CN114301110A - Robot battery power calibration method and device, electronic equipment and storage medium - Google Patents

Abstract

The present application relates to a method, device, electronic device and storage medium for calibrating battery power of a robot. The method includes: performing a battery power calibration task, and controlling the robot to go to a charging device; when the robot enters the charging range of the charging device, first charging the battery of the robot; when the first charging satisfies a preset condition When the charging stop signal is sent, the robot is controlled to enter the discharge state until the discharge is turned off, and the robot enters the power-off state, and the preset condition is used to control to stop receiving the charging of the battery from the charging device; The second charging of the battery by the charging device is accepted, and when the second charging reaches a second specified power, a charging stop signal is sent to complete the battery power calibration task. By adopting the method, the battery power of the robot can be accurately and timely calibrated, and the occurrence of sudden power failure can be reduced.

Description

Robot battery level calibration method, device, electronic device and storage medium

technical field

The present application relates to the technical field of battery power calibration, and in particular, to a method, device, electronic device and storage medium for calibrating battery power of a robot.

Background technique

With the development of robotics, orbital inspection robotics has emerged. And robots often use batteries (such as lithium batteries) as the power source, but after the batteries are used for a long time, the calculation of the battery capacity will produce errors, and this error will increase with time. In some cases, the robot may suddenly lose power due to inaccurate battery capacity calculation.

Therefore, a battery power calibration technology is urgently needed to calibrate the battery to ensure the stability of the power supply of the robot.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a method, an apparatus, an electronic device and a storage medium for calibrating the battery power of a robot, aiming at the above technical problems.

According to a first aspect of the embodiments of the present disclosure, there is provided a method for calibrating battery power of a robot, the method comprising:

Perform battery level calibration tasks and control the robot to go to the charging device;

When the robot enters the charging range of the charging device, first charging the battery of the robot;

When the first charging satisfies a preset condition, a stop charging signal is sent, and the robot is controlled to enter a discharging state until it is turned off after discharge and enters a power-off state, and the preset condition is used to control to stop receiving the battery from the charging device. charging;

In the shutdown state, the second charging of the battery by the charging device is accepted, and when the second charging reaches a second specified power, a charging stop signal is sent to complete the battery power calibration task.

According to the first aspect of the embodiments of the present disclosure, after the battery level calibration task is completed, the method further includes:

Update the calibration completion time.

According to the first aspect of the embodiments of the present disclosure, before the performing the battery level calibration task, the method further includes:

Get the completion time of the last battery level calibration task;

Calculate the interval length between the current system time and the completion time of the last battery level calibration task;

The performing the battery level calibration task includes: when the interval duration exceeds the preset interval duration, performing the battery level calibration task;

If the completion time of the last battery power calibration task is not obtained, the factory time of the robot is used as the completion time of the last battery power calibration task.

According to the first aspect of the embodiment of the present disclosure, when the robot enters the charging range of the charging device, the first charging of the battery of the robot includes:

Control the robot to go to the charging device and confirm whether the charging is successful;

If the charging is unsuccessful, control the robot to drive away from the charging device to a preset distance, and then go to the charging device until it is determined that the charging is successful.

According to the first aspect of the embodiments of the present disclosure, the method further includes:

During the execution of the battery level calibration task, a job task with a lower priority than the performing battery level calibration task is not executed.

According to the first aspect of the embodiments of the present disclosure, the charging device is a wireless charging device.

According to a second aspect of the embodiments of the present disclosure, a device for calibrating battery power of a robot is provided, including:

The calibration entry module is used to perform battery power calibration tasks and control the robot to go to the charging device;

a charging entry module for first charging the battery of the robot when the robot enters the charging range of the charging device;

The first charging module is used to send a stop charging signal when the first charging satisfies a preset condition, and control the robot to enter a discharge state until the discharge is turned off and enter a shutdown state, and the preset condition is used to control to stop receiving charging the battery by the charging device;

The second charging module is configured to accept the second charging of the battery by the charging device in the shutdown state, and when the second charging reaches a second specified power, send a charging stop signal to complete the battery power calibration Task.

