CN220509131U - Radar device and mobile robot - Google Patents

Abstract

The embodiment of the application relates to the technical field of photoelectric equipment and discloses a radar device and a mobile robot. The radar device comprises a base, a rotating seat, a detection module and a shell. The rotation seat rotates and sets up in the base, and detection module sets up in rotating the seat, and detection module has transmission passageway and receiving channel, and the shell sets up in rotating the seat, and the shell is equipped with the logical unthreaded hole, and transmission passageway and receiving channel all communicate with logical unthreaded hole. Through set up the logical unthreaded hole on the shell, emission passageway and receiving channel use same logical unthreaded hole jointly and send optical signal and receive optical signal, can make detection module can receive the optical signal that the measurement object reflection that is closer to radar device, reduce radar device short-range detection blind area.

Description

Radar device and mobile robot

Technical Field

The embodiment of the application relates to the technical field of photoelectric equipment, in particular to a radar device and a mobile robot.

Background

The radar device adopts an LED or a laser as an emission light source and adopts active distance detection by photoelectric detection technology means. The radar device mainly comprises a transmitting system, a receiving system, a wireless power supply system, a power system, a control system and the like. The light signal emitted by the emission system is diffusely reflected after passing through the measured object, part of the light signal is reflected to the receiving system, and the distance between the radar device and the measured object can be calculated by combining the light speed by acquiring the flight time from the emission of the light signal to the receiving of the light signal.

In the implementation of the embodiment of the present application, the inventors found that: in order to ensure that optical signals between transmission and reception do not interfere with each other, an existing radar device generally independently sets a transmission channel in a transmission system and a reception channel in a reception system, so as to form a double-via structure extending to a radar device housing, and the length of the transmission channel and the length of the reception channel in the structure are both longer, so that a close-range blind area of the radar device is larger.

Disclosure of Invention

The technical problem that this application embodiment mainly solves is to provide a radar device and mobile robot, can effectively solve radar device's closely blind area great problem.

The technical scheme adopted by the embodiment of the application is as follows: a radar apparatus is provided, including a base, a rotating base, a detection module, and a housing. The rotating seat is rotatably arranged on the base; the detection module is arranged on the rotating seat and is provided with a transmitting channel and a receiving channel; the shell sets up in rotating the seat, and the shell is equipped with the logical unthreaded hole, and emission passageway and receiving channel all communicate with logical unthreaded hole.

In some embodiments, the detection module includes a module support, a transmitting assembly and a receiving assembly, the module support is disposed on the rotating base, the module support is provided with the transmitting channel and the receiving channel, the module support is provided with a light-separating wall, the light-separating wall separates the transmitting channel from the receiving channel, the transmitting assembly is disposed on the transmitting channel, and the receiving module is disposed on the receiving channel.

In some embodiments, the light-blocking wall includes a straight portion and a folded portion along the direction of the emission channel toward the light-passing hole, the folded portion having a wall thickness that gradually decreases; alternatively, the wall thickness of the partition wall gradually decreases in the direction of the emission channel toward the light-passing hole.

In some embodiments, the aperture of the transmit channel is less than or equal to the aperture of the receive channel.

In some embodiments, the emission assembly includes an emission light source and an emission lens, which are sequentially disposed in the emission channel along the direction of the emission channel toward the light-passing hole; the receiving assembly comprises a sensor and a receiving lens, and the sensor and the receiving lens are sequentially arranged in the receiving channel along the direction of the receiving channel towards the light-transmitting hole.

In some embodiments, the transmit lens and the receive lens satisfy at least one of the following conditions: (1) The diameter of the receiving lens is larger than or equal to the diameter of the transmitting lens; (2) Along the direction of the emission channel towards the light-passing hole, the emission lens is closer to the light-passing hole than the receiving lens.

In some embodiments, the housing includes a body portion provided with a light-passing hole and an extension portion disposed around the light-passing hole, and the extension portion extends from the body portion to the detection module.

In some embodiments, the extending end of the extending portion is in a concave arc shape, and the end of the detecting module, facing the extending portion, is in a convex arc shape, wherein the center of the concave arc shape, the center of the convex arc shape and the rotation center of the rotation seat are arranged concentrically.

In some embodiments, the swivel mount is provided with a first guide portion and the housing is provided with a second guide portion, the first guide portion being connected to the second guide portion.

Another technical scheme adopted in the embodiment of the application is as follows: there is provided a mobile robot including the radar apparatus as described above.

