a function of calculating a current position from a travel distance starting from the vehicle, receiving a radio wave including positioning information, and calculating a current position based on the positioning information included in the received radio wave If the position signal cannot be received from the device and the ground unit, it is determined whether or not the current position calculated from the travel distance is within an allowable range based on the current position calculated by the positioning device. And a vehicle control device that performs driving control so as to continue traveling with a limiting condition when it is within the range.
Moreover, the vehicle according to the present invention is characterized in that the vehicle control device sets the limiting condition to reduce a traveling speed.
Further, in the vehicle according to the present invention, the vehicle control device may be configured to detect the current position when the current position calculated from the travel distance is not within an allowable range, or when acquisition of the current position by the positioning device fails. And the emergency brake is activated.
In the vehicle according to the present invention, the vehicle control device performs normal driving control by canceling the limiting condition when the position signal can be received from the ground unit after driving with the limiting condition. It is characterized by.

 When the vehicle according to the present invention fails to receive the position signal from the ground unit, the vehicle determines whether the current position calculated from the travel distance is within the allowable range based on the current position calculated by the positioning device. When it is within the range, operation control is performed so as to continue traveling with the restriction condition. That is, by making the positioning function redundant by using the positioning device, it is possible to continue traveling of the vehicle while ensuring safety, and to prevent a decrease in availability of the entire system.

1 is a schematic configuration diagram of a new transportation system according to an embodiment of the present invention. 1 is a schematic configuration diagram of a vehicle 1 used in a new transportation system according to an embodiment. 2 is a functional block configuration diagram of a vehicle 1. FIG. 3 is a flowchart showing a positioning process of a vehicle control device 31 provided in the vehicle 1.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram of a new transportation system according to the present embodiment. As shown in FIG. 1, the new transportation system according to the present embodiment is installed in, for example, vehicles 1 and 2 that automatically travel on a track W laid in a large-scale airport or an urban area, and stations A and B. Installed between the stations, the station device 3, the position detecting ground element 4, the ground radio antenna 5, and the ground radio device 6 installed for each of the plurality of closed sections set along the track W between the stations. In addition, a ground ATP (Automatic Train Protection) device 7 and an operation management device 8 installed at the central headquarters C are included.

 The station apparatus 3 includes a station ground element 3a disposed at a vehicle fixed point stop position on the station track, a station ATO (Automatic Train Operation) apparatus 3b, and a station management apparatus 3c. The operation management device 8 includes a manual operation panel 8a, an operation display panel 8b, and an ATS (Automatic Train Supervision) device 8c. Wayside devices such as the station ATO device 3b, the station management device 3c, the terrestrial radio device 6, and the terrestrial ATP device 7, and the ATS device 8c serving as the center device are connected via an optical network NW constructed using optical fibers. Are connected to communicate.

 The new transportation system includes power facilities for supplying power to the vehicles 1 and 2 and various ground devices, but is omitted in FIG. 1 shows a situation in which two vehicles 1 and 2 exist on the track W for the sake of space, but the number of formations is not limited to this. In addition, the number of vehicles in one train is not limited to one, and a plurality of vehicles may be connected to form one train. The number of stations is not limited to two.

 The vehicles 1 and 2 can communicate with the station ATO device 3b via the station ground element 3a when the station is stopped, and automatically perform opening and closing operations and departure operations of the vehicle doors according to instructions from the station ATO device 3b. . The vehicles 1 and 2 recognize the absolute position based on the position signal received from the position detecting ground element 4 during traveling, and thereafter travel from the absolute position using an encoder installed on the vehicle body. It has a positioning function that calculates the current position by integrating the distance. The details of the positioning function of the vehicles 1 and 2 will be described later.

 In addition, these vehicles 1 and 2 can communicate with the ground ATP device 7 via the ground radio antenna 5 and the ground wireless device 6 during traveling, and report the calculation result of the current position to the ground ATP device 7 ( On the other hand, the automatic operation is performed so as not to exceed the speed limit instructed for each block section based on the calculation result of the current position from the ground ATP device 7.

 These vehicles 1 and 2 can also communicate with the ATS device 8c of the central headquarters C via the ground wireless antenna 5 and the ground wireless device 6, and vehicle information (current position, traveling speed, abnormality occurrence history, etc.) While reporting to the ATS device 8c, the vehicle travels according to a remote operation command from the ATS device 8c in an emergency. The detailed configuration of such vehicles 1 and 2 will be described later.

