Detection module and detection equipment
By using beam splitters and light reflectors in the detection equipment to divide the optical path of the camera into multiple paths, multi-directional detection of curved materials can be achieved, solving the problems of blind spots and cost, and improving detection accuracy and equipment deployment efficiency.
Patent Information
- Application Number
- CN202423217518.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2026-01-16
- Estimated Expiration
- 2034-12-25
AI Technical Summary
Existing testing equipment has difficulty detecting materials with curved surfaces at large angles, resulting in scanning blind spots and low detection accuracy, and increasing equipment costs.
A beam splitter is used to divide the optical path of the camera into multiple paths, which are then reflected onto the material by a light reflector. A single camera can achieve multi-directional imaging, and a trigger is used to detect the position of the material to improve accuracy, reduce the number of cameras, and lower equipment costs.
It increases the detection range, improves detection accuracy, reduces the number of cameras, facilitates the placement of other equipment components, and reduces equipment costs.
Smart Images
Figure CN223808356U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of detection, in particular to a detection module and a detection device. BACKGROUND
[0002] In the related art, a label with text content is usually attached to a material, or text is formed on the material by printing, code spraying, etc. In order to ensure the accuracy, clarity, integrity, etc. of the text, the content, form, specification, etc. of the text need to be detected.
[0003] The camera of the detection device in the related art is difficult to detect some materials with curved surfaces (for example, a bottle) at a large angle, which can form a scanning blind area, resulting in low detection accuracy of the detection device. In order to avoid forming a scanning blind area, a plurality of cameras are usually arranged along the circumference of the material, which not only affects the arrangement of other device components, but also increases the cost of the device. UTILITY MODEL CONTENT
[0004] The present application aims to at least solve one of the above technical problems in the prior art to some extent. To this end, the first aspect of the present application provides a detection module.
[0005] The second aspect of the present application also provides a detection device with the above detection module.
[0006] According to the detection module of the first aspect of the present application, the detection module comprises: a camera; a light splitting member, the light splitting member is arranged opposite to the camera, the light splitting member comprises at least two light splitting surfaces, and the at least two light splitting surfaces are used to divide the light path of the camera into at least two sub-paths; at least two light reflection members, the light reflection members are opposite to the light splitting surfaces, so as to reflect the sub-paths to the material to be detected; a trigger member, the trigger member is electrically connected with the camera, and the trigger member is used to detect the material to be detected, and the camera is triggered to take pictures in response to the trigger member.
[0007] Based on the above technical solution, the embodiments of the present application have at least the following beneficial effects: in the embodiments of the present application, the light path of the camera is divided into at least two sub-paths by the light splitting member, and the sub-paths can be reflected to the material to be detected by the light reflection member, so that a single camera can be used to take pictures in multiple directions around the material at the same time, thereby increasing the detection range of the detection device, reducing the number of cameras, facilitating the arrangement of other device components, and reducing the cost of the device. When the material to be detected is located at a predetermined relative position of the detection module, the trigger member can detect the material to be detected, thereby triggering the camera to take pictures, preventing detection errors caused by different detection positions of the same material to be detected, and improving the detection accuracy.
[0008] The detection module according to the first aspect of the present application further comprises a first housing, the camera, the light splitting member and the light reflecting member are all installed in the first housing, the first housing comprises a light transmission part, the light transmission part is used for the light reflecting member to reflect the light to the material to be detected.
[0009] The detection module according to the first aspect of the present application further comprises a light source, the light source is installed on the first housing, and the light source is used to light the material to be detected.
[0010] The detection module according to the first aspect of the present application, at least one of the light source and the light reflecting member is movably connected to the first housing.
[0011] The detection module according to the first aspect of the present application, the camera is movably connected to the first housing in up and down directions.
[0012] The detection module according to the first aspect of the present application further comprises a support, and the first housing is movably connected to the support.
[0013] The detection module according to the first aspect of the present application further comprises a first driving mechanism and a second driving mechanism, the first driving mechanism is connected with the first housing to drive the first housing to move up and down, and the second driving mechanism is connected with the first housing to drive the first housing to move forward and backward.
