JP2017027146A - Autonomous mobile body monitor area setting method and autonomous mobile body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve an autonomous mobile body monitor area setting method that can easily and inexpensively set a monitor area.SOLUTION: An autonomous mobile body monitor area setting method according to one embodiment of the present invention comprises: a first step of arranging an autonomous mobile body around a corner of a monitor area scheduled for setting; a second step of collating a surrounding environment detected by the autonomous mobile body arranged around the corner with an environment map to estimate a coordinate of the autonomous mobile body in the environment map; a third step of estimating a coordinate of the corner in the environment map on the basis of the estimated coordinate; a fourth step of repeating the first to third steps in order of the corner surrounding the monitor area scheduled for setting; and a fifth step of connecting all of the corners surrounding the monitor area scheduled for setting in order of the estimated coordinate from beginning to end, and further setting an interior of the area surrounded by connecting to the corner having the coordinate firstly estimated from the corner having the coordinate finally estimated as the monitor area.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an autonomous mobile body monitoring area setting method and an autonomous mobile body.

  Autonomous mobile bodies have been put into practical use in environments such as factories and medical institutions. For example, when a contact object such as a person is present when moving in a narrow passage, a general autonomous mobile body may get stuck without being able to avoid the contact object.

  Therefore, a general autonomous mobile body sets the passage as a monitoring area, determines whether or not there is a contact object in the monitoring area, and if there is a contact object in the monitoring area, the monitoring area Limit intrusions.

  Here, Patent Document 1 discloses a technique in which a marker installed in an environment is detected by a detection device, and an area connecting the detected markers is set as a monitoring area.

JP 2008-242512 A

  The monitoring area setting method of Patent Document 1 has a problem that it is necessary to install a marker in the environment, the installation is complicated, and the cost increases with the manufacture of the marker.

  In view of the above problems, the present invention realizes an autonomous mobile body monitoring area setting method and an autonomous mobile body that can easily and inexpensively set a monitoring area.

In the monitoring area setting method for an autonomous mobile object according to one aspect of the present invention, an autonomous mobile object capable of estimating coordinates in the environment map by comparing the detected surrounding environment with the environment map has moved in the environment map. When the contact object is present in the monitoring area, the autonomous mobile body is a method for setting the monitoring area to restrict entry into the monitoring area,
A first step of arranging the autonomous mobile body at a corner of a monitoring area to be set;
A second step of estimating the coordinates of the autonomous mobile body in the environment map by comparing the surrounding environment detected by the autonomous mobile body arranged at the corner with the environmental map;
A third step of estimating the coordinates of the corners in the environmental map based on the estimated coordinates;
A fourth step of repeating the first to third steps in the order of corners surrounding the monitoring area to be set;
All the corners surrounding the monitoring area to be set are connected from the beginning to the end in the order of estimation, and the inside of the area enclosed by connecting the corners from which the coordinates were estimated to the corners where the coordinates were estimated first is monitored. A fifth step of setting the area;
Is provided.

The autonomous mobile body according to one aspect of the present invention can estimate the coordinates in the environment map by comparing the detected surrounding environment with the environment map, and when moving in the environment map, An autonomous mobile body that restricts entry into the monitoring area when a contact object exists,
A first operation unit operated by a setter when the autonomous mobile body is arranged at a corner of a monitoring area to be set; and
When the first operation unit is operated, the detected surrounding environment is compared with the environment map to estimate the coordinates of the autonomous mobile body in the environment map, and the estimated coordinates of the autonomous mobile body are used. An estimation unit for estimating the coordinates of the corner in the environmental map based on
A second operation unit operated by the setter when the autonomous mobile body has been arranged in all the corners in the order of the corners surrounding the monitoring area to be set;
When the second operation unit is operated, all the corners surrounding the monitoring area to be set are connected from the beginning to the end in the estimated order, and the coordinates are estimated first from the corners where the coordinates are estimated last. A setting unit that sets the area enclosed by connecting the corners to the monitoring area,
Is provided.

  According to the present invention, it is possible to realize an autonomous mobile body monitoring area setting method and an autonomous mobile body that can easily and inexpensively set a monitoring area.