 In the station apparatus 3, the station ground element 3 a is a power source ground element arranged at a vehicle fixed point stop position on the station track in order to communicate with the vehicles 1 and 2 that are stopped at the station. It is configured. The station ATO device 3b can communicate with the vehicles 1 and 2 via the station ground element 3a and can communicate with the ATS device 8c of the central headquarters C via the optical network NW. Depending on the vehicle 1 and 2, the vehicle doors and the station platform door interlocking opening and closing control, the vehicle 1 and 2 departure control, etc. The brake state and the open / close state of the vehicle door and the station platform door are reported to the ATS device 8c.

 The station management device 3c can communicate with the ATS device 8c of the central headquarters C via the optical network NW, and in response to an instruction from the ATS device 8c, the station platform and the station station broadcasting device, guidance display device, and monitoring camera Control and management of various devices necessary for station operations such as control of automatic ticketing machines and automatic ticket gates, etc. The ATS device 8c uses the status of these various devices and the monitoring video from the monitoring camera as station information. To report to.

 The position detecting ground element 4 is a non-powered ground element installed in each block section on the track W between the stations in order to detect the absolute position of the vehicles 1 and 2, and is constituted by, for example, an induction loop coil. ing. The position detecting ground element 4 transmits a position signal indicating an absolute position to the vehicles 1 and 2 by communication using a guidance method when the vehicles 1 and 2 travel on the ground.

 The terrestrial radio antenna 5 is an antenna installed in each block section in order to communicate with the traveling vehicles 1 and 2. The terrestrial wireless device 6 performs reception, which can be processed by the terrestrial ATP device 7 and the ATS device 8c, by performing frequency conversion processing, demodulation processing, and decoding processing on the wireless signals received from the vehicles 1 and 2 via the terrestrial wireless antenna 5. Data is generated, and the received data is transmitted to the terrestrial ATP device 7 or the ATS device 8c via the optical network NW. That is, if this received data is data indicating the current position, it is transmitted to the ground ATP device 7, and if it is data indicating vehicle information, it is transmitted to the ATS device 8c.

 Further, the terrestrial wireless device 6 transmits transmission data input from the terrestrial ATP device 7 or the ATS device 8c via the optical network NW (the speed limit for the terrestrial ATP device 7 and the remote operation command for the ATS device 8c). A radio signal for transmission is generated by performing an encoding process, a modulation process, and a frequency conversion process on the radio signal, and the radio signal is transmitted to the vehicles 1 and 2 via the ground radio antenna 5.

  The terrestrial ATP device 7 can communicate with the vehicles 1 and 2 via the terrestrial radio antenna 5, the terrestrial radio device 6, and the optical network NW, and the current position reported from the vehicles 1 and 2, the position information of the preceding vehicle, and Based on the trajectory information (curve, gradient state, etc.) of each block section, the speed limit in the block section corresponding to the current position is determined, and the determined speed limit is transmitted to the vehicles 1 and 2 via the ground radio 6. To do.

 In the operation management device 8, the manual operation panel 8a is an operation panel for manually operating the vehicles 1 and 2 in an emergency, and outputs an operation signal according to the operation by the administrator to the ATS device 8c. The operation display board 8b is a display device that displays the operation status of the vehicles 1 and 2 and the status of the stations A and B under the control of the ATS device 8c.

  The ATS device 8c is a device that comprehensively manages and monitors the operation of the vehicles 1 and 2 and the operations of the stations A and B based on a preset operation schedule, and each vehicle obtained through the optical network NW. The operation status of each vehicle 1 and 2 and the status of each station A and B are displayed on the operation display panel 8b based on the vehicle information of 1 and 2 and the station information of each station A and B. An operation signal input from the panel 8a is transmitted to the vehicles 1 and 2 as a remote operation command.

 Then, the structure of the vehicles 1 and 2 is demonstrated in detail with reference to FIG.2 and FIG.3. In addition, since the structure of the vehicles 1 and 2 is the same, below, it demonstrates using the vehicle 1 typically. 2 is a schematic configuration diagram of the vehicle 1, FIG. 2A is a front view of the vehicle 1 traveling on the track W, and FIG. 2B is a schematic plan view for explaining the structure of the bogie of the vehicle 1. FIG.

 As shown in FIGS. 2A and 2B, the vehicle 1 includes a vehicle body 10 that is a main body for accommodating passengers, and a carriage 12 supported by four-wheel rubber tires 11. The carriage 12 is provided with a current collector 13 and a travel device 26 (a drive motor 26a, a drive inverter 26b, a speed detector 26c, an encoder 26d, and a brake device 26e: only the drive motor 26a is shown in FIG. 2). The vehicle 1 travels by receiving power (for example, three-phase AC power) supplied from a train line 14 installed along the side wall of the track W.