[0014] The first driving mechanism comprises a first transmission member, the first housing is movably connected to the first transmission member in up and down directions, the first transmission member is used to drive the first housing to move up and down by rotating itself, the second driving mechanism comprises a second transmission member, the first housing is connected with the second transmission member, the second transmission member is movably connected to the support in forward and backward directions, and the second transmission member is used to drive the first housing to move forward and backward by rotating itself.
[0015] The first driving mechanism further comprises a first adjusting hand wheel, the first adjusting hand wheel is connected with the first transmission member, the second driving mechanism further comprises a second adjusting hand wheel, and the second adjusting hand wheel is connected with the second transmission member.
[0016] The detection device according to the second aspect of the present application comprises the detection module.
[0017] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS
[0018] The application will be further described below in conjunction with the drawings and embodiments;
[0019] Figure 1 A structure schematic view of the detection module in the embodiment of the application is shown in the figure;
[0020] Figure 2 Another structure schematic view of the detection module in the embodiment of the application is shown in the figure;
[0021] Figure 3 A structure schematic view of the internal structure of the first shell in the embodiment of the application is shown in the figure;
[0022] Figure 4 A structure schematic view of the light path of the camera piece being divided into two branches by the light splitting piece, and the two branches being reflected to the material to be detected by the light reflecting piece is shown in the figure;
[0023] Figure 5 A structure schematic view of the first shell and the material to be detected in the embodiment of the application is shown in the figure;
[0024] Figure 6 Another structure schematic view of the internal structure of the first shell in the embodiment of the application is shown in the figure;
[0025] Figure 7 Still another structure schematic view of the detection module in the embodiment of the application is shown in the figure;
[0026] Figure 8 A structure schematic view of the internal structure of the first shell in the embodiment of the application is shown in the figure; Figure 7 An enlarged view of part A in the figure.
[0027] Reference signs:
[0028] Detection module 100, camera piece 1111, branch 11111, fourth connecting piece 1112, sliding block 11121, light splitting piece 112, light splitting surface 1121, light reflecting piece 1131, second connecting piece 1132, trigger piece 120, first shell 130, front wall 131, first connecting part 1311, light transmission part 1312, third connecting piece 132, sliding groove 1321, first linear light source 1411, second linear light source 1412, first connecting piece 142, vertical part 1421, horizontal part 1422, supporting piece 150, first transmission piece 1611, second gear 1612, first connecting block 1613, first adjusting hand wheel 162, second transmission rod 1631, first gear 1632, guide piece 164, second shell 170, second transmission piece 1811, second connecting block 1812, second adjusting hand wheel 182, third shell 190; material 200. DETAILED DESCRIPTION
[0029] The specific embodiments of the present application will be described in detail in this section, and the preferred embodiments of the present application are shown in the drawings, which serve to supplement the description of the text part of the specification, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the present application, but it cannot be understood as a limitation on the protection scope of the present application.
[0030] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0031] In the description of the present application, several meanings are one or more, and the meaning of multiple is two or more. Greater than, less than, more than, etc. are understood as not including the number, and above, below, etc. are understood as including the number. If the first and second are described, they are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.
[0032] In the description of the present application, unless otherwise explicitly limited, the words such as setting, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical scheme.
[0033] The technical scheme of the present application will be further described below in combination with the embodiments and drawings.
[0034] In the embodiments of the present application, the right direction of the X-axis in the drawings is the positive direction of the X-axis, and the left direction of the X-axis is the negative direction of the X-axis; the front direction of the Y-axis is the positive direction of the Y-axis, and the back direction of the Y-axis is the negative direction of the Y-axis; the upward direction of the Z-axis is the positive direction of the Z-axis, and the downward direction of the Z-axis is the negative direction of the Z-axis.
[0035] Referring to Figure 1 and Figure 2 The first aspect of the present application provides a detection module 100, which can increase the detection range, reduce the number of camera components 1111, facilitate the arrangement of other device components, and also reduce the cost of the device.