According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, comprising a processor and a memory for storing instructions executable by the processor, the processor being configured to execute the instructions, so as to implement the above-mentioned first Instructions for a method of battery level calibration of a robot as described in the aspect.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by the processor, implements the method for calibrating the battery level of a robot according to the above-mentioned first aspect .

According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer program product, the product including instructions, when the instructions are executed, implementing the method for calibrating the battery level of a robot as described in the first aspect above.

The technical solutions provided by the embodiments of the present disclosure bring at least the following beneficial effects:

The solution of the embodiments provided by the present disclosure, through the battery power calibration task, regularly discharges the battery of the robot until it is turned off, recharges and restarts, so that the battery power of the robot can be more accurately calibrated, so that the calculation of the battery capacity can be corrected in time to avoid It solves the problem of sudden power failure of the robot due to the increase of the error of the battery capacity over time.

Description of drawings

FIG. 1 is an application environment diagram of a method for calibrating battery power of a robot in one embodiment.

FIG. 2 is a schematic flowchart of a method for calibrating battery power of a robot in one embodiment.

FIG. 3 is a schematic flowchart of updating the calibration completion time of a method for calibrating battery power of a robot in one embodiment.

FIG. 4 is a schematic flowchart of steps before performing a battery power calibration task of a method for calibrating battery power of a robot in one embodiment.

FIG. 5 is a schematic flowchart of the first charging of a method for calibrating battery power of a robot in one embodiment.

FIG. 6 is a schematic flowchart of judging whether it is necessary to switch to a battery level calibration task in a daily operation scenario of a robot in another embodiment.

FIG. 7 is a schematic flowchart of a robot performing a battery level calibration task scenario.

FIG. 8 is a block diagram of an apparatus for calibrating battery power of a robot in one embodiment.

FIG. 9 is a structural block diagram of an electronic device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The method for calibrating the battery power of the robot provided by the present application can be applied to the application environment shown in FIG. 1 . The controller 110 controls the robot 120 to perform a battery level calibration task. The robot 120 receives the control instruction of the controller and goes to the charging device 130 for wireless charging. The data storage system may store data that the controller 110 needs to process. The data storage system can be integrated on the controller 110, can be integrated on the robot 120, or can be placed on the cloud or other network servers. The controller 110 may be a processing unit separate from the hardware of the robot 120, or may be a processing unit integrated in the robot.

In one embodiment, as shown in FIG. 2 , a method for calibrating battery power of a robot is provided, and the method is applied to FIG. 1 as an example for description, including the following steps:

S210, perform a battery power calibration task, and control the robot to go to the charging device.

Among them, the robot can be any form of device or equipment. Includes intelligent, semi-intelligent, unintelligent, remote-controlled, non-remote-controlled, and other forms of devices that can accomplish specific tasks. For example, the robot may be an automatic food delivery robot, a sweeping robot, a self-driving car, and the like. The charging device may be a device that provides power to the robot, such as a charging pile. In addition to the charging pile, the charging device also includes other charging devices, which may include wired charging devices, wireless charging devices, etc., and may also be devices in other forms of energy supply that achieve calibration through charging and discharging.

Specifically, when the robot receives a battery power calibration task, the robot performs a movement task, including rollers, tracks or other means that can make the robot move, and approaches the charging device.

S220, when the robot enters the charging range of the charging device, perform first charging on the battery of the robot.

The charging range may be the maximum range in which the robot receives electrical energy from the charging device. The first charge is the first charge performed by the robot.

Specifically, when the robot enters the range that can accept the electric energy of the charging pile, the first charging can be performed.

S230, when the first charging satisfies a preset condition, send a stop charging signal, and control the robot to enter a discharge state until the discharge is turned off and enter a power-off state, and the preset condition is used to control to stop receiving the charging device from the charging device. charging of the battery described above.

Wherein, the preset condition may include judging whether the preset condition is satisfied according to the change of the charging current, for example, the charging current is changed from 0.1A to 5A. The preset condition may further include judging whether the preset condition is satisfied according to the change of the battery power. For example, the battery power is changed from 30% to 40%. The discharge state can be the process of the robot discharging, including discharging the battery by keeping the screen on, turning on the fan, and so on.