 In addition, as a steering means for the rubber tire 11, guide bars 15 are attached to the carriage 12 at two locations on the front wheel side and the rear wheel side. Guide wheels 16 are attached to both sides of the guide bar 15, and the guide wheels 16 are guided by guide rails 17 provided on the side walls of the track, so that the vehicle can bend following the curve of the track W. It is like that. The guide rail 17 is grounded (grounded).

 A branch guide wheel 18 is attached to the guide bar 15 below the guide wheel 16. The branch guide wheel 18 hooks a movable guide plate (not shown) of an electric switch installed beside the branch part of the track W to branch the vehicle 1 in a desired direction. The straight traveling-side movable guide plate sticks out to maintain the course of the vehicle 1 in the straight traveling direction, and when branching, the branching-side movable guide plate sticks out to change the course of the vehicle 1 in the branching direction. In addition, as shown to Fig.2 (a), the position detection ground element 4 is arrange | positioned in the center on the track | orbit W between stations.

 FIG. 3 is a functional block configuration diagram of the vehicle 1. As shown in FIG. 3, the vehicle 1 includes a lower antenna 20, a transponder 21, an on-vehicle radio antenna 22, an on-vehicle radio 23, a GPS (Global Positioning System) receiving antenna 24, a GPS receiver 25, a traveling device 26, A door control device 27, a door opening / closing device 28, a guidance display device 29, a recording / broadcasting device 30, and a vehicle control device 31 are provided.

 The lower antenna 20 is an antenna for communicating with each ground element (station ground element 3a, position detecting ground element 4) arranged on the track W by a guidance method, and is arranged at the lower front end of the vehicle 1. Yes. The transponder 21 converts a signal received from each ground element via the lower antenna 20 into reception data that can be processed by the vehicle control device 31 and outputs the received data to the vehicle control device 31. The transponder 21 converts transmission data input from the vehicle control device 31 into a transmission signal that can be received by the ground unit (in this case, only the station ground unit 3 a), and the transmission signal is transmitted via the lower antenna 20. Send.

 The on-vehicle wireless antenna 22 is an antenna for performing wireless communication with the ground wireless device 6 via the ground wireless antenna 5 shown in FIG. The on-vehicle wireless device 23 performs reception frequency conversion processing, demodulation processing, and decoding processing on the radio signal received via the on-vehicle wireless antenna 22 so that it can be processed by the vehicle control device 31 (for example, speed limit or remote control). Data indicating an operation command) is generated, and the received data is output to the vehicle control device 31. The on-board wireless device 23 performs transmission processing (for example, data indicating the current position and vehicle information) input from the vehicle control device 31 by performing encoding processing, modulation processing, and frequency conversion processing. A signal is generated, and this radio signal is transmitted to the terrestrial radio antenna 5 via the on-board radio antenna 22.

The GPS receiving antenna 24 is an antenna for receiving radio waves including positioning information (for example, satellite numbers and radio wave transmission times) from GPS satellites. The GPS receiver 25 extracts positioning information from a signal received via the GPS receiving antenna 24, and is based on the positioning information and satellite information (for example, correspondence between time and the position of the GPS satellite) stored in advance in a database. The current position of the vehicle 1 is calculated, and a current position signal indicating the calculation result is output to the vehicle control device 31.
The GPS receiving antenna 24 and the GPS receiver 25 constitute a positioning device according to the present invention.

 The traveling device 26 is roughly configured by a drive motor 26a, a drive inverter 26b, a speed detector 26c, an encoder 26d, and a brake device 26e. The drive motor 26a is, for example, a three-phase AC induction machine, and rotates the rubber tire 11 on the rear wheel side by rotating with the three-phase AC power supplied from the drive inverter 26b. The drive inverter 26b is, for example, a VVVF inverter having a regenerative brake function, and generates three-phase AC power for running the vehicle 1 at a predetermined speed under the control of the vehicle control device 31 and supplies the generated power to the drive motor 26a.

 The speed detector 26 c detects the traveling speed of the vehicle 1 and outputs a speed signal indicating the detection result to the vehicle control device 31. The encoder 26 d is attached to the rotation shaft of the drive motor 26 a or the rubber tire 11 and outputs a pulse signal corresponding to the rotation of the rotation shaft to the vehicle control device 31. The brake device 26 e is an air brake, for example, and performs a brake operation under the control of the vehicle control device 31.

