KR102087628B1 - Lidar apparatus including dual structure - Google Patents

Abstract

According to some embodiments of the present disclosure for solving the above-described problem, a Lidar (LIDAR) apparatus is disclosed. The lidar apparatus includes an optical transmitter for irradiating first light; An optical transmission tube configured to pass the first light emitted from the optical transmitter through an internal space; And a first passageway through which the optical transmission tube is inserted, and accommodates therein a first tilting portion reflecting the first light passing through the optical transmitting tube in a predetermined direction, and predetermined by the first tilting portion. An assembly structure in which a second passage for passing the first light reflected in the direction to the outside is formed; It may include.

Description

Lidar device having dual structure {LIDAR APPARATUS INCLUDING DUAL STRUCTURE}

The present disclosure relates to a lidar device, and more particularly, to a lidar device having a dual structure.

Lidar (light detection and ranging) is a technology that can detect the distance, direction, speed, temperature, material distribution and concentration characteristics to an object by shining a laser at a target. Lidars can be used for more precise atmospheric property measurement and distance measurement by taking advantage of lasers that can generate pulse signals with high energy density and short periods.

Lidar technology was first attempted in the 1930s for the purpose of analyzing the density of air in the air through the scattering intensity of searchlights. However, full-fledged development began with the invention of lasers in the 1960s. Since the 1970s, with the continuous development of laser light source technology, lidar sensor technology has been developed for various fields. It is used as an important observation technology for precise atmospheric analysis and observation of the earth's environment by being mounted on aircraft and satellites.It is also used as a means to supplement camera functions such as distance measurement to objects by mounting on spacecraft and exploration robots. have. A simple form of Lidar sensor technology has been commercially available on the ground for long-range distance measurement and speeding up cars. Recently, laser scanners and 3D for 3D reverse engineering and future driverless vehicles have been commercialized. As it is used as a core technology of a video camera, its use and importance are gradually increasing.

Lidar system is divided into an optical device for generating and illuminating the sensing light for detecting the target and a scanner for detecting the target using the sensing light. The lidar scanner includes a mirror that rotates at an angle of 45 degrees with the direction of the sensing light emitted from the optical device to detect a target present in a plane perpendicular to the direction in which the sensing light is transmitted from the optical device.

Meanwhile, the lidar apparatus may be configured to include a light source and a mirror so that the sensing light is reflected from the mirror and irradiated to the lidar scanner. In this case, the sensing light irradiated from the light source is reflected by the mirror and irradiated to the outside.

Specifically, referring to FIG. 1, according to the Lidar apparatus according to the related art, the sensing light irradiated from the light source 1000 is reflected by the mirror 4000 and irradiated to the outside through the first path 1100. In addition, according to the lidar apparatus according to the related art, the scanner 2000 may sense the sensing light coming into the interior through the second path 2100 after being reflected by the external object 3000. However, some of the sensing light irradiated to the outside through the first path 1100 may be reflected directly to the scanner 2000 without being irradiated to the outside (1200 of FIG. 1), and noise may be detected in the sensing light sensed through the scanner. There was a problem that would occur. And, due to such noise, there has been a problem that the sensing efficiency of the lidar device is reduced.

 Therefore, there is an urgent need to develop an improved lidar device that solves these problems of the prior art.

The present disclosure has been made in response to the above-described background, and provides a lidar device having a dual structure.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

*

According to one embodiment of the present disclosure for solving the above problem, a lidar apparatus is disclosed. The LIDAR apparatus includes an optical transmitter for irradiating first light; An optical transmission tube configured to pass the first light emitted from the optical transmitter through an internal space; And a first passageway through which the optical transmission tube is inserted, and accommodates therein a first tilting portion reflecting the first light passing through the optical transmitting tube in a predetermined direction, and predetermined by the first tilting portion. And an assembly structure in which a second passage through which the first light reflected in the direction is passed to the outside is formed.