Specifically, the robot is charged first to ensure that the robot enters the charging range and can be charged successfully, and then discharges. After the discharge is over, it will automatically enter the shutdown state.

S240: In the shutdown state, accept the second charging of the battery by the charging device, and when the second charging reaches a second specified power level, send a charging stop signal to complete the battery power calibration task.

Among them, the second charging is the second charging performed by the robot. The second specified power can be any value from 0 to 100%, such as 30%, 50%, 70%, 100%, etc., and is usually 100% of the battery power.

In the above method for calibrating the battery power of the robot, the first charging is performed first, and then the discharging is performed, so as to realize the calibration of the battery power, and effectively avoid the situation that the robot is suddenly powered off due to the inaccurate calculation of the battery capacity.

In one embodiment, as shown in FIG. 3 , after completing the battery level calibration task, the steps further include:

S310. Update the completion time of the battery level calibration task.

The completion time of the battery power calibration task may be the time when the robot performs the battery power calibration task.

Specifically, when the battery level calibration task of the robot ends, the robot updates the time when the task is completed. The updated time can be stored in the built-in memory of the robot, can also be integrated on the controller 110, and can also be placed on the cloud or other network servers and other places where data can be stored. Before performing the next robot battery level calibration task, the stored time can be called as the last battery level calibration completion time, and whether the battery level calibration task needs to be performed is determined according to the interval between the current time and the last battery level calibration completion time.

Through this embodiment, the calibration completion time can be recorded, which provides a temporal judgment basis for subsequent judgment on whether calibration is required. It avoids that the robot has not been calibrated for a long time, and the battery power calculation error is too large, resulting in a sudden power failure.

In one embodiment, as shown in FIG. 4 , before performing the battery level calibration task, the steps further include:

S410, obtaining the completion time of the last battery level calibration task.

The acquisition of the completion time of the last battery level calibration may be the completion time of the battery level calibration task updated in step 310 .

S420: Calculate the interval time between the current system time and the completion time of the last battery level calibration task.

The interval duration may be a time difference between the completion time of the last battery level calibration task and the current system time.

Specifically, the robot obtains the current system time, and the robot obtains the completion time of the last battery level calibration task. Calculate the difference between the two times to get the interval time.

S430, the performing the battery power calibration task includes: when the interval duration exceeds a preset interval duration, executing the battery power calibration task.

The specified interval duration is a preset duration. Exceed, it can be greater than or greater than or equal to.

Specifically, the robot regularly checks the current system time and the completion time of the last execution of the battery power calibration task. If the time difference between the two exceeds a pre-specified value (such as 2 months), the battery power calibration task is executed.

S440 , if the completion time of the last battery level calibration task is not obtained, the factory time of the robot is used as the completion time of the last battery level calibration task.

The delivery time may be the time set when the robot leaves the factory.

Specifically, when the robot performs the battery power calibration task for the first time or the previous battery power calibration task has no recorded time, the factory time of the robot is taken as the completion time of the last battery power calibration task. And calculate the interval between the factory time and the current system time as the basis for judging whether to perform the battery power calibration task.

In this embodiment, by obtaining the completion time of the last battery power calibration task and calculating the time interval, as a judgment condition, it is judged whether the task of battery power calibration needs to be entered. It can ensure that the robot can still perform automatic battery level calibration even when the last battery level calibration task is completed, so as to avoid the robot being unable to perform the calibration task without the last battery level calibration.

In one embodiment, as shown in FIG. 5 , when the robot enters the charging range of the charging device, the step of first charging the battery of the robot includes:

S510, control the robot to go to the charging device, and confirm whether the charging is successful.

The charging device may be a charging device for wired charging or a charging device for wireless charging. If the charging is successful, the robot can enter the wireless charging range covered by the wireless charging device, and successfully connect to the wireless charging device to obtain electric energy.

Specifically, the robot enters the range of the charging device and accepts the charging of the charging device. When the electric energy of the charging device is successfully received, it is recognized that the charging is successful.