It is a block diagram of the control system of the autonomous mobile body which concerns on embodiment. It is a flowchart figure which shows the monitoring area setting method of the autonomous mobile body of embodiment. It is a figure which shows typically the state which moved the autonomous mobile body to the corner | angular part of the monitoring area to be set. It is a figure which shows typically the state which moved the autonomous mobile body to the different corner | angular part of the monitoring area to be set. It is a figure which shows typically the state which moved the autonomous mobile body to the different corner | angular part of the monitoring area to be set. It is a figure which shows typically the state which moved the autonomous mobile body to the different corner | angular part of the monitoring area to be set. It is a flowchart figure which shows the method of setting the inside of the area enclosed by connecting the corner | angular part to a monitoring area. It is a figure for demonstrating the method to set the inside of the area enclosed by connecting the corner | angular part to a monitoring area. It is a figure for demonstrating the method to set the inside of the area enclosed by connecting the corner | angular part to a monitoring area. It is a flowchart figure which shows the control method at the time of entering the monitoring area in the autonomous mobile body of embodiment.

  Embodiments of an autonomous mobile body monitoring area setting method (hereinafter sometimes simply referred to as “monitoring area setting method”) and an autonomous mobile body according to the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

  First, an autonomous mobile body that executes the monitoring area setting method of the present embodiment will be described. FIG. 1 is a block diagram of a control system for an autonomous mobile body according to the present embodiment. As shown in FIG. 1, the autonomous mobile body 1 can estimate the coordinates in the environment map by comparing the detected surrounding environment with the environment map. If there is a contact object, the intrusion into the monitoring area is limited. In detail, the autonomous mobile body 1 is provided with the detection part 2, the 1st operation part 3, the 2nd operation part 4, the driving wheel 5, the calculating part 6, and the memory | storage part 7, for example.

  The detection unit 2 detects the surrounding environment of the autonomous mobile body 1. As the detection unit 2, for example, a laser range sensor or a stereo camera can be used. However, the detection part 2 will not be specifically limited if the surrounding environment of the autonomous mobile body 1 can be detected. The detection unit 2 outputs peripheral environment information indicating the peripheral environment to the calculation unit 6.

  The first operation unit 3 is operated by a setter when the autonomous mobile body 1 is arranged at a corner of a monitoring area to be set. The second operation unit 4 is operated by the setter when the autonomous mobile body 1 is arranged at all corners surrounding the monitoring area to be set. As the 1st operation part 3 and the 2nd operation part 4, a switch, a touch panel, etc. which can be pressed can be used, for example. However, the 1st operation part 3 and the 2nd operation part 4 will not be specifically limited if operation information can be output to the calculating part 6. FIG. When the first operation unit 3 or the second operation unit 4 is operated by the setter, the first operation unit 3 or the second operation unit 4 outputs operation information to the calculation unit 6.

  The drive wheels 5 are the left and right drive wheels of the autonomous mobile body 1. Although not shown, the drive wheel 5 includes, for example, wheels, a motor, a reducer, an encoder, and the like, and the motor is controlled based on a control command indicated by control command information input from the calculation unit 6. The encoder detects the rotation angle of the motor and outputs rotation angle information indicating the rotation angle to the calculation unit 6. In order to stabilize the autonomous mobile body 1, it is preferable that the autonomous mobile body 1 includes auxiliary wheels in addition to the drive wheels 5.

  The calculation unit 6 controls the motor of the drive wheels 5, estimates the coordinates and orientation of the autonomous mobile body 1 in the environment map, and sets a monitoring area. The calculation unit 6 includes, for example, a control unit 61, an estimation unit 62, and a setting unit 63.

  Although details will be described later, the control unit 61 sets a predetermined route, a preset monitoring area, and a detected autonomous movement so that the autonomous mobile body 1 moves along a route in the preset environmental map. Based on the surrounding environment of the body 1 and the rotation angle of the motor of the drive wheel 5, control command information indicating a control command is output to the motor of the drive wheel 5. When the autonomous mobile body 1 is not moved along a preset route (for example, when the autonomous mobile body 1 moves autonomously by generating a route), the control unit 61 uses the preset route. Without using it, a control command for the motor of the drive wheels 5 is generated.

