KR20200041071A - System for life rescue supportusing high place operation carand method thereof - Google Patents

Abstract

The present invention relates to a system and a method for life rescue support using a high-place work vehicle. The life rescue support system using a high-place work vehicle according to the present invention includes: a drone capturing a surrounding image while flying at a position in compliance with control and transmitting the captured image and a site map created by means of a three-dimensional environment recognition sensor system along with GPS information; an integrated control server managing a plurality of high-place work vehicles, controlling the drone to move to a disaster location included in a rescue support signal when the rescue support signal is transmitted from a fire control server, creating a three-dimensional site map by using the captured image, the site map, and the GPS information transmitted from the drone, and transmitting the created three-dimensional site map to at least one high-place work vehicle positioned within a set distance from a position; and a control unit provided in the high-place work vehicle, receiving the three-dimensional site map transmitted from the integrated control server, outputting the received three-dimensional site map via a monitor of the high-place work vehicle, and controlling the position of a boarding box such that the boarding box of the high-place work vehicle is positioned at a predefined target point when the high-place work vehicle is moved to the disaster location as a result of driver operation. According to the present invention, the three-dimensional site information captured by the drone and the site map created by means of the three-dimensional environment recognition sensor system are used in the event of a disaster such as a large fire so that the high-place work vehicle near the site is quickly moved. As a result, quick life rescue is possible and casualties attributable to the fire can be reduced.

Description

Life support system and method using aerial work vehicle {SYSTEM FOR LIFE RESCUE SUPPORTUSING HIGH PLACE OPERATION CARAND METHOD THEREOF}

The present invention relates to a life-saving support system and method using the aerial platform, and more specifically, to a rescue by quickly moving the aerial vehicle located near the site to the disaster site when a disaster such as a large fire occurs. It is related to a lifesaving support system and method using a aerial vehicle to provide prompt assistance.

In recent years, skyscrapers of multi-family houses such as apartments and commercial buildings have been actively made. Therefore, in the case of a high-rise building or a high-rise building, when a fire occurs in a high-rise building, not only a lot of property damage, but also personal injury occurs.

In general, even if a fire occurs in the lower floor, it spreads rapidly to the upper floor, so the probability of a fire in the lower floor increases and the probability of a fire in the upper floor increases, making it the most dangerous for people in the upper floor. Is done.

Therefore, people located on the upper floors can escape with the help of rescue equipment such as high ladders or helicopters of life-saving fire trucks. However, in the case of life-saving fire trucks, unpredictable emergencies can occur, such as the inability to quickly move to a fire site due to road traffic obstacles or the lack of the number of fire trucks that can be dispatched. In addition, in the case of a helicopter, it is possible to escape or rescue in a state of evacuation to the roof, but there is a problem in that access to a location where a person is trapped is practically impossible.

In some high-rise buildings, there are cases where an escape device is installed so that people can easily escape in the event of a fire, but the practicality is deteriorated because the structure is operated by receiving electricity.

This is because it is difficult to supply power because the power is cut off in the event of a fire, so the escape device operated by the power becomes a useless object. If the fire is not suppressed in the early stage, there is a problem that a lot of lives are caused rather than property damage. have.

As a way to solve this problem, the business agreement between the frontline fire department and the aerial vehicle manufacturers has been increasing so that civilian aerial vehicles can be put into the fire site to support lifesaving.

In such aerial platforms (including aerial platforms and ladder cars), a loading platform is installed at the tip of the boom, which is generally used for transporting goods to high-rise apartments or buildings. In some cases, a basket is installed at the tip of the boom to put workers in the basket. It is widely used for maintenance for repair or maintenance of street trees, street lights, and traffic lights by boarding, and for maintenance work of telephone poles.

In other words, the aerial work vehicle is equipped with a basket for workers to board and cleans inside and outside the building, building signage installation, scaffolding installation work, ceiling construction of the factory, inspection and repair work of the bridge, temporary construction of electric and communication facilities, or high maintenance work. It is designed to send or return workers safely and quickly to the working location of the place.

Therefore, when the number of life-saving fire trucks that can be dispatched in the event of a fire is insufficient, it is necessary to develop a system to support the rescue so that people located in the upper floors can be rescued safely and quickly using these aerial work vehicles.

