Stud welding surface detection method, device, equipment and product

Abstract

The invention discloses a stud welding surface detection method, device and equipment and a product, and the method comprises the steps: judging whether the quality of a stud welding surface is qualified or not according to the intersection condition of a stud and a part; establishing a cylinder intersecting with the surface of the part, obtaining a segmentation surface used for representing the state of the stud welding surface, and judging whether the stud welding surface is qualified or not by comparing a preset standard based on the condition of the segmentation surface. The invention discloses a stud welding surface detection method, device and equipment and a product. The stud welding surface detection method, device and equipment have the characteristics of multiple detection dimensions, accurate detection result and greatly improved detection speed, and are very suitable for performing batch automatic detection on the welding surface, needing to be detected, of a product model.

Description

Technical Field

[0001] The invention belongs to the field of welding surface detection, and in particular relates to a method, device, equipment and product for detecting a stud welding surface. Background Art

[0002] When inspecting the stud welding profile of a product model, it is necessary to inspect each stud weld point to determine whether the welding profile meets the design requirements. Furthermore, welding profiles that meet the requirements can be ignored, while welding profiles that do not meet the requirements need to be counted so that the design process can be improved later. Under existing technical conditions, the quality inspection of the welding profile of product models is usually carried out manually one by one, which has the problems of frequent missed inspections, cumbersome and large operations, and low inspection efficiency. Summary of the invention

[0003] In view of this, the present invention aims to overcome the defects in the prior art and proposes a method, device, equipment and product for detecting the stud welding surface.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows: In a first aspect, the present invention discloses a method for detecting a stud welding surface, comprising: If the stud whose welding surface needs to be inspected intersects with two or more parts, the quality of the stud welding surface is unqualified; If the stud whose welding surface needs to be inspected intersects only one part, the part surface of the intersecting part is extracted; if the axis of the stud is not perpendicular to the part surface, the quality of the stud welding surface is unqualified; If the axis of the stud is perpendicular to the surface of the part, a cylinder is created that intersects the surface of the part with the axis as the center and the preset value as the diameter; It is determined that the part surface corresponding to the inside of the cylinder is the dividing surface used to characterize the state of the stud welding surface. If the dividing surface meets the preset standard, the quality of the stud welding surface is qualified. If the dividing surface does not meet the preset standard, the quality of the stud welding surface is unqualified.

[0005] In another embodiment of the present invention, if the stud whose welding surface needs to be inspected intersects with two or more parts, the quality of the stud welding surface is unqualified, including: using mechanical three-dimensional modeling software to open the model of the stud welding surface that needs to be inspected, and obtaining the number of parts intersected by the stud whose welding surface needs to be inspected.

[0006] In another embodiment of the present invention, if the split surface meets the preset standard, the quality of the stud welding surface is qualified, and if the split surface does not meet the preset standard, the quality of the stud welding surface is unqualified, including: using the disassembly function of the mechanical three-dimensional modeling software to determine the number of units included in the split surface; If the split surface contains only one unit, the split surface is a plane, and the boundary of the split surface is a circle, the quality of the stud welding surface is qualified; If the split surface does not satisfy the following three conditions at the same time: it contains only one unit, the split surface is a plane, and the split surface boundary is a circle, the quality of the stud welding surface is unqualified.

[0007] In another embodiment of the present invention, a measurement function of mechanical three-dimensional modeling software is used to determine whether the segmentation surface is a plane.

[0008] In another embodiment of the present invention, an extraction function of mechanical three-dimensional modeling software is used to determine whether the boundary of the segmentation surface is a circle.

[0009] In another embodiment of the present invention, the method further comprises: outputting a file including the inspection results of all welding surfaces that need to be inspected.