The radar device comprises a base, a rotating seat, a detection module and a shell. The rotation seat rotates and sets up in the base, and detection module sets up in rotating the seat, and detection module has transmission passageway and receiving channel, and the shell sets up in rotating the seat, and the shell is equipped with the logical unthreaded hole, and transmission passageway and receiving channel all communicate with logical unthreaded hole. Through set up the logical unthreaded hole on the shell, emission passageway and receiving channel use same logical unthreaded hole jointly and send optical signal and receive optical signal, can make detection module can receive the optical signal that the measurement object reflection that is closer to radar device, reduce radar device short-range detection blind area.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

Fig. 1 is an exploded view of a radar apparatus according to an embodiment of the present application;

FIG. 2 is a schematic view of a housing in a radar apparatus according to an embodiment of the present application;

FIG. 3 is a schematic view of a radar apparatus of an embodiment of the present application;

FIG. 4 is a schematic view from a perspective taken along line A-A of FIG. 3;

FIG. 5 is a cross-sectional view of a module holder in a radar apparatus according to an embodiment of the present application;

FIG. 6 is a cross-sectional view of a prior art radar apparatus;

FIG. 7 is another schematic view from the perspective of FIG. 3 taken along line A-A;

fig. 8 is a schematic view of a radar apparatus according to another embodiment of the present application.

Detailed Description

In order to facilitate an understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," and the like as used in this specification, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items. In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.

Referring mainly to fig. 1, a radar apparatus 100 includes a base 10, a rotating base 20, a detecting module 40, and a housing 30. The rotating base 20 is disposed on the base 10, and the rotating base 20 can rotate relative to the base 10. The detection module 40 is disposed on the rotating base 20 and rotates along with the rotation of the rotating base 20, and the detection module 40 is configured to transmit an optical signal to an external measurement object and receive an optical signal reflected by the external measurement object, so as to calculate a distance between the radar apparatus 100 and the external measurement object. The shell 30 sets up in rotating seat 20 and rotates in step with rotating seat 20, and shell 30 is used for with rotating seat 20 lid closes in order to avoid detecting module 40 direct exposure on the one hand, influences radar device 100's aesthetic measure, and on the other hand can prevent debris such as external steam, dust from causing the influence to detecting module 40's performance, reduces radar device 100's measurement accuracy.

For the above-mentioned rotating base 20, please refer to fig. 1 and 4, the rotating base 20 is provided with the base 10 through the driving assembly 50, and the driving assembly 50 drives the rotating base 20 to rotate. The rotating base 20 is connected with the housing 30 to form a receiving cavity, and the detecting module 40 is located in the receiving cavity. In an embodiment, the rotating base 20 is provided with a first guiding portion 21, the first guiding portion 21 is used for being connected with the housing 30, and the first guiding portion 21 has a guiding function, so that the housing 30 and the rotating base 20 are mounted. It will be appreciated that the number of first guides 21 may be one, two or more, and that two or more first guides 21 are provided around the edge of the rotatable base 20.

For the above-mentioned housing 30, please refer to fig. 2 mainly, the housing 30 is disposed on the rotating base 20 and rotates synchronously with the rotating base 20, it will be appreciated that the housing 30 may be connected with the rotating base 20 by any connection manner such as screwing, clamping, bonding, etc., and the connection manner of the two is not limited in this application.

The housing 30 includes a main body 31 and an extension portion 32, the extension portion 32 is disposed in the main body 31, the optical signal emitted by the detection module 40 passes through the extension portion 32 and then passes through the main body 31, and the optical signal reflected by the external object is received by the detection module 40 through the extension portion 32, i.e. the extension portion 32 forms a light channel of the optical signal.

Referring to fig. 1, the main body 31 has a light-transmitting hole 311, the light-transmitting hole 311 penetrates through the wall thickness of the main body 31, and the light-transmitting hole 311 is used for allowing light signals to pass through to enter or exit the accommodating cavity. The extension portion 32 is disposed around the edge of the light-passing hole 311, and the extension portion 32 extends from the main body portion 31 toward the center of the accommodating cavity to the detection module 40.

The extension portion 32 includes a radial wall 321 and a vertical wall 322, and the radial wall 321 is disposed around the light passing hole 311 and extends toward the center of the main body portion 31. The vertical wall 322 is disposed at an extended end of the radial wall 321, and the vertical wall 322 is provided with an opening for passing the optical signal therethrough. The radial wall 321 and the vertical wall 322 are used for preventing moisture or dust entering from the light-passing hole 311 from entering the accommodating cavity, and affecting the working performance of the detection module 40.

In an embodiment, the extending end of the extending portion 32 and the end of the detecting module 40 facing the extending portion 32 may be connected in a straight manner or in an arc manner, so that the detecting module 40 can communicate with the extending portion 32 better, and the quality of transmitting and receiving the optical signal is improved.