The background technology of the present invention is disclosed in Korean Patent Registration No. 10-1851624 (announced on June 7, 2018).

The technical problem to be achieved by the present invention is to use a 3D field information photographed through a drone in case of a disaster such as a large fire and a field map created by using a 3D environment recognition sensor system to locate the aerial work vehicle located near the field. The present invention is to provide a life support system and method using a aerial vehicle that can quickly assist a rescuer by quickly moving to a disaster site.

The lifesaving support system using a aerial vehicle according to an embodiment of the present invention for achieving such a technical problem is created by using a 3D environment recognition sensor system and an image captured by shooting a surrounding image while flying a location under control. Drones that deliver on-site maps with GPS information; Manages a plurality of aerial vehicles, and when a rescue support signal is transmitted from the fire control server, the drone is controlled to move to the disaster location included in the rescue support signal, and the captured image, field map, and GPS information transmitted from the drone Integrated control server for generating a three-dimensional field map using, and transmitting the generated three-dimensional field map to at least one aerial work vehicle located within a set distance from the location; And it is provided in the aerial work vehicle, receives the three-dimensional field map transmitted from the integrated control server and outputs the received three-dimensional field map through the monitor provided in the aerial work vehicle, the aerial vehicle is the driver's And a control unit that controls the position of the boarding box so that the boarding box of the aerial work vehicle is positioned at a predefined target point when the position is moved to the position according to the operation.

In addition, the drone is a depth camera (Depth Camera), a 3D rider (Lidar), a 3D environment awareness sensor system composed of any one of a 2D external environment recognition sensor and an altitude sensor, and 3D SLAM (simultaneous location and mapping) Alternatively, the on-site map is created using a 3D mapping algorithm, which is one of visual simultaneous location and mapping (SLAM) and 3D mapping algorithm, and the integrated control server corresponds to the location corresponding to the on-site map transmitted from the drone. The 3D field map may be generated using GPS information.

In addition, the control unit receives a coordinate of the target point from the driver, or reflects a target point aimed by the driver on the 3D field map using a laser pointer installed in the boarding box and calculates relative space coordinates. The target point is defined using at least one of a method of calculating the coordinates of the target point, or a method of calculating the coordinates of the target point using GPS information and altitude information of the drone located in the disaster location, The defined target point can be displayed on the 3D field map.

In addition, when the aerial work vehicle moves to the position, the controller calculates the working radius and the length of the boom of the aerial work vehicle using kinematic and inverse kinematic models of the coordinates of the target point and a polar coordinate manipulator. , Calculate the path trajectory of the board using at least one of the joint space method, the Cartesian coordinate method, and the 3D path trajectory algorithm, rotate the turntable using the calculated path trajectory, and raise and control the angle of the boom After that, the position of the boarding box can be controlled by controlling the boom to be withdrawn.

In addition, the control unit may output the position of the boarding box through a speaker provided in the boarding box of the aerial work vehicle, and control the light emission of the LED provided in the boarding box.

In addition, in the method for supporting lifesaving using a aerial work vehicle according to an embodiment of the present invention, when an integrated control server managing a plurality of aerial work vehicles transmits a rescue support signal from a fire control server, the drone is controlled to support the rescue. Moving the drone to a disaster location included in the signal; Receiving, by the integrated control server, an image photographed through the drone and a field map and GPS information generated using a 3D environment recognition sensor system from the drone; Generating, by the integrated control server, a 3D field map using the received captured image, field map, and GPS information; Transmitting, by the integrated control server, the generated 3D field map to at least one aerial work vehicle located within a predetermined distance from the location; When the control unit provided in the aerial work vehicle receives the 3D field map, outputting the received 3D field map through the monitor provided in the aerial work vehicle; And when the aerial work vehicle moves to the position in response to a driver's operation, the control unit may include controlling the position of the aerial vehicle so that the aerial vehicle's boarding box is located at a predefined target point.

As described above, according to the present invention, when a disaster such as a large fire occurs, the aerial work vehicle located near the site is quickly moved using a 3D site information photographed through a drone and a site map created using a 3D environment recognition sensor system. By doing so, it is possible to quickly rescue people, thereby reducing the damage caused by fire.