[0036] Exemplarily, referring to Figure 3 and Figure 4The detection module 100 comprises a camera 1111, a light splitting member 112, at least two light reflecting members 1131 and a trigger 120. The light splitting member 112 is arranged opposite to the camera 1111. The light splitting member 112 comprises at least two light splitting surfaces 1121. The at least two light splitting surfaces 1121 are used to divide the light path of the camera 1111 into at least two sub-paths 11111. The light reflecting member 1131 is arranged opposite to the light splitting surface 1121, and is used to reflect the sub-paths 11111 to the material 200 to be detected. The trigger 120 is electrically connected to the camera 1111. The trigger 120 is used to detect the material 200 to be detected. The camera 1111 is triggered to take pictures in response to the trigger 120.
[0037] In the embodiment, the light path of the camera 1111 is divided into at least two sub-paths 11111 by the light splitting member 112. The sub-paths 11111 are reflected to the material 200 to be detected by the light reflecting member 1131. Thus, the camera 1111 can take pictures in multiple directions simultaneously. The detection range of the detection device is increased, the number of cameras 1111 is reduced, the arrangement of other components is facilitated, and the cost of the device is reduced. When the material 200 to be detected is located at a predetermined position of the detection module 100, the trigger 120 can detect the material 200 to be detected, and thus the camera 1111 is triggered to take pictures. The detection error caused by the difference in detection positions of the same material 200 to be detected is prevented, and the detection accuracy is improved.
[0038] Optionally, the camera 1111 can be a camera. Of course, the camera 1111 can also be other devices with a picture taking function, which is not limited here.
[0039] Optionally, the material 200 to be detected can be a bottle. Of course, the material 200 to be detected can also be other products with a curved surface, which is not limited here. Optionally, the detection position of the material 200 is located in front of the detection module 100. It should be noted that the detection position of the material 200 refers to the position of the material 200 when the detection module 100 detects the material 200.
[0040] Optionally, in some embodiments, referring to Figure 3 The detection module 100 further comprises a first housing 130. The camera 1111, the light splitting member 112 and the light reflecting member 1131 are all installed in the first housing 130. The first housing 130 comprises a light transmission portion 1312. The light transmission portion 1312 is used for the light reflecting member 1131 to reflect the sub-paths 11111 to the material 200 to be detected.
[0041] Optionally, the light splitting member 112 can be a triangular prism. The triangular prism includes an opposite top corner and a bottom side, the top corner abuts the camera of the camera member 1111, and the bottom side is connected to the first shell 130. Optionally, referring to Figure 1 and Figure 3 , the first shell 130 includes a front wall 131 near the side of the material to be detected 200, and the front wall 131 includes a first connecting portion 1311, and the bottom side of the triangular prism is connected to the first connecting portion 1311. The triangular prism includes two side walls forming the top corner, and the two side walls are the light splitting surfaces 1121. That is, the light splitting member 112 can include two light splitting surfaces 1121, and the two light splitting surfaces 1121 divide the light path of the camera member 1111 into two branches 11111 (see Figure 4 ).
[0042] Optionally, the light reflecting member 1131 can be a mirror. Optionally, the detection module 100 includes two light reflecting members 1131, and the two light reflecting members 1131 are respectively arranged on the left and right sides of the triangular prism, and the two light reflecting members 1131 are respectively opposite to the two light splitting surfaces 1121 to reflect the two branches 11111 to the material to be detected 200. Optionally, the two branches 11111 corresponding to the photographing areas can be superimposed together, and the photographing area after superimposition can be greater than the range corresponding to 180° of the material to be detected 200 in the circumferential direction (see Figure 4 ).
[0043] Optionally, the light-transmitting portion 1312 is high-transparency glass. Optionally, two high-transparency glasses are arranged on the left and right sides of the first connecting portion 1311.
[0044] It can be understood that the specific number and specific installation position (including installation angle) of the light splitting surfaces 1121, the light reflecting members 1131, and the light-transmitting portion 1312 can be set according to actual needs, and are not specifically limited here.
[0045] It can be understood that the camera member 1111, the light splitting member 112, and the light reflecting member 1131 can form an optical module to detect the material 200.
