Method for guiding a vehicle on an industrial site

Abstract

The invention relates to a method for guiding a vehicle on an industrial site, the method comprising the steps of: acquiring, using a camera (C1-Cp), a vehicle identifier at the entrance to the industrial site; searching, using a central unit, in a database (LDB) for operational data relating to the vehicle identifier; determining, using the central unit, a destination point on the industrial site based on the operational data; controlling, using the central unit, one or more display panels (P1-Pn) located on the site to guide the vehicle driver to the destination point; acquiring, using the central unit, an end-of-operation signal; and controlling, using the central unit, one or more of the display panels to guide the vehicle driver to an exit from the site. Figure 2

Description

Title of the invention: Method for guiding a vehicle on an industrial site Technical field

[0001] The present invention relates to the guidance of vehicles on an industrial site, in particular towards loading or unloading docks, to carry out an operation, such as an operation of loading and / or unloading goods, or a maintenance operation. State of the art

[0002] Depending on its size and activity, an industrial site may receive several dozen vehicles each day, particularly those delivering goods to supply the site or to take away finished or semi-finished products. Upon arrival at the site, drivers of delivery vehicles must generally register and present an order form at a reception station on the site. This operation generally requires the order form to be on paper and requires drivers to get out of their vehicle, and often to queue at a reception station. Then, drivers must go to a designated loading / unloading station. It is then common for the designated station to be already occupied. This also results in additional waiting for vehicle drivers.

[0003] Once the loading / unloading operations have been completed, drivers must leave the site, and sometimes return to the reception station to record the end of the operation or their departure from the site. However, drivers do not necessarily have knowledge of the route to follow to reach the designated location, and / or to reach the exit of the site which may be different from the entrance they took. In addition, describing the route to follow to reach the designated station is time-consuming and can be problematic with drivers who do not speak a language known to the reception employee.

[0004] The journey of a vehicle on a site can therefore be accompanied by a considerable loss of time for drivers, which can disrupt delivery rounds, and lead to financial penalties, or even call into question transport contracts. In addition, U-turn maneuvers in the event of a guidance error can prove tricky. These disadvantages can cause significant stress for drivers, and affect the safety of people present on the site. Furthermore, to reduce waiting times at the reception station, it is necessary to increase the number of reception employees. However, it is common for busy periods to be limited in time. This results in a relatively low daily occupancy rate. reception staff.

[0005] It is therefore desirable to be able to reduce the time taken for a vehicle to pass through an industrial site. To this end, it may be desirable to be able to guide a vehicle onto the industrial site, without having to install specific equipment in the vehicles. Summary

[0006] Embodiments relate to a method for guiding a vehicle on an industrial site, the method comprising steps of: acquiring, using a camera, an identifier of a vehicle at the entrance to the industrial site; searching, by a central unit, in a database for operation data relating to the identifier of the vehicle; determining, by the central unit, a destination point on the industrial site based on the operation data; controlling, by the central unit, one or more display panels located on the site to guide the driver of the vehicle to the destination point; acquiring, by the central unit, an end-of-operation signal; and controlling, by the central unit, one or more of the display panels to guide the driver of the vehicle to an exit of the site.

[0007] In this way, vehicles arriving at the industrial site can be guided throughout their journey between entering and leaving the site, as soon as the vehicle is identified. Time losses and additional maneuvers for the vehicle driver, due to traffic direction errors, can thus be avoided. Furthermore, vehicle guidance is carried out without the need for any special equipment installed in the vehicle or made available to the vehicle driver.

[0008] According to one embodiment, the method further comprises steps of: searching the database for time slot data relating to the vehicle identifier, wherein the control of the display panels of the site to guide the driver of the vehicle to the destination point is performed only if a current time is located within the time slot, or if a destination point corresponding to the operation is available; and if the current time is not located within the time slot and or if a destination point corresponding to the operation is not available, controlling one or more of the display panels to guide the driver of the vehicle to a waiting area.

[0009] Controlling a time slot for carrying out the operation makes it possible to avoid the destination point being occupied by another vehicle during the time slot. Thus, the driver of the vehicle can be assured of not having to wait for the destination point to become available.