In addition, according to the present invention, when a fire occurs in a high floor and lifesaving is required, the safety and rescue vehicle (boarding) of the aerial vehicle is automatically transferred to the correct target position using 3D field information, so that it is faster and safer. Not only can a large number of people be rescued, but firefighters can be quickly put into the fire site, making active disaster rescue activities possible.

In addition, according to the present invention, there is an advantage that can be applied to and utilized through a change of the operation program, etc. to a life-saving fire truck.

1 is a system configuration diagram showing a life support system using a aerial platform according to an embodiment of the present invention.
FIG. 2 is a block diagram showing the aerial work vehicle of FIG. 1.
3 is a flowchart illustrating an operation flow of a life support method using a aerial platform according to an embodiment of the present invention.
4 is an exemplary view for explaining a life-saving process in a method for supporting a life-saving using a aerial platform according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience.

In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition of these terms should be made based on the contents throughout the present specification.

First, a lifesaving support system using a aerial platform according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

1 is a block diagram showing a life support system using a aerial vehicle according to an embodiment of the present invention.

As shown in FIG. 1, a life support system using a aerial vehicle according to an embodiment of the present invention includes a drone 100, an integrated control server 200, and a control unit 310.

First, the drone 100 flies the location under the control, captures the surrounding image, captures the captured image, the 3D environment recognition sensor system and the 3D map creation algorithm, and the integrated map control server with GPS information. 200).

In addition, the integrated control server 200 manages a plurality of aerial work vehicles 300, and when a rescue support signal is transmitted from the fire control server 400, the drone 100 is controlled to move to a disaster location included in the rescue support signal. And generates a 3D field map using the captured image and the field map and GPS information transmitted from the drone 100, and the generated 3D field map is located at least one aerial vehicle located within a set distance from the disaster location ( 300).

Here, the fire control server 400 is a management server that manages a fire or disaster report received through 119 and instructs the dispatch of a fire engine (not shown) to the corresponding location. In case of delay, it is possible to request rescue assistance by transmitting a 3D field map including the disaster location to the registered aerial work vehicle 300.

Accordingly, the integrated control server 200 controls the flight position of the drone 100 to move the drone 100 to the disaster location (that is, the location where the fire occurred) included in the rescue support signal, and 3 of the drone 100 3D environment-aware sensor system receives real-time 3D mapping of disaster-causing sites and surrounding areas from the corresponding drone 100, and adds GPS information of the corresponding location to 3 for the corresponding location A dimensional field map is generated, and the generated 3D field map is transmitted to a plurality of aerial work vehicles 300 located at a distance from a disaster location among a plurality of related aerial work vehicles 300 to request assistance.

At this time, the drone 100 is an installed depth camera (Depth Camera) and a 3D lidar (Lidar), a two-dimensional external environment sensor (representatively a camera sensor, 2D Laser Scanner, etc.) and a three-dimensional environment awareness integrated sensor consisting of an altitude sensor A 3D environment-aware sensor system including any one or more of the 3D mapping algorithm, which is one of 3D mapping algorithms represented by 3D simulaneous location and mapping (SLAM) or visual SLAM (simultaneous location and mapping). You can create a map.

Finally, the control unit 310 is provided on the aerial work vehicle 300, and receives the 3D field map transmitted from the integrated control server 200 and monitors the received 3D field map on the aerial work vehicle 300. Through the output, and when the aerial work vehicle 300 moves to the disaster location according to the driver's operation, the position of the passenger vehicle is controlled such that the aerial vehicle's boarding box is located at a predefined target point.

In addition, the system may be configured with only the drone 100 and the aerial platform 300 without going through the integrated control server 200.

FIG. 2 is a block diagram showing the aerial work vehicle of FIG. 1.

As shown in Figure 2, the aerial platform 300 according to an embodiment of the present invention includes a control unit 310 for controlling the aerial platform 300, a monitor 320 for monitoring the internal and external conditions, a person boarding or luggage. The boarding box 330 provided with a space for loading, the boom 340 for raising the boarding box 330 to a desired height, the boarding box 330 by supporting the boarding box 330 and the boom 340, and rotating and driving the boarding box 330 It includes a turntable 350 that makes it possible to hold this position.