The lidar apparatus may further include a light receiving unit configured to receive a second light in which the first light is scattered by an external object; The assembly structure further comprises: a second mirror portion formed on at least a portion of an upper portion of the assembly structure to reflect the second light to the light receiving portion; It may further include.

In addition, an opening forming at least a portion of the first passage may be formed in at least a portion of the second sloped portion.

In addition, the assembly structure includes: a spindle portion that is powered to enable the assembly structure to rotate; It may further include.

In addition, the spindle portion: may be located below the assembly structure.

In addition, the optical transmission tube: may be located on the axis of rotation of the assembly structure.

In addition, the second passage may be located in a direction perpendicular to the first passage.

In addition, the optical transmission tube: may support a rotational movement of the assembly structure.

In addition, the optical transmission tube includes: a binding unit for fixing the optical transmission tube to the housing; It may further include.

The assembly structure may further include: a blocking portion extending from one end of the second passage toward the outer circumferential surface and positioned between the one end of the second passage and the second slope portion; It may further include.

In addition, the first slope may be located between the other end facing the one end of the second passage and the lower surface of the second passage.

The first slope may be located at an area where the first passage and the second passage are in contact with each other.

Technical solutions obtained in the present disclosure are not limited to the above-mentioned solutions, and other solutions not mentioned above may be apparent to those skilled in the art from the following description. It can be understood.

The present disclosure can provide a lidar device of improved performance by providing a lidar device having a dual structure.

The effects obtainable in the invention are not limited to the above-mentioned effects, and other effects not mentioned above will be clearly understood by those skilled in the art from the following description.

Various aspects are now described with reference to the drawings, wherein like reference numerals are used to refer to like components throughout. In the following examples, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. However, it will be apparent that such aspect (s) may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing one or more aspects.
1 is a view for explaining a conventional lidar apparatus.
2 is a view for explaining a schematic structure of a lidar apparatus according to an embodiment of the present invention.
3 is an exploded perspective view of some components of a lidar apparatus according to an embodiment of the present invention.
4 is a view for explaining the path of the laser irradiated to the outside of the lidar apparatus according to an embodiment of the present invention.
5 is a view for explaining a path for receiving a laser scattered from the outside of the lidar apparatus according to an embodiment of the present invention.
6 is a view for explaining an example of the overall configuration of the lidar apparatus according to some embodiments of the present invention.

Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the present embodiments make the disclosure of the present invention complete, and those of ordinary skill in the art to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. The size and relative size of the components shown in the drawings may be exaggerated for clarity of description. Like reference numerals refer to like elements throughout the specification, and “and / or” includes each and all combinations of one or more of the items mentioned.

Regardless of the reference numerals, the same or similar components are given the same reference numerals and redundant description thereof will be omitted. In addition, in the description of the embodiments disclosed herein, if it is determined that the detailed description of the related known technology may obscure the gist of the embodiments disclosed herein, the detailed description thereof will be omitted. In addition, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, and the technical spirit disclosed herein is not limited by the accompanying drawings.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and / or “comprising” does not exclude the presence or addition of one or more other components in addition to the mentioned components.

Although the first, second, etc. are used to describe various elements or components, these elements or components are of course not limited by these terms. These terms are only used to distinguish one element or component from another element or component. Therefore, the first device or component mentioned below may be a second device or component within the technical idea of the present invention.

Unless otherwise defined, all terms used in the present specification (including technical and scientific terms) may be used in a sense that can be commonly understood by those skilled in the art. In addition, terms that are defined in a commonly used dictionary are not ideally or excessively interpreted unless they are specifically defined clearly.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may exist in the middle. Should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

When an element or layer is referred to as "on" or "on" of another element or layer, another layer or element in between, as well as on top of another element or layer, Includes all intervening cases. On the other hand, when a component is referred to as "directly on" or "directly on" indicates that there is no intervening component or layer in between.

The spatially relative terms " below ", " beneath ", " lower ", " above ", " upper " It can be used to easily describe a correlation with a component or other components. Spatially relative terms should be understood to include terms that differ in orientation of the device in use or operation in addition to the directions shown in the figures.