S520 , if the charging is unsuccessful, the robot is controlled to drive away from the charging device to a preset distance, and then go to the charging device until it is determined that the charging is successful.

Wherein, the preset distance may be a range covered by the charging device for charging. Usually a circle with the charging device as the center and the farthest charging distance as the radius, within the range of the circle is the range of charging coverage.

Through this embodiment, it can be ensured that the robot enters the charging range of the charging device and is successfully charged, thereby avoiding the failure of the battery power calibration task caused by the charging failure, and ensuring the successful charging of the robot.

In one embodiment, a method for calibrating battery power of a robot further includes:

S610 , during the execution of the battery level calibration task, do not execute a job task with a priority lower than the execution of the battery level calibration task.

Specifically, during the execution of the battery level calibration task, the robot does not perform other low-priority tasks except for higher-priority tasks, such as manual tasks.

In one embodiment, in a method for calibrating battery power of a robot, the charging device is a wireless charging device.

Fig. 6 is a flow chart of judging whether it is necessary to switch to the battery power calibration task in the daily operation scenario of the robot.

FIG. 7 is a flow chart of a robot performing a battery level calibration task scenario.

It should be understood that although the steps in the flowcharts of FIGS. 1-7 are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 1-FIG. 7 may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages within the other steps.

In one embodiment, as shown in FIG. 8, a robot battery level calibration device 800 is provided, including: a calibration entry module 810, a charging entry module 820, a first charging module 830 and a second charging module 840, wherein:

The calibration enters the module 810, which is used to perform the battery power calibration task and control the robot to go to the charging device;

a charging entry module 820, configured to perform a first charge on the battery of the robot when the robot enters the charging range of the charging device;

The first charging module 830 is used to send a stop charging signal when the first charging meets a preset condition, and control the robot to enter a discharge state until the discharge is turned off and enter a power-off state, and the preset condition is used to control to stop receiving the charging of the battery by the charging device;

The second charging module 840 is configured to accept the second charging of the battery by the charging device in the shutdown state, and when the second charging reaches a second specified power level, send a charging stop signal to complete the battery power level calibration task.

For the specific limitation of a robot battery power calibration device, please refer to the above definition of a robot battery power calibration method, which will not be repeated here. Each module in the above-mentioned device for calibrating battery power of a robot can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, an electronic device 900 is provided, the electronic device may be a computer, a server, a messaging device, a tablet device, etc., and its internal structure diagram may be as shown in FIG. 9 . The electronic device may include one or more of the following components: processing component 910, memory 920, power supply component 930, multimedia component 940, audio component 950, input/output (I/O) interface 960, sensor component 970, and communication component 980 .

The processing component 910 generally controls the overall operations of the electronic device 900, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 910 may include one or more processors 990 to execute instructions to perform all or some of the steps of the methods described above. Additionally, processing component 910 may include one or more modules that facilitate interaction between processing component 910 and other components. For example, processing component 910 may include a multimedia module to facilitate interaction between multimedia component 940 and processing component 910.

The memory 920 is configured to store various types of data to support operations at the electronic device 900 . Examples of such data include instructions for any application or method operating on electronic device 900, contact data, phonebook data, messages, pictures, videos, and the like. Memory 920 may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk, optical disk or graphene memory.

Power supply assembly 930 provides power to various components of electronic device 900 . Power supply components 930 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 900 .

The multimedia component 940 includes a screen that provides an output interface between the electronic device 900 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 940 includes a front-facing camera and/or a rear-facing camera. When the electronic device 900 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have a focal length and optical zoom capability.

Audio component 950 is configured to output and/or input audio signals. For example, the audio component 950 includes a microphone (MIC) that is configured to receive external audio signals when the electronic device 900 is in operating modes, such as call mode, recording mode, and voice recognition mode. The received audio signal may be further stored in memory 920 or transmitted via communication component 980 . In some embodiments, the audio component 950 also includes a speaker for outputting audio signals.

The I/O interface 960 provides an interface between the processing component 910 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.