In an embodiment, the radar apparatus 100 may further include a sealing member (not shown). The sealing member is disposed between the extending end of the extending portion 32 and the end of the detecting module 40 facing the extending portion 32, so as to seal the gap between the extending portion 32 and the detecting module 40, and further prevent the impurities from entering the accommodating cavity from the gap between the extending end of the extending portion 32 and the detecting module 40.

In an embodiment, referring to fig. 2 and 4, the main body 31 is further provided with a second guiding portion 312. The second guiding portion 312 is configured to be cooperatively connected with the first guiding portion 21 of the rotating base 20, where the first guiding portion 21 and the second guiding portion 312 provide guiding function, so that the housing 30 can be quickly mounted on the rotating base 20. It can be understood that, when the first guiding portion 21 is a guiding boss, the second guiding portion 312 is a guiding groove correspondingly, and the guiding boss is in plug connection with the guiding groove; when the first guiding portion 21 is a guiding groove, the second guiding portion 312 is correspondingly a guiding boss, and the guiding boss is in plug connection with the guiding groove. Of course, the first guide portion 21 and the second guide portion 312 may be other guide structures, which are not listed here. In other embodiments, the number of the second guiding parts 312 may be one, two or more, and of course, it is preferable that the number of the second guiding parts 312 corresponds to the number of the first guiding parts 21.

In an embodiment, the foolproof connection between the housing 30 and the rotating base 20 can be achieved by providing a plurality of first guiding parts 21 on the rotating base 20, providing a corresponding number of second guiding parts 312 on the housing 30, and reasonably setting the number and positions of the first guiding parts 21 and the number and positions of the second guiding parts 312 so that the housing 30 and the rotating base 20 have a unique connection position. For example, with the diameter of the housing 30 corresponding to the line between the center of the light passing hole 311 on the housing 30 and the center of the housing 30 as a boundary, the housing 30 is divided into a first portion and a second portion, wherein the first portion is provided with one second guiding portion 312, and the second portion is provided with two second guiding portions 312 at intervals, and the rotating base 20 is provided with the corresponding first guiding portion 21.

For the above-mentioned detection module 40, please refer to fig. 4, the detection module 40 includes a module bracket 41, a transmitting module 42, a receiving module 43 and a data processing circuit board 44. The data processing circuit board 44 is disposed on the rotating base 20, the module support 41 is disposed on the data processing circuit board 44, the transmitting assembly 42 and the receiving assembly 43 are both disposed on the module support 41, and the transmitting assembly 42 and the receiving assembly 43 are both electrically connected with the data processing circuit board 44. The emission assembly 42 is used to emit an optical signal to an external measurement object. The receiving component 43 is configured to receive an optical signal reflected by an external measurement object, and convert the optical signal into an optical-electrical signal, and then transmit the optical signal to the data processing circuit board 44. The module holder 41 is used to support and mount the transmitting assembly 42 and the receiving assembly 43. The data processing circuit board 44 is used for processing the photoelectric signal to calculate the distance between the radar apparatus 100 and the external measurement object.

Referring to fig. 4 and 7, the extension end of the extension portion 32 is in a concave arc shape, and the end of the module support 41 facing the extension portion 32 is in a convex arc shape, wherein the center of the concave arc shape, the center of the convex arc shape and the rotation center of the rotation seat 20 are arranged concentrically. Through the above structure, the error margin of the installation of the housing 30 and the rotating seat 20 can be improved, when the housing 30 and the rotating seat 20 are relatively deflected between the actual installation position of the housing 30 on the rotating seat 20 and the preset installation position due to the error of the manufacturing process, the extending end of the extending portion 32 is in a concave arc shape and the end of the module support 41, which faces the extending portion 32, is in a convex arc shape, so that the extending portion 32 and the module support 41 can still be well connected. Of course, in other embodiments, the extending end of the extending portion 32 and the end of the module bracket 41 facing the extending portion 32 may be connected in a fitting manner, or a certain assembly gap may be reserved, so as to facilitate the assembly of the housing 30 and the rotating seat 20.

Referring to fig. 4, the module holder 41 is provided with a transmitting channel 411 and a receiving channel 412. Wherein the transmit channel 411 is used to mount the transmit assembly 42 and the receive channel 412 is used to mount the receive assembly 43. The module support 41 further includes a light-separating wall 413, where the light-separating wall 413 separates the transmitting channel 411 from the receiving channel 412, so that the transmitting channel 411 and the receiving channel 412 are independent from each other, thereby ensuring that the outgoing optical signal and the received optical signal do not interfere with each other, and effectively improving accuracy of the detection result of the detection module 40.