For example, when flipping a component shown in the drawing, a component described as "below" or "beneath" of another component may be placed "above" the other component. Can be. Thus, the exemplary term "below" can encompass both an orientation of above and below. The components can be oriented in other directions as well, so that spatially relative terms can be interpreted according to the orientation.

Proximity in this specification may include two objects in contact with each other. In addition, although two objects are not in contact with each other, it may include that two objects are close to each other, but is not limited thereto.

The description of the presented embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention should not be limited to the embodiments set forth herein but should be construed in the broadest scope consistent with the principles and novel features set forth herein.

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

2 is a view for explaining a schematic structure of a lidar apparatus according to an embodiment of the present invention. 3 is an exploded perspective view of a partial configuration of a lidar device according to an embodiment of the present invention. 4 is a view for explaining a path of light irradiated to the outside of the lidar apparatus according to an embodiment of the present invention. 5 is a view for explaining a path for receiving light scattered from the outside of the lidar apparatus according to an embodiment of the present invention. 6 is a view for explaining an example of a lidar apparatus according to some embodiments of the present invention.

According to some embodiments of the present invention, the lidar apparatus 1 may sense at least one of distance, direction, speed, temperature, mass distribution and concentration characteristics to an object by shining light onto a target. However, the present invention is not limited thereto.

According to some embodiments of the invention, the lidar device 1 emits a pulse signal and measures the time at which the reflected pulse signals are detected from objects within the measurement range, thereby the object and lidar device 1 You can measure the distance between

According to some embodiments of the present invention, the lidar device 1 may be a transmission / reception integrated optical device. In this case, the lidar apparatus 1 may irradiate the first light (for example, a laser or the like) and detect the second light scattered from the object.

Lidar apparatus 1 according to some embodiments of the present invention may include an optical transmitter 500 for irradiating the first light and the optical receiver 600 for receiving the second light. Here, the second light may mean light that is irradiated to the outside is scattered by the external object and moves toward the lidar apparatus 1.

Light (eg, light, etc.) irradiated from the light transmitter 500 may be scattered from an object to generate second light. The optical signal may be received by the optical receiver 600. The lidar apparatus 1 may generate an image image by combining the second lights received from the light receiver 600.

For example, the lidar apparatus 1 may irradiate light, detect light scattered from an object a plurality of times, and generate an image using the optical signals collected for the plurality of times.

Also, for example, the lidar apparatus 1 collects distance information and the like of an object in the surrounding space by using a single or multiple laser beams in a manner of rotation or mirror-scanning. A three-dimensional image can be obtained. In addition, the lidar apparatus 1 can simultaneously obtain a single laser beam by expanding and irradiating the observation target space and receiving the reflected light through a multi-array receiving element, thereby obtaining segmented pixel-specific distance information. Image images can be obtained in real time.

2 and 3, the lidar apparatus 1 according to the embodiment of the present invention includes an optical transmitter 100, an assembly structure 200, an optical transmitter 500, an optical receiver 600, and It may include a controller (not shown). However, the above-described components are not essential for implementing the lidar apparatus 1, so that the lidar apparatus 1 may have more or fewer components than those listed above.

The optical transmitter 500 may radiate first light having various characteristics. For example, the optical transmitter 500 may emit light having various phases, outputs, wavelengths, spectral characteristics, pulse widths, and pulse shapes, but is not limited thereto.

The optical transmitter 500 may be configured by various modules. The light transmitter 500 may be configured by a laser light source for irradiating a first light having a specific wavelength, a laser light source for irradiating a first light having a variable wavelength, and a semiconductor laser diode capable of low power, but is not limited thereto.

The optical transmitter 100 may pass the first light emitted from the optical transmitter 500 through an internal space. Specifically, one end of the optical transmitting tube 100 may be in contact with the optical transmitting unit 500, the other end of the optical transmitting tube 100 may be inserted into the assembly structure. In this case, the light transmitting tube 100 may pass the light irradiated from the light transmitting unit 500 to the inside of the assembly structure 200 without exposing the light to the outside. In addition, the light transmitting tube 100 may be made of a material that is difficult to transmit light in order not to expose the light emitted from the light transmitting unit to the outside.