[0010] In a second aspect, the present invention discloses a stud welding surface detection device, the device comprising: The first detection module is used to detect that if the stud on the welding surface intersects with two or more parts, the quality of the stud welding surface is unqualified; The second detection module is used to extract the part surface of the intersecting part if the stud of the welding surface to be detected only intersects with one part; if the axis of the stud is not perpendicular to the part surface, the quality of the stud welding surface is unqualified; The cylinder module is used to create a cylinder that intersects the surface of the part with the axis of the stud perpendicular to the surface of the part, with the axis as the center and the preset value as the diameter; The judgment module is used to determine whether the part surface corresponding to the inside of the cylinder is a segmentation surface used to characterize the state of the stud welding surface. If the segmentation surface meets the preset standard, the quality of the stud welding surface is qualified; if the segmentation surface does not meet the preset standard, the quality of the stud welding surface is unqualified.

[0011] In a third aspect, the present invention discloses an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors execute the above method.

[0012] In a fourth aspect, the present invention discloses a computer-readable storage medium having a computer program stored thereon, which implements the above method when executed by a processor.

[0013] In a fifth aspect, the present invention discloses a computer program product, including a computer program, which implements the above method when executed by a processor.

[0014] Compared with the prior art, the present invention has the following advantages: The present invention discloses a method, device, equipment and product for detecting stud welding surfaces, including: judging whether the quality of the stud welding surface is qualified according to the intersection of the stud and the part; establishing a cylinder intersecting with the surface of the part, obtaining a segmentation surface for characterizing the state of the stud welding surface, and judging whether the quality of the stud welding surface is qualified based on the segmentation surface condition and comparing with a preset standard. The present invention discloses a method, device, equipment and product for detecting stud welding surfaces, which has the characteristics of multiple inspection dimensions, accurate inspection results, greatly improved inspection speed, and is very suitable for batch automatic inspection of welding surfaces of product models that need to be inspected. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0016] In the attached picture: Figure 1 A schematic diagram of an application scenario of a method for detecting a stud welding surface according to an embodiment of the present invention; Figure 2 A schematic diagram of a method for detecting a stud welding surface according to an embodiment of the present invention; Figure 3 A schematic diagram of extracting a part surface for a method for detecting a stud welding surface according to an embodiment of the present invention; Figure 4 A cylindrical schematic diagram is established for a method for detecting a stud welding surface according to an embodiment of the present invention; Figure 5 A detection method for stud welding surface according to an embodiment of the present invention is a schematic diagram in which the boundary of the segmented surface is a circle; Figure 6 A schematic diagram of a stud welding surface detection method according to an embodiment of the present invention in which the boundary of the segmented surface is not a circle; Figure 7 A schematic diagram of a stud welding surface detection device according to an embodiment of the present invention; Figure 8 A schematic diagram of an electronic device for detecting a stud welding surface according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0018] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0020] In the description of the present invention, it should be further explained that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0021] The present invention discloses a method, device, equipment and product for detecting stud welding surface. Figure 1 As shown, under the existing technical conditions, the quality inspection of the welding surface in the product model is usually carried out manually one by one, which has the problems of frequent missed inspections and wrong inspections, large and cumbersome operation and low inspection efficiency. For example, the welding surface of standard parts such as the projection welding studs in the body-in-white assembly must be flat, and the size of the plane must meet the welding space requirements. Therefore, when designing the structure, the designers need to inspect the flatness and size of the welding surface on the product model to ensure that the welding requirements can be met in the later stage. However, the body-in-white product model has hundreds of projection welding stud welding points. Manual inspection of whether the stud welding surface on the product model meets the design requirements is labor-intensive and cumbersome.

[0022] The present invention discloses a method, device, equipment and product for detecting the welding surface of a stud. According to the intersection between the stud and the part, whether the quality of the welding surface of the stud is qualified is judged; a cylinder intersecting with the surface of the part is established to obtain a segmentation surface for characterizing the state of the welding surface of the stud. Based on the segmentation surface, the preset standard is compared to judge whether the quality of the welding surface of the stud is qualified. The present invention discloses a method, device, equipment and product for detecting the welding surface of a stud. The method has multiple inspection dimensions, accurate inspection results and is very suitable for batch automatic inspection of product models that need to inspect welding surfaces.