Referring to fig. 3, the transmitting channel 411 and the receiving channel 412 are both in communication with the light through hole 311 on the housing 30, i.e. the transmitting channel 411 and the receiving channel 412 share the same light through hole 311. Referring to fig. 6 and 7, wherein the dashed arrows each represent a propagation path of an analog optical signal, and L1 and L2 each represent a dead zone range of the radar apparatus. Compared to the structure (shown in fig. 6) in which the independent transmitting channel 411 and receiving channel 412 directly extend to the main body portion 31 of the housing 30, in the present application, the extending portion 32 is disposed on the housing 30 to form a light channel for light signals, and the transmitting channel 411 and the receiving channel 412 are both in communication with the light channel (shown in fig. 7), so that the receiving assembly 43 can receive the light signals reflected by the measurement object 200 closer to the radar device 100, thereby further reducing the detection dead zone of the radar device 100 in a short distance. It should be noted that fig. 7 shows only one embodiment of the radar apparatus 100, and in other embodiments, the length of the light-blocking wall 413 may be adjusted so that the short-range blind area of the radar apparatus 100 is as small as possible, or even has no short-range blind area.

It will be appreciated that the thickness of the light barrier 413 may be uniform, such as shown in fig. 7, with the thickness of the light barrier 413 remaining the same along the direction of the emission channel 411 toward the light passing aperture 311. In other embodiments, the thickness of the light-blocking wall 413 may be varied, for example, as shown in fig. 5, in the direction of the light-transmitting hole 311 along the transmitting channel 411, the thickness of the light-blocking wall 413 is gradually reduced, so that the transmitting channel 411 and the receiving channel 412 are in a horn shape, and the receiving component 43 is further increased to receive the reflected light signal with a larger angle. Of course, in other embodiments, the light blocking wall 413 includes a straight portion and a tapered portion along the direction of the emission channel 411 toward the light passing hole 311, wherein the thickness of the straight portion remains the same and the thickness of the tapered portion gradually decreases.

Along the direction of the emission channel 411 toward the light-passing hole 311, the light-separating wall 413 only needs to protrude from the emission component 42. The light-separating wall 413 protrudes from the emitting component 42, so that the light signal emitted by the emitting component 42 can not directly enter the receiving channel 412 to be received by the receiving component 43 under the action of the light-separating wall 413, and the interference degree between the emergent light signal and the reflected light signal is reduced.

Referring to fig. 4, the emission assembly 42 includes an emission light source 421 and an emission lens 422. The emission light source 421 is electrically connected with the data processing circuit board 44, the emission light source 421 and the emission lens 422 are sequentially arranged along the emission channel 411 toward the light-passing hole 311, and the emission light source 421 is disposed at the focal point of the emission lens 422. In some embodiments, the emission light source 421 may include, but is not limited to, an LED, a laser emitter, and the like.

The receiving assembly 43 includes a sensor 431 and a receiving lens 432. The sensor 431 is electrically connected to the data processing circuit board 44, the sensor 431 and the receiving lens 432 are sequentially disposed along the receiving channel 412 toward the light-transmitting hole 311, and the sensor 431 is disposed at the focal point of the receiving lens 432.

In some embodiments, the diameter of the receiving lens 432 is greater than the diameter of the transmitting lens 422. After determining the diameter of the emission lens 422, the light signal emitted by the emission light source 421 is determined, by increasing the diameter of the receiving lens 432, the light signal passing through the receiving lens 432 in the receiving channel 412 can be more, so that the sensor 431 obtains more reflected light signals, and accuracy of the detection result is improved. Of course, in other embodiments, the diameter of the receiving lens 432 may be equal to the diameter of the transmitting lens 422.

Referring to fig. 7, the emission lens 422 is closer to the light passing hole 311 than the receiving lens 432 along the direction of the emission channel 411 toward the light passing hole 311, as viewed in a direction perpendicular to the rotation plane of the rotation base 20. By setting the position of the emission lens 422 closer to the light-passing hole 311, it can be further ensured that the light signal emitted by the emission light source 421 is not directly transmitted to the sensor 431 through the receiving lens 432 after passing through the emission lens 422, and the received light signal is disturbed.