The optical transmission tube 100 may further include a binding unit 110 to fix the optical transmission tube 100 to the housing 700.

Referring to FIG. 6, when the optical transmission tube 100 is fixed to the housing 700 through the binding unit 110, the optical transmission tube 100 provides power to the assembly structure 200 through the spindle unit 260. It can be a stator when it receives and rotates.

2 and 3, the optical transmission pipe 100 may be inserted into the first passage 210 of the assembly structure 200 to support the rotational movement of the assembly structure 200.

For example, one end of the optical transmission tube 100 may be formed in a circular shape, and the optical transmission tube 100 may be inserted into the assembly structure 200 through the first passage 210 having a corresponding circular shape. .

However, the present invention is not limited thereto, and the optical transmission tube 100 may be inserted into the assembly structure in various ways and shapes.

As described above, when the optical transmission tube 100 supports the rotational movement of the assembly structure 200, there is no need for a separate supporting means for supporting the rotational movement of the assembly structure 200. Thus, the number of parts of the rider device 1 can be reduced, and the size of the rider device 1 can be reduced.

Meanwhile, the assembly structure 200 may include the first passage 210, the first slope portion 220, the second passage 230, the second slope portion 240, the blocking portion 250, and the spindle portion 260. It may include. However, the above-described components are not essential to implementing the assembly structure 200, so that the assembly structure may have more or fewer components than those listed above.

According to some embodiments, assembly structure 200 may be formed by a combination of upper structure 201 and lower structure 202. In this case, the upper structure 201 may include a first passageway 210, a first slope portion 220, and a blocking portion 250, and the lower structure 202 may include a second slope portion 240 and a first portion. It may include two passages 230 and the spindle portion 260.

The assembly structure 200 may be a structure formed by assembling each component, or the above-described components may be integrally formed to form the assembly structure 200.

Meanwhile, the through hole formed in the upper structure 201 may form the first passage 210. As described above, the optical transmission pipe 100 may be inserted into the first passage 210 included in the upper structure 201.

For example, the first passage 210 may have a shape corresponding to the optical transmission tube 100, so that the first passage 210 may have one end portion of the optical transmission tube 100 not in contact with the optical transmitter 500. It may be inserted into the assembly structure 200. In this case, the first passage 210 may allow the light irradiated from the light transmitter 500 to be transferred into the assembly structure through the inserted light transmitter 100.

Referring to FIG. 4, the first slope portion 220 may be located in an area A where the first passage 210 and the second passage are in contact with each other. In addition, the first slope portion 220 may be positioned between the other end facing the one end of the second passage 230 and the bottom surface of the second passage 230. Here, one end of the second passage 230 may be a portion in which the blocking part 250 is installed on the upper surface.

The first mirror portion 220 may change the direction of the first light emitted from the light transmitter 500 by reflecting the first light emitted from the light transmitter 500.

Specifically, the first light irradiated from the light transmitting unit 500 may be transmitted into the assembly structure 200 through the light transmitting tube 100. The optical transmission tube 100 inserted into the assembly structure 200 may face the direction in which the first tilting portion 220 is positioned so that the light irradiated from the optical transmission unit 500 passes through the optical transmission tube 100 and is the first. It may be delivered to the first neck portion through the passage (210). In this case, the first bevel portion 220 may change the movement path of the first light in a predetermined direction by reflecting the first light transmitted into the assembly structure 200.

The predetermined direction in which the reflected first light is directed may vary. For example, the first slope may be positioned to have an angle of 45 degrees with the movement path D1 of the light emitted from the light transmitter 500. In this case, the movement path D2 of the light changed in the predetermined direction may form 90 degrees with the movement path D1 of the light radiated from the optical transmitter 500. However, the present invention is not limited thereto, and the first slope portion 220 may change the direction of light in various directions.