  The estimation unit 62 estimates the coordinates and orientation of the autonomous mobile body 1 in a preset environment map based on the rotation angle of the motor of the drive wheel 5. Moreover, the estimation part 62 compares the surrounding environment of the autonomous mobile body 1 with an environmental map, and estimates the coordinate of the autonomous mobile body 1 in the said environmental map.

  Although the details will be described later, the setting unit 63 sets the monitoring area based on the coordinates of the corner of the monitoring area to be set.

  The storage unit 7 includes environmental map information indicating a preset environmental map, route information indicating a route along which the preset autonomous mobile body 1 moves, coordinate information indicating coordinates of corners of a monitoring area to be set, and Stores monitoring area information indicating the monitoring area. Here, the environment map information is coordinate information indicating an environment in which the autonomous mobile body 1 moves using the global coordinate system. The route information is coordinate information indicating a route along which the autonomous mobile body 1 moves using the global coordinate system. The coordinate information indicating the coordinates of the corner of the monitoring area to be set is coordinate information indicating the coordinates of the corner of the monitoring area to be set using the global coordinate system. The monitoring area information is coordinate information indicating a monitoring area using the global coordinate system. Incidentally, the global coordinate system can be set at any position on the environment map.

  Next, the monitoring area setting method of the autonomous mobile body 1 of this Embodiment is demonstrated. FIG. 2 is a flowchart showing the monitoring area setting method for the autonomous mobile body according to the present embodiment. FIG. 3 schematically shows a state in which the autonomous mobile body is moved to the corner of the monitoring area to be set. FIG. FIG. 4 is a diagram schematically illustrating a state in which the autonomous mobile body is moved to different corners of the monitoring area to be set. FIG. 5 is a diagram schematically illustrating a state in which the autonomous mobile body is moved to different corners of the monitoring area to be set. FIG. 6 is a diagram schematically illustrating a state in which the autonomous mobile body is moved to different corners of the monitoring area to be set. Here, as shown in FIG. 3 and the like, in this embodiment, a rectangular monitoring area is set in a narrow passage in the environment map.

  The setter places the autonomous mobile body 1 on the corner of the monitoring area to be set (S1). In the present embodiment, as shown in FIG. 3, the setter places the autonomous mobile body 1 on the corner C1 of the monitoring area to be set. Specifically, the setter places the left rear corner of the autonomous mobile body 1 on the corner C1 of the monitoring area. Then, the setter operates the first operation unit 3 (S2). However, in the present embodiment, the left rear corner of the autonomous mobile body 1 is disposed on the corner, but the position on the corner of the autonomous mobile 1 is not particularly limited.

  When the operation information is input from the first operation unit 3, the estimation unit 62 of the calculation unit 6 recognizes that the autonomous mobile body 1 is arranged at the corner of the monitoring area to be set. Then, the estimation unit 62 of the calculation unit 6 reads the environmental map information from the storage unit 7 and compares the surrounding environment indicated by the surrounding environment information input from the detecting unit 2 with the environment map indicated by the environment map information. The coordinates of the autonomous mobile body 1 are estimated, and the coordinates of the corner C1 are estimated based on the estimated coordinates of the autonomous mobile body 1 in the environment map (S3). The estimation unit 62 of the calculation unit 6 outputs coordinate information indicating the estimated coordinates of the corner C1 to the storage unit 7.

  In this Embodiment, the estimation part 62 of the calculating part 6 estimates the center coordinate of the autonomous mobile body 1 in an environmental map as a coordinate of the autonomous mobile body 1. FIG. Then, the estimation unit 62 of the calculation unit 6 determines the positional relationship between the center of the autonomous mobile body 1 and the left rear corner of the autonomous mobile body 1 (for example, the local coordinate system with the center of the autonomous mobile body 1 as the origin). Based on the coordinates of the left rear corner of the autonomous mobile body 1), the coordinates of the left rear corner of the autonomous mobile body 1 in the environmental map are estimated, and the left rear of the autonomous mobile body 1 in the estimated environmental map The coordinates of the corner are estimated as the coordinates of the corner C1.

  The above steps S1 to S3 are repeated in the order of the corners surrounding the monitoring area to be set, and when the estimation of the coordinates of all the corners surrounding the monitoring area to be set is completed (that is, the autonomous mobile body 1 is set to all corners). When the setting is completed, the setter operates the second operation unit 4 (S4).