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] In one embodiment of the present invention, Figure 2 As shown, the present invention discloses a method, device, equipment and product for detecting a stud welding surface, including: Step S201, if the stud whose welding surface needs to be inspected intersects with two or more parts, the quality of the stud welding surface is unqualified; In this embodiment, the model of the stud welding surface to be inspected is opened using CATIA software, and the number of stud intersecting parts of the stud welding surface to be inspected is obtained.

[0025] In another embodiment, CATIA software may also be replaced by SolidWorks, UG, Pro / ENGINEER, etc., as long as the contents disclosed in the present invention can be implemented.

[0026] In this embodiment, the collision detection function of CATIA software is used, the intersection type is selected between two parts, product 1 is selected as the stud whose welding surface needs to be detected, and product 2 is selected as the product model to obtain the number of stud intersection parts whose welding surface needs to be detected.

[0027] Step S202: Figure 3 As shown, if the stud whose welding surface needs to be inspected intersects only one part, the part surface of the intersecting part is extracted; if the axis of the stud is not perpendicular to the part surface, the quality of the stud welding surface is unqualified; Step S203, as Figure 4 As shown, if the axis of the stud is perpendicular to the surface of the part, a cylinder intersecting the surface of the part is established with the axis as the center and the preset value as the diameter; Exemplarily, the preset value is 16 mm.

[0028] In this embodiment, CATIA software is used to identify the axis of the stud, and the axis is used as the center line, and a cylinder is stretched with a preset value as the diameter to intersect with the surface of the part; In this embodiment, the preset value is used to set the detection diameter.

[0029] Step S204, determining that the part surface corresponding to the inside of the cylinder is a segmentation surface used to characterize the state of the stud welding surface. If the segmentation surface meets the preset standard, the quality of the stud welding surface is qualified; if the segmentation surface does not meet the preset standard, the quality of the stud welding surface is unqualified.

[0030] like Figure 4 As shown, the split surface is the part surface corresponding to the inside of the cylinder.

[0031] Furthermore, the method also includes: outputting a file including the inspection results of all welding surfaces that need to be inspected.

[0032] In this embodiment, illustratively, the format of the file may be an EXCEL file, or may be other file formats that can achieve the same function.

[0033] Based on the EXCEL file, output the inspection results of all welding surfaces that need to be inspected.

[0034] In this embodiment, the detection results recorded in the EXCEL file can be manually corrected.

[0035] Based on the previous embodiment, in another embodiment of the present invention, Figure 2 As shown, step S204, if the split surface meets the preset standard, the quality of the stud welding surface is qualified, if the split surface does not meet the preset standard, the quality of the stud welding surface is unqualified, and further includes: using the disassembly function of CATIA software to determine the number of units included in the split surface; In this embodiment, the number of units included in the split surface refers to the number of independent surfaces that the split surface is composed of. A stud welding surface of qualified quality needs to have only one surface, that is, only one unit.

[0036] If the split surface contains only one unit, the split surface is a plane, and the boundary of the split surface is a circle, the quality of the stud welding surface is qualified; If the split surface does not satisfy the following three conditions at the same time: it contains only one unit, the split surface is a plane, and the split surface boundary is a circle, the quality of the stud welding surface is unqualified.

[0037] In this embodiment, exemplary: If the split surface contains only one unit and the split surface is not a plane, the stud welding surface inspection fails; If the split surface contains only one unit, the split surface is a plane, and the boundary of the split surface is not a circle, the stud welding surface inspection fails; If the split surface contains two or more units, the stud welding surface inspection fails; This embodiment comprehensively detects whether the stud welding surface is of qualified quality by measuring the number of units contained in the split surface, whether the split surface is a plane, and the shape of the split surface boundary. It has the characteristics of multiple detection dimensions and accurate detection results.

[0038] In another embodiment of the present invention, the measurement function of CATIA software is used to determine whether the split surface is a plane.

[0039] In another embodiment of the present invention, Figure 5 and Figure 6 As shown, the extraction function of CATIA software is used to determine whether the boundary of the split surface is a circle, and the extension type in the extraction definition is selected as no extension.

[0040] Using the measurement and extraction functions of CATIA software can improve detection efficiency and is suitable for batch automatic detection of welding surfaces that need to be detected on product models.