The first bevel portion 220 may be composed of various lenses or various mirrors, but is not limited thereto. For example, the first bevel slope 220 may be configured as a bevel mirror. As another example, the first slope portion 220 may be configured as a prism mirror, but is not limited thereto.

The first light reflected by the first sloped portion 220 in a predetermined direction may be irradiated to the outside through the second passage. For example, the first bevel diameter part 220 may be located at one end of the second passage, and the other end facing the one end of the second passage may be open in the outward direction. In this case, the light reflected by the first slope may be irradiated to the outside of the assembly structure 200 through the second passage.

2 and 3, the assembly structure 200 may be formed on at least a portion of the upper portion of the assembly structure 200 to reflect the second light scattered from the outside to the light receiving unit 600. 240).

The second mirror portion 240 may reflect the second light scattered from the external object to the light receiver 600. Here, the second light may mean light that is irradiated to the outside is scattered by the external object and moves toward the lidar apparatus 1. For example, the second bevel portion 240 may be formed on at least a portion of the upper portion of the assembly structure 200.

In one example, the second bevel portion 240 may be formed on the entire upper portion of the assembly structure 200. In this case, the second mirror portion 240 may reflect the laser scattered from the outside to the light receiving unit 600 disposed on the assembly structure 200.

In another example, the second bevel portion 240 may be formed at a portion of an upper portion of the assembly structure 200.

However, the present invention is not limited to the above-described example, and the second slope portion 240 may be formed at various positions according to the position of the light receiving unit 600.

Referring to FIG. 5, the first mirror portion 220 reflecting the first light irradiated from the light transmitter 500 in a predetermined direction and irradiating to the outside may be accommodated in the assembly structure 200. On the other hand, the second light scattered from the external object and moving toward the lidar device 1 may be reflected by the second mirror portion 240 to move to the light receiver 600. In this case, the second light may be detected through the light receiver 600.

That is, according to some embodiments, the lidar apparatus 1 is separated from the space for irradiating the light and the space for receiving the light reflected from the outside so that the light is reflected directly to the light receiving unit 600 without being irradiated to the outside Can be prevented. This may reduce noise generated when the lidar apparatus 1 detects the second light according to some embodiments.

Meanwhile, the second light may be reflected through the first sloped part 220. However, since the light receiver 600 does not exist above the light transmitter 100, the second light reflected through the first slope 220 may not be detected by the light receiver 600.

Meanwhile, referring back to FIGS. 2 and 3, the upper structure 201 of the assembly structure 200 may include a blocking part 250 to prevent the first light from moving to the light receiving part 600.

The blocking part 250 may extend in a direction from one end of the second passage 230 toward the outer circumferential surface. In addition, the blocking part 250 may be located between the one end of the second passage 230 and the second bevel portion 240. As such, since the blocking part 250 is included in the assembly structure 200, the first light irradiated through the second passage 230 may not be detected by the light receiving part 600. Thus, noise generated when the lidar apparatus 1 senses the second light can be reduced.

An opening forming at least a portion of the first passage 210 may be formed in at least a portion of the second slope portion 240. Since the first passage 210 is formed in the assembly structure 200, an opening for forming the first passage 210 may be formed in at least a portion of the second slope portion 240.

For example, the first passage 210 may be formed on the assembly structure 200 where the second slope 240 is located. In this case, the laser irradiated from the light transmitter 500 may be transmitted into the assembly structure 200 through the second passage 230. The laser irradiated from the light transmitter 500 may be irradiated to the outside of the assembly structure 200 through the second passage. Therefore, it is possible to prevent the laser irradiated from the light transmitting part 500 from being directly irradiated to the light receiving part 600 by the second slope portion without being irradiated to the outside.

Meanwhile, referring to FIG. 5, the lidar apparatus 1 may include a light receiving unit 600 for receiving the second light. For example, the light receiver 600 may receive the first light scattered from an external object by focusing the light. The light receiver 300 may obtain information about the received laser and transmit the information to the controller (not shown). In this case, the controller (not shown) may generate an image image by combining information about the laser received from the light receiver 600.