[0010] According to one embodiment, each display panel is associated with a camera aimed to detect a vehicle in a viewing area of ​​the display panel by the driver of the vehicle, the control of one of the display panels to guide the driver of the vehicle comprising steps consisting of: acquiring by the associated camera images of the viewing area; detecting a vehicle in the images acquired by a processing unit associated with the camera; determining, by the processing unit, an identifier of the vehicle detected in the acquired images; and controlling the display panel to display guidance information linked to the identifier of the acquired vehicle, as long as the detected vehicle identifier is present in the images provided by the camera.

[0011] This avoids having to transmit to the central unit images provided by the cameras associated with a display panel, only the detected vehicle identifiers being transmitted to the central unit. The volume of data transmitted between the cameras and the central unit is thus considerably reduced. The processing load of the central unit is also reduced. It is also ensured that the displayed information will not be seen by a driver of another vehicle.

[0012] According to one embodiment, the method comprises steps consisting of: transmitting by the processing unit to the central unit, the identifier of the detected vehicle, receiving by the processing unit from the central unit, information to be displayed in relation to the identifier of the detected vehicle, the display panel being controlled by the processing unit.

[0013] Thus, it is possible to avoid having to transmit images to be displayed by the central unit to the display panels, the images to be displayed being generated as close as possible to each display panel by the processing unit of the camera associated with the display panel.

[0014] According to one embodiment, the industrial site comprises a removable barrier for entry and / or exit from the industrial site, the removable barrier being associated with a camera aimed to detect a vehicle in an approach zone of the removable barrier, the method further comprising steps consisting of: acquiring images of the approach zone by the associated camera; detecting in the acquired images a vehicle in the approach zone; determining an identifier of the vehicle detected in the acquired images; and controlling the opening of the removable barrier if the identifier of the vehicle is in the database.

[0015] Thus, it is avoided to have to transmit to the central unit images provided by the cameras associated with a removable barrier, only the detected vehicle identifiers being transmitted to the central unit. The volume of data transmitted between the cameras and the central unit is thus considerably reduced. The processing load of the central unit is also reduced.

[0016] According to one embodiment, the method comprises displaying the vehicle identifier on each display panel visible to the driver of the vehicle and displaying guidance information intended for the driver of the vehicle.

[0017] In this way, the driver of the vehicle can determine that the information displayed in association with the vehicle identifier are intended for it.

[0018] Embodiments may also relate to a system for guiding a vehicle on an industrial site, the system comprising: cameras, each camera being configured to acquire an identifier of a vehicle present in the images provided by the camera, display panels installed on the site to guide vehicle drivers to destination points on the industrial site, an end-of-operation input terminal, and a central unit connected to the display panels, the cameras and the terminal, and having access to a database storing operation data to be executed by vehicles going to the site, the system being configured to implement the method previously defined.

[0019] According to one embodiment, the system comprises processing units each connected to one of the cameras and to a display panel associated with the camera among the display panels, each processing unit being configured to: receive from the central unit guidance information to be displayed in association with a vehicle identifier, detect in images provided by the camera a vehicle identifier, control the display panel associated with the camera to display the received guidance information corresponding to the detected vehicle identifier, as long as the detected vehicle identifier is present in the images provided by the camera.

[0020] Thus, it is avoided to have to transmit to the central unit images provided by the cameras associated with a display panel, only the detected vehicle identifiers being transmitted to the central unit. The volume of data transmitted between the cameras and the central unit is thus considerably reduced. The processing load of the central unit is also reduced. It is also ensured that the displayed information will not be seen by a driver of another vehicle.

[0021] According to one embodiment, one of the display panels comprises a motorized device for rotating the panel in order to orient it towards a road junction to be indicated to the driver of the vehicle, the display panel being configured to receive data comprising an angular position to be reached by the display panel and to control the motorized device to orient the display panel according to the received angular position.

[0022] In this way, the direction to be followed by the driver of the vehicle viewing the display panel is clearly indicated, without increasing the amount of information displayed. The risk of vehicle guidance errors is thus reduced.

[0023] According to one embodiment, each camera and / or each display panel is powered by a battery coupled to a photovoltaic panel.

[0024] This avoids the need to install power cables to supply the cameras and display panels.

[0025] According to one embodiment, the panels, the cameras and the central unit are connected to each other by wireless links.

[0026] This avoids the need to install data transmission cables to connect the cameras and display panels to the central unit.