At this time, the control unit 310 outputs the 3D field map received from the integrated control server 200 through the monitor 320, and the driver of the aerial vehicle 300 checks the disaster location output on the monitor 320 By moving the aerial work vehicle 300 to the disaster position, the position of the turntable 350 and the boom 340 is controlled to control the boarding box 330 to be located at a target point where rescue is required.

At this time, the target point of the boarding box 330 is a method for receiving coordinates of the target point from the driver, or a laser pointer 331 installed in the boarding box 330 is used to map the target point aimed by the driver to the 3D field map. At least one method of calculating the coordinates of the target point by reflecting and calculating the relative space coordinates, or calculating the coordinates of the target point using GPS information and altitude information of the drone 100 located in the disaster location It can be defined using the control unit 310 may display the defined target point on the 3D field map.

In addition, when the aerial platform 300 moves to the disaster location by the driver, the control unit 310 coordinates the target point and the boom 340, turntable 350 and boarding box 330 of the aerial platform 300 Using the kinematic and inverse kinematic models of a polar coordinate manipulator similar to the operation of the aerial platform 300 to control the distance, the working radius of the aerial platform 300 and the length of the boom 340 are calculated, and the initial The path trajectory planning from the location to the target location is performed using a 3D path trajectory algorithm that includes obstacle avoidance functions such as joint space method, Cartesian coordinate space method, and Probabilistic Roadmaps (PRM) and Rapidly-Exploring Random Trees (RTR). After calculating the path trajectory of the boarding box 330 and using the calculated path trajectory to rotate-control the turntable 350 and to increase and control the angle of the boom 340, control the boom 340 to be withdrawn and board the board ( 330) can be controlled.

Then, when the boarding box 330 reaches the target point, the control unit 310 uses a voice or a notification sound to determine the position of the boarding box 330 through the speaker 333 provided in the boarding box 330 of the aerial vehicle. By outputting and controlling the light emission of the LED 332 provided in the boarding box 330, people in need of the structure may easily recognize the position of the boarding box 330.

Hereinafter, a method for supporting a lifesaving using a aerial vehicle according to an embodiment of the present invention will be described with reference to FIGS. 3 and 4.

3 is a flowchart illustrating an operation flow of a method for assisting a lifesaving using a aerial vehicle according to an embodiment of the present invention, and the specific operation of the present invention will be described with reference to this.

According to an embodiment of the present invention, first, when the integrated control server 200 managing a plurality of aerial work vehicles 300 transmits a rescue support signal from the fire control server 400 (S310), the drone 100 By controlling, the drone 100 is moved to the disaster location included in the rescue support signal (S320).

The drone 100 moved to the disaster location under the control of step S320, and photographs a real-time surrounding image of the disaster site and the surrounding area, and the generated field map and GPS generated using the 3D environment recognition sensor system The information is transmitted to the integrated control server 200 (S330, S340).

Next, the integrated control server 200 generates a 3D field map using the captured image received from step S340, the field map, and the GPS information corresponding to the disaster location (S350).

At this time, the field map includes at least one of a 3D environment recognition integrated sensor, such as a depth camera installed on the drone 100, a 3D lidar, a 2D external environment recognition sensor, and an altitude sensor. It is created using a 3D environment-aware sensor system and a 3D mapping algorithm, which is one of 3D mapping algorithms representative of 3D simulated location and mapping (SLAM) or visual simulated location and mapping (SLAM).

Then, the integrated control server 200 transmits the three-dimensional field map generated in step S350 to at least one aerial work vehicle 300 located within a predetermined distance from the disaster location (S360).

Then, the control unit 310 of the aerial work vehicle 300 receiving the 3D field map transmitted in step S360 outputs the 3D field map through the monitor 310 provided in the aerial work vehicle 300. (S370).

Then, when the aerial platform 300 moves to the disaster location according to the driver's operation (S380), the control unit 310 causes the aerial platform 300 to be positioned at a predefined target point. The position of the boarding box 330 is controlled (S390).

At this time, the target point is a method of receiving coordinates of the target point from the driver, or using a laser pointer 331 installed in the boarding box 330, the target point aimed by the driver is reflected in the 3D field map and the relative space coordinates are calculated. It may be predefined using at least one method of calculating the coordinates of the target point by calculating or calculating the coordinates of the target point using GPS information and altitude information of the drone 100 located in the disaster location. have.