The light receiver 600 may include various lenses. For example, the light receiving unit 600 may include a convex lens or a concave lens, but is not limited thereto.

The light receiver 600 may be disposed at various locations. For example, the light receiving unit 600 may be disposed on the assembly structure 200. However, the present invention is not limited thereto, and the light receiver 600 may be disposed at various positions capable of receiving light from the outside.

Meanwhile, referring to FIGS. 2 and 3, the spindle unit 260 included in the lower structure of the assembly structure 200 may receive power from the power unit to rotate the assembly structure 200. Here, the spindle portion 260 may be located below the assembly structure 200.

Referring to FIG. 6, the optical transmission tube 100 is fixed to the housing 700 through the binding unit 110 so that the assembly structure 200 rotates when the assembly structure 200 is powered by the spindle unit 260. ) Can be supported. That is, the optical transmission tube 100 may be a rotation axis when the assembly structure 200 rotates through the spindle unit 260.

Meanwhile, referring to FIG. 3, a second passage 230 may be formed on the upper surface of the spindle unit 260. In detail, the spindle part 260 may include an extension part extending upward along at least one region of the upper surface along a path through which light is radiated to the outside. In addition, the upper structure 201 may include a dent area that is recessed inward along a path through which light is irradiated to the outside on at least one area of the lower surface. The second passage 230 may be formed by inserting the extension portion into the dent region. However, the present invention is not limited thereto, and the second passage 230 may be formed through various methods.

Meanwhile, in some embodiments, the first passage 210 and the second passage 230 may also be made of a material that is difficult to transmit light so as not to expose the light to the outside, similar to the optical transmission pipe 100.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above embodiments and can be manufactured in various forms, and having ordinary skill in the art to which the present invention pertains. It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without changing the technical spirit or essential features of the present invention. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims (12)

In a LIDAR device,
An optical transmitter for irradiating a first light and disposed at a portion of an upper portion of the lidar device;
An optical transmitting tube configured to pass through the internal space without exposing the first light emitted from the optical transmitting unit to the outside;
A first passageway through which the optical transmission tube is inserted is formed, and accommodates therein a first tilting portion that reflects the first light passing through the optical transmitting tube in a predetermined direction, and a predetermined direction by the first tilting portion An assembly structure in which a second passage for passing the first light reflected to the outside is formed; And
An optical receiver arranged above the optical transmitter at the top of the lidar apparatus and receiving a second light reflected by the other part different from the one where the optical transmitter is disposed-the second light being the first light Light scattered by an external object;
Including,
The assembly structure,
A second mirror portion formed on at least a portion of an upper portion of the assembly structure to reflect the second light to the light receiving portion;
Further comprising,
Lidar device.
delete The method of claim 1,
An opening defining at least a portion of the first passage is formed in at least a portion of the second slope portion,
Lidar device.
The method of claim 1,
The assembly structure is:
A spindle unit receiving power to allow the assembly structure to rotate;
Further comprising,
Lidar device.
The method of claim 4, wherein
The spindle portion:
Located at the bottom of the assembly structure,
Lidar device.
The method of claim 1,
The optical transmission pipe is:
Located on the axis of rotation of the assembly structure,
Lidar device.
The method of claim 1,
The second passage is,
Located in the direction perpendicular to the first passage,
Lidar device.
The method of claim 1,
The optical transmission pipe is:
To support rotational movement of the assembly structure,
Lidar devices
The method of claim 1,
The optical transmission pipe is:
A binding unit fixing the optical transmission tube to a housing;
Further comprising,
Lidar devices
The method of claim 1,
The assembly structure is:
A blocking portion extending from one end of the second passage toward the outer circumferential surface and positioned between the one end of the second passage and the second slope;
Further comprising,
Lidar device.
The method of claim 10,
The first slope is,
Located between the other end facing the one end of the second passage and the lower surface of the second passage,
Lidar device.
The method of claim 1,
The first slope is,
Located in an area where the first passage and the second passage is in contact,
Lidar device.

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