[0027] According to one embodiment, the display panels comprise directional display panels installed on site at traffic lane junctions, and location signage panels installed near parking points.

[0028] In this way, vehicle drivers can be guided precisely throughout their journey on the industrial site. Brief description of the figures

[0029] The present invention will be better understood with the aid of the following description of exemplary embodiments with reference to the appended figures, in which identical reference signs correspond to structurally and / or functionally identical or similar elements.

[0030] [Fig-1] Figure 1 is a schematic view of a plan of an industrial site,

[0031] [Fig.2] Figure 2 schematically represents a vehicle guidance system on the industrial site, according to one embodiment,

[0032] [Fig.3] Figure 3 schematically represents steps of a guidance method, according to one embodiment. Detailed description

[0033] Figure 1 shows an example of an industrial site that can be equipped with a vehicle guidance system according to one embodiment. The industrial site comprises an entrance IN, possibly a different exit EX and traffic lanes between the entrance and the exit. The site also comprises destination points DC1, DC2, ..., DC9 where vehicles entering the site must perform an operation, such as a goods loading and / or unloading operation, or a maintenance operation. The entrance IN and the exit EX can be equipped with removable barriers B1, B2.

[0034] According to one embodiment, the guidance system comprises display panels PI, P2, ..., P5, PI 1, ..., P20 provided for displaying guidance information intended for drivers of vehicles circulating on the site. The display panels may comprise direction display panels P1-P5 indicating a direction, for example installed at each junction of traffic lanes, and location signaling display panels PI 1-P19, positioned near the destination points DC1-DC9.

[0035] Figure 2 represents a vehicle guidance system, according to a mode of realization lization. The guidance system can be installed on an industrial site such as the site of Figure 1. According to one embodiment, the guidance system comprises a central processing unit SRV connected to terminals T1, T2, T3, to one or more removable barriers Bl, ..., Br installed at the possible entrances and exits of the site, to display panels PI, ..., Pn, as well as to cameras Cl, C2, ..., Cp. The terminals T1-T3 can be connected to the central unit SRV by a wired or wireless network. The central unit SRV can be a server. The terminals T1-T3 can be of the personal computer type (T1) or of the smartphone type (T2, T3).

[0036] According to one embodiment, the central unit SRV is connected to an LDB database of an MSYS logistics management system. The database stores operation data such as delivery or maintenance data. The data relating to an operation in the LDB database may include in particular: a vehicle identifier, an operation identifier, the spoken language of the driver of the vehicle, a planned time slot of the operation, data describing the operation such as the type and quantity of goods to be loaded or unloaded, or the maintenance operation to be carried out, a destination point on the site, such as for example a loading / unloading bay number, or a building entrance number,

[0037] According to one embodiment, each of the barriers Bl-Br installed at the entrances or exits of the site are associated with one or more of the cameras Cl-Cp placed to capture the license plate of each vehicle arriving at the entrance and / or exit of the site.

[0038] According to one embodiment, the cameras Cl-Cp are each associated with an image processing unit IPU configured to detect and identify in the images provided by the associated camera a vehicle identifier, such as for example the registration number appearing on each vehicle registration plate detected in the images.

[0039] According to one embodiment, each camera Cl-Cp and each display panel Pl-Pn are powered by a battery coupled to a photovoltaic panel. Furthermore, the connections between the panels Pl-Pn, the cameras Cl-Cp and the central unit SRV are made by wireless links, for example via a WiFi® network. In this way, the system does not require the installation of long wired links.

[0040] Figure 3 shows steps SOI to S19 of a guidance method executed by the central unit SRV, according to one embodiment. In step SOI, images of an IDV identifier of a vehicle are acquired by a camera Cl-Cp installed at an entrance barrier B1 of the industrial site. In step S02, the central unit SRV receives the acquired images, extracts a vehicle identifier and searches the database LDB for operation data of an active operation linked to the detected IDV identifier. If operation data linked to the vehicle identifier IDV are found in the database, the central unit SRV executes steps S03 to S06, otherwise it executes steps S07 and S08. The operation may be for example an operation of loading or unloading goods.