  In the present embodiment, as shown in FIG. 4, the setter autonomously moves on the corner C2 adjacent to the corner C1 counterclockwise in the corners C1 to C4 surrounding the monitoring area to be set. 1 is arranged at the left rear corner, and the first operation unit 3 is operated. Thereby, the estimation part 62 of the calculating part 6 estimates the coordinate of the corner | angular part C2 similarly to the process which estimated the coordinate of the corner | angular part C1, and outputs the coordinate information which shows the estimated coordinate of the corner | angular part C2 to the memory | storage part 7. To do.

  Then, the steps S1 to S3 described above are performed in the order of the corners C3 and C4 adjacent to each other in the counterclockwise direction in the corners C1 to C4 surrounding the monitoring area to be set as shown in FIGS. When the estimation of all the coordinates of the corners in the monitoring area to be set is completed (that is, the estimation of the coordinates of the corner C4 is completed), the setter operates the second operation unit 4. However, in this embodiment, the coordinates are estimated in the order of the corners adjacent in the counterclockwise direction, but the coordinates may be estimated in the order of the corners adjacent in the clockwise direction.

  When the operation information is input from the second operation unit 4, the setting unit 63 of the calculation unit 6 recognizes that the estimation of the coordinates of all corners surrounding the monitoring area to be set is completed. And the setting part 63 of the calculating part 6 reads the coordinate information of each corner | angular part from the memory | storage part 7, connects a corner | angular part in the order which estimated the coordinate, and also estimated the coordinate first and the corner | angular part which estimated the coordinate last. The area enclosed by connecting the corners is set as the monitoring area (S5). That is, the setting unit 63 of the calculation unit 6 sets the inner area of a line in which adjacent corners are connected in order with a single stroke so as to surround the monitoring area to be set clockwise or counterclockwise. At this time, an area in which all the corners are connected on the horizontal plane of the environmental map and surrounded may be set as the monitoring area. The setting unit 63 of the calculation unit 6 outputs monitoring area information indicating the set monitoring area to the storage unit 7.

  In the present embodiment, the setting unit 63 of the calculation unit 6 connects the corner C1, the corner C2, the corner C3, and the corner C4, and further connects the corner C4 and the corner C1. Set in the monitoring area.

  Thus, the monitoring area setting method of the autonomous mobile body 1 and the autonomous mobile body 1 of this Embodiment arrange | position the autonomous mobile body 1 in the corner | angular part of the monitoring area to be set, and estimate the coordinate of the said corner | angular part. Are repeated in the order of the corners surrounding the monitoring area to be set, and the inner area of the line connecting the adjacent corners with one stroke in order to surround the monitoring area to be set clockwise or counterclockwise is set as the monitoring area. Set. Therefore, unlike the general autonomous mobile body monitoring area setting method, there is no need to install a marker in the environment in which the autonomous mobile body 1 moves in order to set the monitoring area. Therefore, the monitoring area can be set easily and inexpensively.

  In addition, the area inside the line that connects adjacent corners with a single stroke in order to surround the monitoring area to be set clockwise or counterclockwise is set as the monitoring area, so it can be set even if the monitoring area is recessed It is.

  Next, a specific method for setting an area surrounded by connecting corners as a monitoring area will be described. FIG. 7 is a flowchart showing a method of setting an area enclosed by connecting corners as a monitoring area. FIG. 8 and FIG. 9 are diagrams for explaining a method of setting an area enclosed by connecting corners as a monitoring area.

  When the operation information is input from the second operation unit 4, the setting unit 63 of the calculation unit 6 receives an arbitrary first corner in the monitoring area to be set and the first corner adjacent to the arbitrary first corner. The second corner and the third corner are selected (S11).

  Next, the setting unit 63 of the calculation unit 6 sets the monitoring area to be set, starting from the center of gravity of the area surrounded by connecting the selected first corner, second corner, and third corner. The environmental map is filled so that a line connecting adjacent corners with a single stroke in order to surround in a clockwise or counterclockwise direction becomes a boundary between the filled area and the non-filled area (S12). Here, the environmental map is preferably filled in the horizontal plane of the environmental map.