[0046] Optionally, in some embodiments, the detection module 100 further includes a light source, and the light source is mounted on the first shell 130, and the light source is used to light the material to be detected 200.
[0047] Optionally, in some embodiments, at least one of the light source and the light reflecting member 1131 is movably connected to the first shell 130. When detecting different materials 200, the light angle can be adjusted by moving the light source, and the field of view of the camera can be adjusted by moving the light reflecting member 1131.
[0048] Exemplarily, the light source is a bar light source. Optionally, three bar light sources are provided, see Figure 5 The three bar light sources are a first bar light source 1411 and two second bar light sources 1412, respectively. See Figure 3 and Figure 5 The first bar light source 1411 is connected to the side of the first connecting part 1311 of the first shell 130 which is away from the triangular prism. Optionally, the detection position of the material 200 is directly opposite the first bar light source 1411. The two second bar light sources 1412 are respectively arranged on the left and right sides of the front wall 131 of the first shell 130.
[0049] Optionally, the second bar light source 1412 is rotatably connected to the first shell 130. By rotating the second bar light source 1412, the lighting angle can be adjusted to adapt to the lighting needs of materials 200 of different sizes.
[0050] Optionally, see Figure 5 The second bar light source 1412 is rotatably connected to the first shell 130 through a first connecting piece 142. Optionally, the first connecting piece 142 includes a vertical part 1421 and a horizontal part 1422, the vertical part 1421 is connected to the back surface of the second bar light source 1412, one end of the horizontal part 1422 is fixedly connected to the top end of the vertical part 1421, and the other end of the horizontal part 1422 is rotatably connected to the top of the first shell 130.
[0051] It can be understood that the specific number, specific position and specific shape of the light source can be set according to actual needs, which are not limited here.
[0052] Optionally, the trigger 120 is a sensor. Optionally, the sensor is installed on the top of the first connecting part 1311, which can detect the material 200 without affecting the lighting of the first bar light source 1411.
[0053] Optionally, the light reflecting member 1131 includes a reflecting surface and a mounting surface away from the reflecting surface, and the branch 11111 is reflected to the material 200 to be detected through the reflecting surface. See Figure 6 The mounting surface is connected with a second connecting piece 1132, and the light reflecting member 1131 is rotatably connected with the first shell 130 through the second connecting piece 1132. Optionally, the upper and lower ends of the second connecting piece 1132 are rotatably connected to the first shell 130. Optionally, the specific structure of the second connecting piece 1132 can refer to the first connecting piece 142, which will not be described here.
[0054] Optionally, in some embodiments, the camera 1111 is movably connected to the first shell 130 in the up-down direction. By moving the camera 1111 up and down, the height of the camera 1111 can be adjusted, so that the camera 1111 can be suitable for detection of different heights.
[0055] For example, referring to Figure 6 , the third connecting piece 132 is installed in the first shell 130, and a sliding groove 1321 extending in the vertical direction is formed in the third connecting piece 132. The fourth connecting piece 1112 is installed on the camera 1111, and a sliding block 11121 is arranged on the fourth connecting piece 1112. The sliding block 11121 is slidably connected to the sliding groove 1321. By sliding the sliding block 11121 up and down along the sliding groove 1321, the camera 1111 can be moved up and down.
[0056] Optionally, in some embodiments, referring to Figure 2 , the detection module 100 further comprises a support 150, and the first shell 130 is movably connected to the support 150.
[0057] Optionally, the support 150 can be a floor-mounted mounting seat. Of course, the support 150 can also be other support structures, which are not specifically limited here.
[0058] Optionally, in some embodiments, the detection module 100 further comprises a first driving mechanism and a second driving mechanism. The first driving mechanism is connected to the first shell 130 to drive the first shell 130 to move up and down. The second driving mechanism is connected to the first shell 130 to drive the first shell 130 to move forward and backward.
[0059] It can be understood that by driving the first shell 130 to move up and down through the first driving mechanism, the optical module as a whole can be moved up and down. By driving the first shell 130 to move forward and backward through the second driving mechanism, the optical module as a whole can be moved forward and backward. Thus, the relative position of the optical module relative to the material to be detected 200 can be adjusted to meet the shooting needs of different materials 200, without the need to separately move each component in the optical module and adjust the relative position, which can improve the detection efficiency.