In addition, when the aerial platform 300 moves to the disaster location by the driver, the control unit 310 coordinates the target point and the boom 340, turntable 350 and boarding box 330 of the aerial platform 300 Using the kinematic and inverse kinematic models of a polar coordinate manipulator similar to the operation of the aerial platform 300 to control the distance, the working radius of the aerial platform 300 and the length of the boom 340 are calculated, and the initial The path trajectory planning from the location to the target location is performed using a 3D path trajectory algorithm that includes obstacle avoidance functions such as joint space method, Cartesian coordinate space method, and Probabilistic Roadmaps (PRM) and Rapidly-Exploring Random Trees (RTR). After calculating the path trajectory of the boarding box 330 and using the calculated path trajectory to rotate-control the turntable 350 and to increase and control the angle of the boom 340, control the boom 340 to be withdrawn and board the board ( 330) can be controlled.

Then, when the boarding box 330 arrives at the target position, the controller 310 outputs the position of the boarding box 330 to the outside through the speaker 333 provided in the boarding box 330, and boards the boarding box 330 ) LED 332 provided in the light emission control (S400).

That is, the control unit 310 may inform the outside of the boarding box 330 by using a visible and audible system after the boarding box 330 arrives at the target point. In more detail, according to the present invention, first, a high-directional LED 332 lighting device or the like can be used to recognize even in a dark place or a smoke as a visible system, and a photo-directional speaker 333 can be used as an audible system. It can be used to provide a faster and safer evacuation route by making it easier for people in need near the target point to recognize the location of the boarding box 330.

4 is an exemplary view for explaining a life-saving process in a method for assisting a life-saving using a aerial vehicle according to an embodiment of the present invention.

As shown in FIG. 4, when a fire occurs in a high-rise building, a 3D site map is transmitted to a nearby aerial work vehicle 300 to control the position of the boarding 330 to a location where a structure is required, resulting in faster and safer operation. Evacuation routes can be provided.

As described above, the life support system and method using a aerial vehicle according to an embodiment of the present invention uses a 3D field information and a 3D environment recognition sensor system photographed through a drone when a disaster such as a large fire occurs By using the site map created by quickly moving the aerial vehicle close to the site, it is possible to quickly rescue people, thereby reducing the damage caused by fire.

In addition, according to an embodiment of the present invention, when a fire occurs in a high floor and lifesaving is required, the safety rescue box (boarding) of the aerial vehicle is automatically transported to the correct target position using 3D field information. In addition to being able to rescue many people quickly and safely, it is also possible to quickly put firefighters into the fire site, enabling active disaster relief activities.

In addition, according to an embodiment of the present invention, there is an advantage that can be applied to and utilized by changing the operation program, etc. to the fire truck for lifesaving.

The present invention has been described with reference to the embodiment shown in the drawings, but this is merely exemplary, and those skilled in the art to which the art belongs understand that various modifications and other equivalent embodiments are possible therefrom. will be. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the following claims.

100: drone 200: integrated control server
300: aerial platform 310: control unit
320: monitor 330: boarding
331: laser pointer 332: LED
333: speaker 340: boom
350: turntable 400: fire control server

Claims (10)