  In the present embodiment, as shown in FIG. 8, the setting unit 63 of the calculation unit 6 selects the corner C12 as the first corner, and further selects the corners C11 and C13 adjacent to the corner C12. The second corner and the third corner are selected, respectively.

  Next, the setting unit 63 of the calculation unit 6 surrounds the monitoring area to be set clockwise or counterclockwise starting from the center of gravity of the area surrounded by connecting the corner C11, the corner C12, and the corner C13. A line L1 connecting adjacent corners in order with a single stroke (that is, a line connecting corner C11, corner C12, corner C13, corner C14, corner C15, and corner C11) is a filled area. Fill the environment map so that it is the boundary with the unfilled area.

  At this time, if the inner area of the line L1 connecting the adjacent corners in order with a single stroke is surrounded so as to surround the monitoring area to be set clockwise or counterclockwise, the filled area is within the inner area. Fits and does not reach the periphery of the environmental map. Therefore, the setting unit 63 of the calculation unit 6 determines whether or not the filled area has reached the periphery of the environment map (S13).

  If the filled area has not reached the periphery of the environmental map (NO in S13), the setting unit 63 of the calculation unit 6 sets the filled area as a monitoring area (S14). On the other hand, when the filled area has reached the periphery of the environmental map (YES in S13), the setting unit 63 of the calculation unit 6 selects one corner adjacent to the first corner selected last time as the first corner. The second corner and the third corner adjacent to the reselected first corner are reselected (S15).

  Next, the setting unit 63 of the calculation unit 6 sets the monitoring area to be set starting from the center of gravity of the area surrounded by connecting the reselected first corner, second corner, and third corner. The environmental map is again painted so that a line connecting adjacent corners in order with a single stroke so as to surround the region clockwise or counterclockwise becomes the boundary between the painted area and the unfilled area (S16).

  Next, the setting unit 63 of the calculation unit 6 determines whether or not the filled area has reached the periphery of the environmental map (S17).

  If the filled area has not reached the periphery of the environmental map (NO in S17), the setting unit 63 of the calculation unit 6 sets the filled area as a monitoring area (S14). On the other hand, when the filled area has reached the periphery of the environmental map, the setting unit 63 of the calculation unit 6 plans to set steps S15 to S17 until it is determined that the filled area has not reached the peripheral edge of the environmental map. It repeats in order of the corner | angular part surrounding a monitoring area (YES of S17).

  In this embodiment, as shown in FIG. 8, the inner area of the line L1 in which adjacent corners are sequentially connected with a single stroke so as to surround the monitoring area to be set in a clockwise or counterclockwise direction becomes a non-filled area. Since the outer area becomes a filled area and the filled area reaches the periphery of the environment map, the setting unit 63 of the calculation unit 6 determines that the filled area has reached the periphery of the environment map.

  Next, as shown in FIG. 9, the setting unit 63 of the calculation unit 6 reselects the corner C13 adjacent to the corner C12 as the first corner, and further, the corner C12 adjacent to the corner C13, The corner C14 is reselected as the second corner and the third corner, respectively.

  Next, the setting unit 63 of the calculation unit 6 surrounds the monitoring area to be set clockwise or counterclockwise starting from the center of gravity of the area surrounded by connecting the corner C12, the corner C13, and the corner C14. Thus, the environment map is painted again so that a line L1 connecting adjacent corners in order with a single stroke becomes the boundary between the painted area and the unfilled area.

  As a result, as shown in FIG. 9, the setting unit 63 of the calculation unit 6 is arranged on the inner side of the line L1 in which adjacent corners are sequentially connected with a single stroke so as to surround the monitoring area to be set clockwise or counterclockwise. Since the area becomes a filled area and the filled area does not reach the periphery of the environment map, it is determined that the filled area has not reached the periphery of the map, and the filled area is set as the monitoring area.

  As described above, in the present embodiment, the monitoring area is set based on whether or not the filled area has reached the periphery of the environmental map. Therefore, the monitoring area can be easily set. Moreover, a recessed area such as an area surrounded by connecting the corner C11, the corner C12, and the corner C13 shown in FIG. 8 or the like can be easily recognized as a non-monitoring area.

  Next, a control method when entering the monitoring area in the autonomous mobile body 1 of the present embodiment will be described. FIG. 10 is a flowchart showing a control method when entering the monitoring area in the autonomous mobile body of the present embodiment.