 The door control device 27 performs interlocking control of door opening / closing by the door opening / closing device 28, guidance display by the guidance display device 29, and in-car broadcast by the recording / broadcasting device 30 in accordance with control by the vehicle control device 31. The door opening / closing device 28 opens and closes the door under the control of the door control device 27. The guidance display device 29 displays a guidance screen when the door is opened / closed under the control of the door control device 27. The recording / broadcasting device 30 performs in-car broadcast when the door is opened / closed under the control of the door control device 27.

 The vehicle control device 31 receives reception data input from the transponder 21 and the on-board wireless device 23, a current position signal input from the GPS receiver 25, a speed signal input from the speed detector 26c, and an encoder 26d. It is a device that performs various controls necessary for automatic driving such as running, deceleration, stopping, opening and closing of the vehicle door based on the input pulse signal, and includes an on-vehicle ATO device 31a and an on-vehicle ATP device 31b. Yes.

The on-vehicle ATO device 31a controls the opening / closing of the vehicle door, the guidance display, and the in-vehicle broadcast by controlling the door control device 27 according to the instruction received from the station ATO device 3b via the transponder 21 while the station is stopped. At the same time, departure control of the vehicle 1 is performed by controlling the traveling device 26. The on-vehicle ATO device 31a grasps the current traveling speed from the speed signal input from the speed detector 26c during traveling, and the traveling speed exceeds the speed limit notified from the on-vehicle ATP device 31b. The automatic operation is performed by controlling the traveling device 26 so as not to occur.
Further, the on-vehicle ATO device 31a controls the traveling device 26 in accordance with a remote operation command received from the ATS device 8c via the on-board wireless device 23 in an emergency.

 The on-vehicle ATO device 31a determines the absolute position of the vehicle 1 based on the position signal received from the position detecting ground element 4 via the transponder 21 when passing over the position detecting ground element 4 during traveling. After that, a positioning function for calculating the current position by integrating the travel distance starting from the absolute position based on the pulse signal input from the encoder 26d is provided.

The on-board ATP device 31b transmits the calculation result of the current position to the ground ATP device 7 via the on-board wireless device 23, while the speed limit commanded from the ground ATP device 7 for each block section corresponding to the current position. Is notified to the on-vehicle ATO device 31a.
Such a vehicle control device 31 also has a function of transmitting vehicle information (current position, travel speed, abnormality occurrence history, etc.) to the ATS device 8c via the on-board wireless device 23.

 Hereinafter, the details of the positioning function in the on-vehicle ATO device 31a will be described with reference to FIG. FIG. 4 is a flowchart showing the positioning process executed by the on-vehicle ATO device 29a. As shown in FIG. 4, the on-board ATO device 29a is configured so that the vehicle 1 moves from the current position (the integrated value of the travel distance) currently recognized during travel to the transponder input position (position of the position detecting ground element 4). It is determined whether or not it has been reached (step S1).

  If “No” in step S1, the on-vehicle ATO device 29a continues the current position calculation process (accumulation of travel distance) based on the pulse signal input from the encoder 26d (step S2). On the other hand, if “Yes” in step S1, that is, if the vehicle 1 has reached the position of the position detecting ground element 4, the on-board ATO device 29a has received a position signal from the transponder 21 (position detecting ground). It is determined whether or not a position signal has been received from the upper element 4 (step S3).

  In the case of “No” in step S3, that is, when the position signal cannot be received from the position detecting ground element 4, the on-vehicle ATO device 29a determines whether or not the position signal has not been received twice continuously. Determination is made (step S4), and if “No”, the process returns to step S1. On the other hand, if “Yes” in step S4, that is, if no position signal has been received twice, the on-vehicle ATO device 29a determines whether positioning by GPS has succeeded, that is, from the GPS receiver 25. It is determined whether or not the current position of the vehicle 1 has been successfully acquired (whether or not a current position signal has been input) (step S5).

  In the case of “Yes” in step S5, the on-board ATO device 29a has a current position (integrated value of travel distance) currently recognized based on the current position obtained from the GPS receiver 25 within an allowable range ( For example, it is determined whether or not it is included in a certain range centered on the current position obtained from the GPS receiver 25 (step S6). If “Yes”, a restriction condition is applied (for example, the traveling speed is lowered). Operation control is performed so as to continue traveling in the traveling low speed mode) (step S7). The on-vehicle ATO device 29a returns to the process of step S1 after step S7.

  If “Yes” in step S3, that is, if the position signal can be received from the position detecting ground element 4, the on-vehicle ATO device 29a recognizes the absolute position recognized from the position signal and the current position currently recognized. It is determined whether or not the deviation from the position (the integrated value of the travel distance) is within an allowable range (step S8). If “No”, the process proceeds to step S4. On the other hand, if “Yes” in step S8, the on-vehicle ATO device 29a corrects the current position based on the absolute position obtained from the position detecting ground element 4 (step S9), and the restriction condition (low speed mode) ) Is reset (cancelled) to return to normal operation control, and the process returns to step S1 (step S10).