[0041] Optionally, an operation identifier OF such as a delivery number appearing on a purchase order in the hands of the driver of the vehicle can be acquired in step S03, and verified against the data relating to the operation LDB[IDV] appearing in the database LDB (step S04). If the operation identifier LDB[IDV].OF stored in the database LDB is not linked to the identifier IDV of the vehicle, the vehicle identifier associated with the operation identifier OF in the database LDB is updated with the vehicle identifier IDV acquired, in step S05. The acquisition of the operation identifier OF can be carried out using one of the terminals T1-T3, for example a terminal T1 installed in a reception station near the entrance of the site or a wireless terminal T2, T3 carried by an operator present at the entrance of the site. In step S06, it is determined whether the current time CT is located in the time slot LDB[OF].Expected TR of the OF operation, provided in the LDB[OF] operation data stored in the LDB database.

[0042] Step S07 is executed if the vehicle identifier IDV acquired in step SOI does not appear in the database LDB or if this identifier could not be acquired. This acquisition failure may occur for example when weather conditions prevent the camera from acquiring the vehicle's license plate or when the license plate is masked by another vehicle. In step S07, the operation identifier OF recorded on the order form in the hands of the driver of the vehicle is acquired, and searched for in the database LDB (step S08). If the acquired operation identifier OF is in the database LDB, the central unit SRV executes steps S09 and S06. In step S09, the vehicle identifier IDV acquired in step SOI or provided by the driver is stored in the database in association with the operation identifier OF found.If in step S08 the acquired operation identifier OF is not in the database LDB, steps S10 and SU are executed by the central unit SRV. In step S10, the central unit SRV stores in the database LDB the vehicle identifier IDV and the acquired operation identifier OF.

[0043] Following step S10 and following step S06 when the vehicle is not present in the scheduled time slot of the operation, the central unit SRV searches in step S11 for a free destination point DC1-DC9 on the site, such as a loading / unloading dock, and which is compatible with the operation. If no destination point DC1-DC9 is available, the central unit SRV executes step S12 where it controls the display panels Pl-Pn of the site to guide the vehicle to a waiting area WZ (figure 1), until the vehicle is detected on the waiting area by one of the cameras Cl-Cp. When a destination point DC1-DC9 is free, steps S14 to S19 are executed.

[0044] Following step S06, when the vehicle is present in the scheduled time slot of the operation, the central unit SRV executes steps S13 to S19. In step S13, the central unit SRV searches the database LDB for a destination point LDB[OF].DC linked to the operation identifier. Following step S13 and following step SU, when a suitable destination point DC1-DC9 is available, the central unit SRV controls (step S14) the display panels Pl-Pn of the site to guide the vehicle to the available destination point DC1-DC9.

[0045] Thus, if a vehicle recorded in the LDB database arrives early or late compared to the planned time slot, it may not wait to carry out the planned operation if a DC1-DC9 destination point compatible with the planned operation is available.

[0046] In step S15, the operation is processed at the destination point DC1-DC9, this operation being for example a vehicle loading or unloading operation, or a maintenance operation. In step S16, the central unit SRV waits for a validation of the end of the operation, for example by an operator using one of the terminals T1-T3. Upon receipt of the validation of the end of the operation, the central unit SRV controls the display panels Pl-Pn of the site to guide the vehicle towards an exit of the site. In step S18, the central unit SRV waits for the acquisition of the vehicle identifier IDV by a camera Cl-Cp at the exit EX of the site. When the vehicle identifier IDV is acquired at the exit of the site, the central unit SRV can store in the database LDB the end time of the operation in association with the vehicle identifier IDV.

[0047] Thus, when the identifier of a vehicle IDV is recorded in the LDB database before the vehicle arrives at the site, the vehicle driver does not need to get off the vehicle and queue at the reception station if steps S03 and S04 are omitted. He is directed directly to the appropriate destination point. Furthermore, if the vehicle arrives at the site within the time slot provided in the LDB database, the vehicle driver is assured of being able to start the planned operation without waiting, and of being able to leave the site without queuing at the reception station.

[0048] Provision may be made to install a display panel at the entrance IN of the site to display in particular the identification number of the vehicle detected at the entrance barrier and the operation identifier linked to the detected vehicle identifier, if these identifiers appear in the database. The driver can thus verify that the operation identifier displayed corresponds to that of his order form. If this is the case, he does not need to provide the operation identifier of his order form at the reception station.