[0060] Optionally, in some embodiments, referring to Figure 7 and Figure 8 , the first driving mechanism comprises a first transmission member 1611, and the first shell 130 is movably connected to the first transmission member 1611 in the up-down direction. The first transmission member 1611 is used to drive the first shell 130 to move up and down by rotating itself, referring to Figure 3The second driving mechanism comprises a second transmission member 1811, the first shell 130 is connected with the second transmission member 1811, the second transmission member 1811 is movably connected to the support member 150 in the front-rear direction, and the second transmission member 1811 is used to drive the first shell 130 to move in the front-rear direction by rotating itself.
[0061] Optionally, in some embodiments, the first driving mechanism further comprises a first adjusting hand wheel 162, the first adjusting hand wheel 162 is connected with the first transmission member 1611, and the second driving mechanism further comprises a second adjusting hand wheel 182, the second adjusting hand wheel 182 is connected with the second transmission member 1811.
[0062] By rotating the first adjusting hand wheel 162, the first transmission member 1611 can be driven to rotate, so that the first shell 130 can be driven to move up and down; by rotating the second adjusting hand wheel 182, the second transmission member 1811 can be driven to rotate, so that the first shell 130 can be driven to move in the front-rear direction.
[0063] Optionally, the first adjusting hand wheel 162 and the second adjusting hand wheel 182 are both arranged outside the first shell 130, so as to be operated by an operator.
[0064] Exemplarily, referring to Figure 8 The first driving mechanism further comprises a horizontally arranged second transmission rod 1631, the first adjusting hand wheel 162 is fixedly connected with one end of the second transmission rod 1631, the other end of the second transmission rod 1631 is rotatably connected to the support member 150, the second transmission rod 1631 is sleeved with a first gear 1632, and the first gear 1632 is fixedly connected with the second transmission rod 1631. The first transmission member 1611 is a first transmission rod, the first transmission member 1611 is vertically arranged, the first transmission member 1611 is provided with a second gear 1612 at one end close to the second transmission rod 1631, the second gear 1612 is perpendicularly meshingly connected with the first gear 1632, the first transmission member 1611 is sleeved with a first connecting block 1613, and the first connecting block 1613 is movable along the length direction of the first transmission member 1611, and the first shell 130 is connected with the first connecting block 1613.
[0065] By rotating the first adjusting hand wheel 162, the second transmission rod 1631 can be driven to rotate, so that the first gear 1632 can be driven to rotate, when the first gear 1632 rotates, the second gear 1612 can be driven to rotate, so that the first transmission rod can be driven to rotate, and then the connecting block can be driven to move up and down, so as to realize the up-down movement of the first shell 130. This structure arrangement can make the first adjusting hand wheel 162 parallel to the vertical plane, which is beneficial to the operator to rotate the first adjusting hand wheel 162.
[0066] Optionally, referring to Figure 2The detection module 100 also includes a second housing 170, which is disposed on one side of the first housing 130. The second housing 170 is fixedly connected to the support member 150, and the first drive mechanism is installed inside the second housing 170. Optionally, the end of the first transmission member 1611 away from the second transmission rod 1631 is rotatably connected to the second housing 170, and the end of the second transmission rod 1631 away from the first adjusting handwheel 162 is rotatably connected to the second housing 170.
[0067] Optionally, the first drive mechanism further includes a guide member 164, which is fixedly connected to the second housing 170. The first connecting block 1613 is movably connected to the guide member 164, and the guide member 164 can guide the first connecting block 1613 to move up and down. Optionally, the guide member 164 is a guide rod. Optionally, four guide rods are provided, and the four guide rods are respectively arranged on the outer periphery of the first transmission member 1611.
[0068] For example, see Figure 6 The detection module 100 also includes a third housing 190, which is installed inside the first housing 130 and is fixedly connected to the first housing 130. The second drive mechanism is installed inside the third housing 190.