  On the other hand, if “No” in step S5, that is, if acquisition of the current position of the vehicle 1 from the GPS receiver 25 has failed, the on-board ATO device 29a recognizes the current position (accumulated travel distance). (Value) is deleted, the emergency brake is activated, and the vehicle 1 is stopped (step S11). Further, in the case of “No” in step S6, that is, when the currently recognized current position (the integrated value of the travel distance) is not included in the allowable range, the on-vehicle ATO device 29a also performs the step S11. Then, the vehicle 1 is stopped.

  After the vehicle 1 stops, the on-board ATO device 29a controls the traveling device 26 according to a remote operation command (operation by manual operation) received from the ATS device 8c via the on-board wireless device 23, so that the vehicle 1 is predetermined. It moves to the position (next station or the arrangement position of the next position detecting ground element 4), and shifts to automatic operation after restoration.

 As described above, the vehicles 1 and 2 according to the present embodiment recognize the current position based on the current position obtained from the GPS receiver 25 when the position signal cannot be received from the position detecting ground element 4. It has a function of determining whether or not the current position (the integrated value of the travel distance) is within an allowable range, and performing operation control so as to continue traveling with a limiting condition if it is within the allowable range. In other words, by making the positioning function redundant by using the GPS receiver 25, it is possible to continue traveling of the vehicles 1 and 2 while ensuring safety, and to prevent a decrease in availability of the entire system. Become.

In addition, this invention is not limited to the said embodiment, The following modifications can be considered.
(1) In the above embodiment, the case where the GPS receiving antenna 24 and the GPS receiver 25 using the GPS are used as the positioning device is illustrated. However, the present invention is not limited to this, and the current positions of the vehicles 1 and 2 can be acquired. If possible, other positioning devices may be used.

(2) In the above embodiment, in the flowchart of the positioning process shown in FIG. 4, Step 4 is provided for determining whether or not the position signal has not been received twice. However, the number of times is not limited to two. Further, step S4 may be omitted, and if “No” in step S3 or step S8, the process may directly proceed to step S5. In step S7, the reduction condition is that the traveling speed is reduced, but other conditions may be the restriction condition.

 DESCRIPTION OF SYMBOLS 1, 2 ... Vehicle, 3 ... Station apparatus, 3a ... Station ground element, 3b ... Station ATO apparatus, 3c ... Station management apparatus, 4 ... Position detection ground element, 5 ... Ground radio antenna, 6 ... Ground radio equipment, 7 ... ground ATP device, 8 ... operation management device, 8a ... manual operation panel, 8b ... operation display board, 8c ... ATS device, 10 ... vehicle body, 11 ... rubber tire, 12 ... cart, 17 ... guide rail, 20 ... lower antenna, 21 ... Transponder, 22 ... Vehicle radio antenna, 23 ... Vehicle radio, 24 ... GPS receiver antenna, 25 ... GPS receiver, 26 ... Running device, 27 ... Door control device, 28 ... Door open / close device, 29 ... Guide Display device 30 ... Recording and broadcasting device 31 ... Vehicle control device 32 ... On-vehicle ATO device 33 ... On-vehicle ATP device A, B ... Station, C ... Central headquarters, NW ... Optical network, W ... Track

Claims (4)

It has a function of recognizing the absolute position based on the position signal received from the ground element when passing over the ground element arranged along the track and calculating the current position from the travel distance starting from the absolute position. A vehicle,
A positioning device that receives radio waves including positioning information and calculates a current position based on the positioning information included in the received radio waves;
If the position signal cannot be received from the ground unit, it is determined whether or not the current position calculated from the travel distance is within an allowable range based on the current position calculated by the positioning device. In some cases, a vehicle control device that performs driving control so as to continue traveling with a restriction condition;
A vehicle comprising:   The vehicle according to claim 1, wherein the vehicle control device sets the restriction condition to reduce a traveling speed.   The vehicle control device deletes the current position and activates an emergency brake when the current position calculated from the travel distance is not within an allowable range or when the positioning device fails to acquire the current position. The vehicle according to claim 1 or 2, characterized by the above.   The said vehicle control apparatus cancels | releases the said restriction conditions and performs normal driving | operation control, when a position signal can be received from the said ground element after driving | running with the said restriction conditions. The vehicle according to any one of the above.

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