[0049] During the vehicle guidance steps S12, S14, S17, the central unit SRV can control the display panels Pl-Pn to display the vehicle identifier IDV to be guided and direction arrows or indications such as "Waiting area", "Platform" or "Exit" at the locations where the vehicle is to be driven. The indications can be displayed in the language stored in the database LDB in association with the vehicle identifier IDV or the operation identifier OF.

[0050] According to one embodiment, each display panel of at least a portion of the panels Pl-Pn is associated with a camera Cl-Cp to capture the license plate of each vehicle located in an area from which the display panel is visible to the driver of the vehicle. For example, only the direction signs P1-P5 can be associated with a camera Cl-Cp.

[0051] The image processing unit IPU of each camera associated with a display panel Pl-Pn can further recognize the IDV identifier of the vehicle from the captured license plate and transmit this identifier to the central unit SRV. The central unit SRV can then be configured to transmit to the display panel Pl-Pn associated with the camera Cl-CP, the information to be displayed for the driver of the vehicle corresponding to the recognized IDV vehicle identifier. The IDV vehicle identifier can also be displayed by the display panel Pl-Pn. The processing unit IPU associated with the camera can then detect that the vehicle has left the observation zone of the display panel, and inform the central unit SRV thereof. The central unit SRV can then control the display panel Pl-Pn to erase the information that was displayed.In this way, many vehicles can be guided simultaneously with the assurance that the information displayed by a display panel is seen by the driver for whom it is intended.

[0052] According to another embodiment, part of the processing carried out by the central unit SRV can be deported to the processing units IPU of the cameras Cl-Cp. Thus, the processing unit IPU of each camera Cl-Cp can receive from the central unit SRV information to be displayed in association with a vehicle IDV identifier. Depending on the detections of vehicle identifiers, the processing unit IPU of the camera Cl-Cp can control the associated display panel Pl-Pn to display the information relating to the detected vehicle IDV identifier, as long as this identifier is present in the images acquired by the camera. The Pl-Pn display panels associated with a Cl-Cp camera can then be directly connected to the IPU processing unit of the associated camera.

[0053] According to one embodiment, at least a portion of the direction display panels P1-P5 comprises a motorized device for rotating the panel in order to orient it towards a traffic junction to be indicated to the driver of the vehicle. The data transmitted to such a display panel therefore also comprises an angular position to be reached by the display panel. The display panel is configured to receive, with the data to be displayed, an angular position to be reached by the display panel, and to control the motorized device to orient the display panel according to the received angular position.

[0054] The Pl-Pn display panels can also be fixed and display animated images or holographic images, in particular to indicate a direction to follow.

[0055] According to one embodiment, each parking space in the waiting area WZ is associated with a display panel P19, P20 to signal to the driver of the vehicle parked at the parking space when he can reach the destination point indicated and towards which he is guided using the display panels Pl-Pn.

[0056] It will be clear to those skilled in the art that the present invention is susceptible to various variant embodiments and various applications. In particular, the invention is not limited to the control of a time slot, nor to the control of the availability of a destination point. Indeed, the guidance system can simply be designed to guide the drivers of the vehicles during their movements on the industrial site.

[0057] Furthermore, the processing of the images provided by the cameras can be carried out by the central unit, in particular if only a small number of cameras are installed on the site.

[0058] Furthermore, the images displayed by the display panels can be generated and transmitted by the central unit.

[0059] It is also not necessary for the access barriers to the industrial site to be controlled by the central unit. Indeed, it may be decided, in particular for safety reasons, that the control of the barriers be left under the control of a human operator.

[0060] It is also not necessary to systematically display on each display panel the identifier of the vehicle present in the viewing area of ​​the panel. Indeed, this arrangement may only be necessary if many vehicles are circulating at the same time on the industrial site.

Claims

Claims

1. 1. A method for guiding a vehicle on an industrial site, the method comprising steps of: acquiring, using a camera (Cl-Cp), an identifier (IDV) of a vehicle at the entrance (IN) of the industrial site; searching, by a central unit, in a database (LDB) for operation data relating to the identifier of the vehicle; determining, by the central unit, a destination point (DC) on the industrial site on the basis of the operation data; controlling, by the central unit, one or more display panels (Pl-Pn) installed on the site to guide the driver of the vehicle to the destination point; acquiring, by the central unit, an end-of-operation signal; and controlling, by the central unit, one or more of the display panels to guide the driver of the vehicle to an exit (EX) of the site.