Sensor assembly 970 includes one or more sensors for providing various aspects of status assessment for electronic device 900 . For example, the sensor assembly 970 can detect the open/closed state of the electronic device 900, the relative positioning of the components, such as the display and keypad of the electronic device 900, the sensor assembly 970 can also detect the electronic device 900 or the electronic device 900 components The position of the device changes, the presence or absence of user contact with the electronic device 900 , the device Z00 orientation or acceleration/deceleration, and the temperature of the electronic device 900 changes. Sensor assembly 970 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 970 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 970 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 980 is configured to facilitate wired or wireless communication between electronic device 900 and other devices. Electronic device 900 may access wireless networks based on communication standards, such as WiFi, carrier networks (eg, 2G, 3G, 4G, or 5G), or a combination thereof. In one exemplary embodiment, the communication component 980 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 980 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, electronic device 900 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmed gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation is used to perform the above method.

Those skilled in the art can understand that the structure shown in FIG. 9 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the foregoing method embodiments are implemented.

In one embodiment, a computer program product is provided, including a computer program, which implements the steps in each of the foregoing method embodiments when the computer program is executed by a processor.

Each embodiment in this specification is described in a progressive manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the hardware+program embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the partial description of the method embodiment.

It should be noted that the descriptions of the above-mentioned apparatuses, electronic devices, computer-readable storage media, computer program products, etc. according to the method embodiments may also include other implementation manners. I won't go into details.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common general knowledge or techniques in the technical field not disclosed by this disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the claims.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A robot battery power calibration method, the method comprising:

executing a battery electric quantity calibration task, and controlling the robot to move to the charging device;

performing a first charging of a battery of a robot when the robot enters a charging range of a charging device;

when the first charging meets a preset condition, sending a charging stopping signal, controlling the robot to enter a discharging state until discharging is shut down, and entering a shutdown state, wherein the preset condition is used for controlling to stop receiving the charging of the charging device to the battery;

and in the shutdown state, receiving second charging of the battery by the charging device, and sending a charging stopping signal to finish the task of calibrating the electric quantity of the battery when the second charging reaches a second specified electric quantity.

2. The method of claim 1, further comprising, after completing a battery level calibration task:

and updating the completion time of the battery electric quantity calibration task.

3. The method of claim 2, further comprising, prior to said performing a battery level calibration task:

acquiring the completion time of the last battery electric quantity calibration task;

calculating the interval duration of the current system time and the completion time of the last battery electric quantity calibration task;

the performing of the battery power calibration task includes: when the interval duration exceeds a preset interval duration, executing a battery power calibration task;

and if the completion time of the last battery electric quantity calibration task is not obtained, taking the factory leaving time of the robot as the completion time of the last battery electric quantity calibration task.

4. The method of claim 1, wherein the step of first charging a battery of the robot if the robot enters a charging range of a charging device comprises:

controlling the robot to go to a charging device and confirming whether charging is successful;

and if the charging is not successful, controlling the robot to drive away from the charging device to a preset distance and then to move to the charging device until the charging is determined to be successful.

5. The method of claim 1, further comprising:

during the execution of the battery power calibration task, the job task with the priority lower than that of the execution of the battery power calibration task is not executed.

6. The method of claim 1, wherein the charging device is a wireless charging device.

7. A robot battery power calibration device, the device comprising:

the calibration entering module is used for executing a battery electric quantity calibration task and controlling the robot to move to the charging device;

the charging entering module is used for carrying out first charging on a battery of the robot under the condition that the robot enters a charging range of the charging device;

the first charging module is used for sending a charging stopping signal when the first charging meets a preset condition, controlling the robot to enter a discharging state until discharging and shutdown, and entering a shutdown state, wherein the preset condition is used for controlling to stop receiving the charging of the charging device to the battery;

and the second charging module is used for receiving the second charging of the battery by the charging device in the shutdown state, and sending a charging stopping signal to finish the task of calibrating the electric quantity of the battery when the second charging reaches a second specified electric quantity.

8. An electronic device, comprising:

a processor; a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the method of any one of claims 1 to 6.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 6 when executed by a processor.

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