[0041] In one embodiment of the present invention, the above method is implemented by software as follows, including: After entering the welding surface flatness detection interface, click "Select product model" and select the product model that needs to be inspected for welding surface in the CATIA interface; The software interface displays the preset values ​​of the detection product model, which can be modified by the user; After clicking the "Surface Review" button, the software searches the selected product model in CATIA one by one according to the stud identification set in the database, and identifies the studs with corresponding characters; The welding surface is inspected; When the user clicks on a row of data in the list, the data in CATIA interacts with it, showing the corresponding stud position and highlighting the image "center"; After the welding surface results are output, users can manually verify and change the test results through the "Result Correction" button. After clicking, the software pops up a window to prompt "Do you want to correct the results?" as a secondary verification to prevent accidental modification; Click the "Clear Data" function button to delete the inspection results in batches; Clicking the "Export Report" button will add the comprehensive results of the welding surface inspection to the EXCEL file, and then open the EXCEL file. Users can download it to a custom path.

[0042] The software sets a platform interface, which is connected to the data interface of the CATIA software, and reads and processes the detection data of the CATIA software through the method of the CATIA API.

[0043] like Figure 7 As shown, the present invention also discloses a stud welding surface detection device, comprising: The first detection module 701 is used to detect that if the stud on the welding surface intersects with two or more parts, the quality of the stud welding surface is unqualified; The second detection module 702 is used to extract the part surface of the intersecting part if the stud of the welding surface to be detected intersects only one part; if the axis of the stud is not perpendicular to the part surface, the quality of the stud welding surface is unqualified; A cylinder creation module 703 is used to create a cylinder intersecting the surface of the part with the axis as the center and a preset value as the diameter if the axis of the stud is perpendicular to the surface of the part; The judgment module 704 is used to determine whether the part surface corresponding to the inside of the cylinder is a segmentation surface used to characterize the state of the stud welding surface. If the segmentation surface meets the preset standard, the quality of the stud welding surface is qualified; if the segmentation surface does not meet the preset standard, the quality of the stud welding surface is unqualified.

[0044] The present invention also discloses an electronic device, such as Figure 8 As shown, an embodiment is disclosed, which is a block diagram of an electronic device suitable for detecting the above-mentioned stud welding surface.

[0045] The electronic device 80 of this embodiment includes a processor 801, which can perform various appropriate actions and processes according to the program stored in the ROM 802 or the program loaded from the storage part 808 to the RAM 803. The processor 801 may include, for example, a general-purpose microprocessor, an instruction set processor and / or a related chipset and / or a dedicated microprocessor, etc. The processor 801 may also include an onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0046] In RAM803, various programs and data required for the operation of electronic device 80 are stored. Processor 801, ROM802 and RAM803 are connected to each other via bus 804, and processor 801 performs various operations of the method flow according to the embodiment of the present invention by executing the program in ROM802 and / or RAM803. It should be noted that the program can also be stored in one or more memories other than ROM802 and RAM803, and processor 801 can also perform various operations of the method flow according to the embodiment of the present invention by executing the program stored in one or more memories.

[0047] According to an embodiment of the present invention, the electronic device 80 may further include an I / O interface 805, which is also connected to the bus 804. The electronic device 80 may further include one or more of the following components connected to the I / O interface 805: an input portion 806 including a keyboard, a mouse, etc.; an output portion 807 including a cathode ray tube, a liquid crystal display, and a speaker; a storage portion 808 including a hard disk, etc.; and a communication portion 809 including a network interface card such as a LAN card, a modem, etc. The communication portion 809 performs communication processing via a network such as the Internet. A drive 8010 is also connected to the I / O interface 805 as needed. A removable medium 8011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 8010 as needed, so that a computer program read therefrom is installed into the storage portion 808 as needed.

[0048] The present invention also provides a computer-readable storage medium.

[0049] The computer-readable storage medium may be included in the electronic device / device system described in the above embodiment; or it may exist independently without being assembled into the electronic device / device. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0050] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but is not limited to: a portable computer disk, a hard disk, a random access memory RAM, a read-only memory ROM, an erasable programmable read-only memory EPROM or a flash memory, a portable compact disk read-only memory CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0051] Embodiments of the present invention also include a computer program product.