2. 2. The method of claim 1, further comprising steps of: searching the database (LDB) for time slot data (TR) relating to the vehicle identifier (IDV), wherein the control of the display panels (Pl-Pn) of the site for guiding the driver of the vehicle to the destination point (DC) is performed only if a current time (CT) is located within the time slot, or if a destination point (DC) corresponding to the operation is available; and if the current time is not located within the time slot and or if a destination point (DC) corresponding to the operation is not available, controlling one or more of the display panels to guide the driver of the vehicle to a waiting area (WZ).

3. 3. Method according to claim 1 or 2, in which each display panel (Pl-Pn) is associated with a camera (Cl-Cp) aimed to detect a vehicle in a viewing area of ​​the display panel by the driver of the vehicle, the control of one of the display panels to guide the vehicle driver comprising steps consisting of: acquiring by the associated camera images of the viewing area; detecting a vehicle in the acquired images by a processing unit (IPU) associated with the camera; determining, by the processing unit, an identifier (IDV) of the vehicle detected in the acquired images; and controlling the display panel to display guidance information linked to the acquired vehicle identifier, as long as the detected vehicle identifier is present in the images provided by the camera.

4. 4. Method according to claim 3, comprising steps consisting of: transmitting by the processing unit (IPU) to the central unit (SRV), the identifier (IDV) of the detected vehicle, receiving by the processing unit (IPU) from the central unit (SRV), information to be displayed in relation to the identifier (IDV) of the detected vehicle, the display panel being controlled by the processing unit (IPU).

5. 5. Method according to one of claims 1 to 4, in which the industrial site comprises a removable barrier (Bl-Br) for entry and / or exit from the industrial site, the removable barrier being associated with a camera (Cl-Cp) aimed to detect a vehicle in an approach zone of the removable barrier, the method further comprising steps consisting of: acquiring by the associated camera images of the approach zone; detecting in the acquired images a vehicle in the approach zone; determining an identifier (IDV) of the vehicle detected in the acquired images; and controlling the opening of the removable barrier if the identifier of the vehicle is in the database (LDB).

6. 6. Method according to one of claims 1 to 5, comprising displaying the identifier (IDV) of the vehicle on each display panel (Pl-Pn) visible to the driver of the vehicle and displaying guidance information intended for the driver of the vehicle.

7. 7. System for guiding a vehicle on an industrial site, the system comprising: cameras (Cl-Cp), each camera being configured to acquire an identifier (IDV) of a vehicle present in the images provided by the camera, display panels (Pl-Pn) installed on the site to guide vehicle drivers to destination points (DC1-DC9) on the industrial site, a terminal (T1-T3) for entering the end of operation, and a central unit (SRV) connected to the display panels, to the cameras and to the terminal, and having access to a database (LDB) storing operation data to be executed by vehicles going to the site, the system being configured to implement the method according to one of claims 1 to 6.

8. 8. System according to claim 7, comprising processing units (IPU) each connected to one of the cameras (Cl-Cp) and to a display panel associated with the camera among the display panels (Pl-Pn), each processing unit being configured to: receive from the central unit (SRV) guidance information to be displayed in association with a vehicle identifier (IDV), detect in images provided by the camera a vehicle identifier, control the display panel associated with the camera to display the received guidance information corresponding to the detected vehicle identifier, as long as the detected vehicle identifier is present in the images provided by the camera.

9. 9. System according to claim 7 or 8, wherein one of the display panels (P1-P5) comprises a motorized device for rotating the panel in order to orient it towards a road junction to be indicated to the driver of the vehicle, the display panel being configured to receive data comprising an angular position to be reached by the display panel and to control the motorized device to orient the display panel according to the received angular position.

10. 10. System according to one of claims 7 to 9, in which each camera (Cl-Cp) and / or each display panel (Pl-Pn) is powered by a battery coupled to a photovoltaic panel.

11. 11. System according to one of claims 7 to 10, in which the panels (Pl-Pn), the cameras (Cl-Cp) and the central unit (SRV) are connected to each other by wireless links.

12. 12. A system according to any one of claims 7 to 11, wherein the display panels (Pl-Pn) comprise direction display panels (P1-P5) installed on site at traffic lane junctions, and location signage panels (P11-P20) installed near parking points (DC1-DC8, WZ).

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