In the life support system using a aerial platform equipped with a boarding box,
A drone that flies a location under the control and shoots a surrounding image, and delivers a captured image and a field map created using a 3D environment recognition sensor system together with GPS information;
Manages a plurality of aerial vehicles, and when a rescue support signal is transmitted from the fire control server, the drone is controlled to move to the disaster location included in the rescue support signal, and the captured image, field map, and GPS information transmitted from the drone Integrated control server for generating a three-dimensional field map using, and transmitting the generated three-dimensional field map to at least one aerial work vehicle located within a set distance from the location; And
It is provided in the aerial platform, receives the 3D site map transmitted from the integrated control server, outputs the received 3D site map through the monitor provided in the aerial platform, and the aerial platform is operated by the driver. And a control unit for controlling the position of the boarding box so that the boarding box of the aerial work vehicle is located at a predefined target point when the vehicle is moved to the position according to the rescue system. According to claim 1,
The drone,
A 3D environmental awareness sensor system consisting of one or more of a depth camera, a 3D lidar, a 2D external environment awareness sensor, and an altitude sensor, and a 3D simaneaneous location and mapping (SLAM) or visual SLAM (simultaneous) location and mapping), using the 3D mapping algorithm, which is one of the 3D mapping algorithms, to create the field map,
The integrated control server is a life support system using a aerial vehicle that generates the 3D field map using GPS information corresponding to a corresponding location on the field map transmitted from the drone. According to claim 1,
The control unit,
A method of receiving coordinates of the target point from the driver, or
A method of calculating a coordinate of the target point by reflecting a target point aimed by the driver on the 3D field map using a laser pointer installed in the boarding box and calculating relative space coordinates, or
The target point is defined using at least one method of calculating coordinates of the target point using GPS information and altitude information of the drone located at the disaster location, and the defined target point is defined on the 3D field map. Lifesaving support system using the aerial platform to display. According to claim 3,
The control unit,
When the aerial platform is moved to the position, the working radius and the length of the boom of the aerial platform are calculated using the kinematic and inverse kinematic models of the coordinates of the target point and the polar coordinate manipulator, and the joint space method, Calculate the path trajectory of the board using at least one of Cartesian spatial method and three-dimensional path trajectory algorithm, rotate control the turntable using the calculated path trajectory, raise the angle of the boom, and then control the boom Lifesaving support system using aerial work vehicle that controls the position of the boarding box by controlling the withdrawal. According to claim 1,
The control unit,
A life support system using a aerial work vehicle that outputs the position of the boarding box through a speaker provided in the boarding box of the aerial work vehicle and controls light emission of the LEDs provided in the boarding box. In the lifesaving support method performed by the lifesaving support system using the aerial platform equipped with a boarding box,
An integrated control server managing a plurality of aerial work vehicles, when a rescue support signal is transmitted from a fire control server, controlling a drone to move the drone to a disaster location included in the rescue support signal;
Receiving, by the integrated control server, an image photographed through the drone and a field map and GPS information generated using a 3D environment recognition sensor system from the drone;
Generating, by the integrated control server, a 3D field map using the received captured image, field map, and GPS information;
Transmitting, by the integrated control server, the generated 3D field map to at least one aerial work vehicle located within a predetermined distance from the location;
When the control unit provided in the aerial work vehicle receives the 3D field map, outputting the received 3D field map through the monitor provided in the aerial work vehicle; And
And when the aerial work vehicle moves to the position according to the driver's operation, the control unit controlling the position of the passenger car to position the boarding space of the aerial work vehicle at a predefined target point. The method of claim 6,
The on-site map,
A 3D environmental awareness sensor system consisting of one or more of a depth camera installed on the drone, a 3D lidar, a 2D external environment recognition sensor, and an altitude sensor, and a 3D simulated location and mapping (SLAM), Visual SLAM (simultaneous location and mapping), 3D mapping algorithm, one of which is created using a three-dimensional mapping algorithm,
The step of generating the 3D field map,
Lifesaving support method for generating using the GPS information corresponding to the location on the field map transmitted from the drone. The method of claim 6,
The target point is,
A method of receiving coordinates of the target point from the driver, or
A method of calculating a coordinate of the target point by reflecting a target point aimed by the driver on the 3D field map using a laser pointer installed in the boarding box and calculating relative space coordinates, or
A life support method defined in advance by using at least one of a method of calculating coordinates of the target point using GPS information and altitude information of a drone located at the disaster location. The method of claim 8,
Controlling the position of the boarding box,
Using the coordinates of the target point and the kinematic and inverse kinematic models of the polar coordinate manipulator, the working radius of the aerial platform and the length of the boom are calculated, and the joint space method, the Cartesian space method and the 3D path trajectory algorithm Calculate the path trajectory of the boarding box by using at least one of the above, rotate the turntable using the calculated path trajectory, control the angle of the boom upward, and control the boom to be withdrawn to control the position of the boarding box. How to control lifesaving support. The method of claim 6,
The control unit further comprises the step of outputting the position of the boarding box through a speaker provided in the boarding box of the aerial platform, and controlling the light emission of the LED provided in the boarding box.

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