  First, the control unit 61 of the calculation unit 6 includes the environment map indicated by the environment map information read from the storage unit 7, the monitoring area indicated by the monitoring area information, the route indicated by the route information, and the environment map estimated by the estimation unit 62. Based on the coordinates of the autonomous mobile body 1 and the surrounding environment indicated by the surrounding environment information input from the detection unit 2, the route information is determined while determining whether or not there is a contact object around the autonomous mobile body 1. The left and right drive wheels 5 are controlled to move along the path indicated by (S21).

  Next, the control part 61 of the calculating part 6 determines whether it reached | attained before the monitoring area based on the coordinate of the autonomous mobile body 1 in the environmental map estimated by the estimation part 62 (S22). If the control part 61 of the calculating part 6 determines with not having reached the monitoring area (NO of S22), it will return to the process of S21.

  On the other hand, if it determines with the control part 61 of the calculating part 6 having arrived in front of the monitoring area (YES of S22), it will stop in front of the monitoring area (S23).

  Next, the control part 61 of the calculating part 6 determines whether a contact target object exists in a monitoring area based on the surrounding environment which the surrounding environment information input from the detection part 2 shows (S24). When the control unit 61 of the calculation unit 6 determines that there is no contact object in the monitoring area (NO in S24), the control unit 61 enters the monitoring area and moves the left and right so that the autonomous mobile body 1 moves along the route. The drive wheel 5 is controlled (S25).

  On the other hand, if the control part 61 of the calculating part 6 determines with a contact target object existing in the monitoring area (YES of S24), it will maintain the state stopped before the monitoring area and will return to the process of S24 (S26).

  Although the present invention has been described with reference to the above embodiment, the present invention is not limited only to the configuration of the above embodiment, and within the scope of the invention of the claims of the present application. It goes without saying that various modifications, corrections, and combinations that can be made by those skilled in the art are included.

DESCRIPTION OF SYMBOLS 1 Autonomous mobile body 2 Detection part 3 1st operation part 4 2nd operation part 5 Driving wheel 6 Calculation part, 61 Control part, 62 Estimation part, 63 Setting part 7 Storage part C1-C4 Corner | angular part C11-C15 Corner | angular part

Claims (2)

When an autonomous moving body capable of estimating the coordinates in the environment map by comparing the detected surrounding environment with the environment map and moving in the environment map, the autonomous moving body is present when a contact object is present in the monitoring area. Is a method of setting the monitoring area for restricting entry into the monitoring area,
A first step of arranging the autonomous mobile body at a corner of a monitoring area to be set;
A second step of estimating the coordinates of the autonomous mobile body in the environment map by comparing the surrounding environment detected by the autonomous mobile body arranged at the corner with the environmental map;
A third step of estimating the coordinates of the corners in the environmental map based on the estimated coordinates;
A fourth step of repeating the first to third steps in the order of corners surrounding the monitoring area to be set;
All the corners surrounding the monitoring area to be set are connected from the beginning to the end in the order of estimation, and the inside of the area enclosed by connecting the corners from which the coordinates were estimated to the corners where the coordinates were estimated first is monitored. A fifth step of setting the area;
A method for setting a monitoring area for an autonomous mobile body. It is possible to estimate the coordinates in the environment map by comparing the detected surrounding environment with the environment map, and when moving within the environment map, if there is a contact object in the monitoring area, the intrusion into the monitoring area An autonomous mobile body that restricts
A first operation unit operated by a setter when the autonomous mobile body is arranged at a corner of a monitoring area to be set; and
When the first operation unit is operated, the detected surrounding environment is compared with the environment map to estimate the coordinates of the autonomous mobile body in the environment map, and the estimated coordinates of the autonomous mobile body are used. An estimation unit for estimating the coordinates of the corner in the environmental map based on
A second operation unit operated by the setter when the autonomous mobile body has been arranged in all the corners in the order of the corners surrounding the monitoring area to be set;
When the second operation unit is operated, all the corners surrounding the monitoring area to be set are connected from the beginning to the end in the estimated order, and the coordinates are estimated first from the corners where the coordinates are estimated last. A setting unit that sets the area enclosed by connecting the corners to the monitoring area,
An autonomous mobile body comprising:

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