[0069] Optionally, see Figure 3 The second transmission member 1811 is a third transmission rod, extending in the front-to-back direction. One end of the second transmission member 1811 passes through the third housing 190 and the first housing 130 to be fixedly connected to the second adjusting handwheel 182, and the other end of the second transmission member 1811 is rotatably connected to the third housing 190. Optionally, a second connecting block 1812 is provided around the second transmission member 1811, and the second connecting block 1812 is movable along the length of the second transmission member 1811. The second connecting block 1812 passes through the third housing 190 and the first housing 130 to be connected to the first connecting block 1613.
[0070] When the first connecting block 1613 is driven to move up and down by the first transmission member 1611, the first outer shell 130 can be driven to move up and down by the second connecting block 1812, thereby driving the entire optical module to move up and down. When the second transmission member 1811 rotates, the second transmission member 1811 can move back and forth relative to the second connecting block 1812, thereby driving the first outer shell 130 to move back and forth, and thus driving the entire optical module to move back and forth.
[0071] Other configurations and operations of the detection module 100 according to the first aspect of this application are known to those skilled in the art and will not be described in detail here.
[0072] The second aspect embodiment of the present application provides a detection device, which comprises the detection module 100 of the first aspect embodiment of the present application.
[0073] Optionally, the detection device further comprises a detection system, an electrical system and a rejector. The detection system is in communication connection with the camera to receive and process the pictures and other data taken by the camera; the electrical system is in electrical connection with each live component in the detection device; and the rejector is used to reject the material 200 product that fails the detection out of the production line.
[0074] Optionally, the detection device can be a label code spraying detection device. Of course, the detection device can also be other detection devices that need to have the function of camera scanning, which is not limited here.
[0075] Other configurations and operations of the detection device according to the second aspect embodiment of the present application are known to those skilled in the art, and will not be described in detail here.
[0076] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.
Claims
1. A detection module for the detection of a material, characterized in that The detection module comprises: a camera; a light splitting member arranged opposite to the camera, the light splitting member comprising at least two light splitting surfaces for splitting the light path of the camera into at least two sub-paths; at least two light reflecting members arranged opposite to the light splitting surfaces for reflecting the sub-paths to the material to be detected; a trigger electrically connected to the camera, the trigger being used for detecting the material to be detected, and the camera being used for taking pictures in response to the trigger.
2. The detection module of claim 1, wherein: The detection module further comprises a first housing, the camera, the light splitting member and the light reflecting members being mounted in the first housing, the first housing comprising a light-transmitting portion for allowing the light reflecting members to reflect the sub-paths to the material to be detected.
3. The detection module of claim 2, wherein: The detection module further comprises a light source mounted on the first housing, the light source being used for lighting the material to be detected.
4. The detection module of claim 3, wherein: At least one of the light source and the light reflecting members is movably connected to the first housing.
5. The detection module of claim 2, wherein: The camera is movably connected to the first housing in a vertical direction.
6. The detection module of claim 2, wherein: The detection module further comprises a support, the first housing being movably connected to the support.
7. The detection module of claim 6, wherein: The detection module further comprises a first driving mechanism and a second driving mechanism, the first driving mechanism being connected to the first housing for driving the first housing to move in the vertical direction, and the second driving mechanism being connected to the first housing for driving the first housing to move in a front-rear direction.
8. The detection module of claim 7, wherein: The first driving mechanism comprises a first transmission member, the first housing being movably connected to the first transmission member in the vertical direction, the first transmission member being used for driving the first housing to move in the vertical direction by rotating itself, and the second driving mechanism comprises a second transmission member, the first housing being connected to the second transmission member, the second transmission member being movably connected to the support in the front-rear direction, the second transmission member being used for driving the first housing to move in the front-rear direction by rotating itself.
9. The detection module of claim 8, wherein: The first driving mechanism further comprises a first adjusting hand wheel connected to the first transmission member, and the second driving mechanism further comprises a second adjusting hand wheel connected to the second transmission member.
10. A detection device, characterized by: The detection module comprises any one of the detection modules according to claims 1 to 9.