[0052] The computer program product includes a computer program, which contains program codes for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program codes are used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0053] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium. The program code included in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0054] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written by any combination of one or more programming languages, and specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages. Programming languages ​​include but are not limited to programming languages ​​such as Java, C++, python, C language or similar. The program code can be executed completely on the user computing device, partially on the user device, partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network or a wide area network, or can be connected to an external computing device.

[0055] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions. It can be understood by those skilled in the art that the features recorded in the various embodiments and / or claims of the present invention can be combined and / or combined in various ways, even if such a combination or combination is not explicitly recorded in the present invention. In particular, without departing from the spirit and teaching of the present invention, the features described in the various embodiments and / or claims of the present invention may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0056] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination. The scope of the present invention is limited by the attached claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A method for detecting a stud welding surface, characterized in that: include: If the stud whose welding surface needs to be inspected intersects with two or more parts, the quality of the stud welding surface is unqualified; If the stud whose welding surface needs to be inspected intersects only one of the parts, the part surface of the intersecting part is extracted; if the axis of the stud is not perpendicular to the part surface, the quality of the stud welding surface is unqualified; If the axis of the stud is perpendicular to the surface of the part, a cylinder intersecting the surface of the part is established with the axis as the center and a preset value as the diameter; It is determined that the part surface corresponding to the inside of the cylinder is a dividing surface used to characterize the state of the stud welding surface. If the dividing surface meets the preset standard, the quality of the stud welding surface is qualified; if the dividing surface does not meet the preset standard, the quality of the stud welding surface is unqualified.

2. A method for detecting a stud welding surface according to claim 1, characterized in that: If the stud whose welding surface needs to be inspected intersects with two or more parts, the quality of the stud welding surface is unqualified, including: using mechanical three-dimensional modeling software to open the model of the stud welding surface that needs to be inspected, and obtaining the number of parts intersected by the stud whose welding surface needs to be inspected.

3. A method for detecting a stud welding surface according to claim 2, characterized in that: If the split surface meets the preset standard, the quality of the stud welding surface is qualified, and if the split surface does not meet the preset standard, the quality of the stud welding surface is unqualified, including: using the disassembly function of the mechanical three-dimensional modeling software to determine the number of units included in the split surface; If the dividing surface contains only one unit, and the dividing surface is a plane, and the boundary of the dividing surface is a circle, then the quality of the stud welding surface is qualified; If the dividing surface does not simultaneously satisfy the conditions of containing only one unit, being a plane, and having a circular boundary, the quality of the stud welding surface is unqualified.

4. A method for detecting a stud welding surface according to claim 3, characterized in that: The measurement function of the mechanical three-dimensional modeling software is used to determine whether the segmentation surface is a plane.

5. A method for detecting stud welding surface according to claim 3, characterized in that: The extraction function of the mechanical three-dimensional modeling software is used to determine whether the boundary of the segmentation surface is circular.

6. A method for detecting a stud welding surface according to claim 1, characterized in that: The method further comprises: outputting a file including the inspection results of all the welding surfaces that need to be inspected.

7. A stud welding surface detection device, characterized in that: The device comprises: The first detection module is used for detecting that if the stud on the welding surface intersects with two or more parts, the quality of the stud welding surface is unqualified; The second detection module is used for extracting the part surface of the intersecting part if the stud of the welding surface to be detected intersects only one of the parts; if the axis of the stud is not perpendicular to the part surface, the quality of the stud welding surface is unqualified; Establish a cylinder module, which is used to establish a cylinder intersecting the surface of the part with the axis of the stud as the center and a preset value as the diameter if the axis of the stud is perpendicular to the surface of the part; A judgment module is used to determine whether the part surface corresponding to the inside of the cylinder is a segmentation surface used to characterize the state of the stud welding surface. If the segmentation surface meets the preset standard, the quality of the stud welding surface is qualified; if the segmentation surface does not meet the preset standard, the quality of the stud welding surface is unqualified.

8. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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