The aperture of the transmit channel 411 and the aperture of the receive channel 412 may be set to be the same or different. In some embodiments, when the aperture of the transmitting channel 411 and the aperture of the receiving channel 412 are set to be the same, on the one hand, the manufacturing of the module holder 41 may be facilitated, and on the other hand, the transmitting lens 422 and the receiving lens 432 may use optical lenses of the same size to reduce the kinds of components. In other embodiments, only a portion of the optical signal is reflected to the receiving component 43 after the optical signal emitted from the emitting component 42 is diffusely reflected by the external object, i.e. the received optical signal is weaker than the emitted optical signal, so that, in order to receive more optical signals, the aperture of the receiving channel 412 may be set to be larger than the aperture of the emitting channel 411, so as to improve the accuracy of the detection result.

In some embodiments, as shown in fig. 3, the number of light-passing holes 311 is one, and one light-passing hole 311 communicates with the emission channel 411 and the receiving channel 412, respectively. By providing the light-passing hole 311 on the housing 30, the transmitting channel 411 and the receiving channel 412 share the light-passing hole 311, so that the angle of the light signal receivable by the receiving channel 412 can be effectively increased, the short-distance blind area range of the radar device 100 can be reduced, and the mutual interference between the transmitting light signal and the receiving light signal can be avoided due to the light-separating wall arranged between the transmitting channel 411 and the receiving channel 412. In other embodiments, referring to fig. 8, the number of the light-passing holes 311 may be two, wherein the two light-passing holes 311 are disposed up and down in the rotation plane of the rotation seat 20, and referring to fig. 3 and 7, the transmitting channels 411 and the receiving channels 412 are disposed left and right in the rotation plane of the rotation seat 20, so that the two light-passing holes 311 disposed up and down still can meet the requirement of the receiving assembly 43 for receiving the light signal reflected at a short distance. Of course, when the transmitting channel 411 and the receiving channel 412 are vertically distributed in the rotation plane of the rotation base 20, the two light-passing holes 311 are disposed left and right in the rotation plane of the rotation base 20.

The radar apparatus 100 of the embodiment of the present application includes a base 10, a rotating base 20, a detection module 40, and a housing 30. The rotating seat 20 is rotatably arranged on the base 10, the detection module 40 is arranged on the rotating seat 20, the detection module 40 is provided with a transmitting channel 411 and a receiving channel 412, the shell 30 is arranged on the rotating seat 20, the shell 30 is provided with a light through hole 311, and the transmitting channel 411 and the receiving channel 412 are communicated with the light through hole 311. By providing the light-passing hole 311 on the housing 30, the transmitting channel 411 and the receiving channel 412 use the same light-passing hole 311 together to transmit and receive light signals, so that the detection module 40 can receive light signals reflected by a measurement object closer to the radar device 100, and reduce detection dead zones in a short distance of the radar device 100.

The present application further provides an embodiment of a mobile robot, where the mobile robot includes the radar apparatus 100 described above, and the specific structure and function of the radar apparatus 100 may refer to the above embodiment, which is not described herein again. The mobile robots include, but are not limited to, floor washing machines, floor sweeping machines, unmanned aerial vehicles, intelligent express delivery vehicles, intelligent storage transport vehicles and the like.

The foregoing description is only exemplary embodiments of the present application and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the present application.

Claims (10)

1. A radar apparatus, comprising:

a base;

the rotating seat is rotatably arranged on the base;

the detection module is arranged on the rotating seat and is provided with a transmitting channel and a receiving channel; the method comprises the steps of,

the shell set up in the rotation seat, the shell is equipped with logical unthreaded hole, the transmission passageway with the receiving channel all with logical unthreaded hole intercommunication.

2. The radar apparatus according to claim 1, wherein,

the detection module comprises a module support, a transmitting assembly and a receiving assembly, wherein the module support is arranged on the rotating seat, the module support is provided with the transmitting channel and the receiving channel, the module support is provided with a light-separating wall, the light-separating wall separates the transmitting channel from the receiving channel, the transmitting assembly is arranged on the transmitting channel, and the receiving module is arranged on the receiving channel.

3. The radar apparatus according to claim 2, wherein,

the light-separating wall comprises a straight part and a furling part along the direction of the emission channel towards the light-passing hole, and the wall thickness of the furling part is gradually reduced; or,

the wall thickness of the light-separating wall is gradually reduced along the direction of the emission channel towards the light-passing hole.

4. The radar apparatus according to claim 2, wherein,

the aperture of the transmitting channel is smaller than or equal to the aperture of the receiving channel.

5. The radar apparatus according to claim 2, wherein,

the emission assembly comprises an emission light source and an emission lens, and the emission light source and the emission lens are sequentially arranged in the emission channel along the direction of the emission channel towards the light passing hole;

the receiving assembly comprises a sensor and a receiving lens, the receiving lens faces to the direction of the light-transmitting hole along the receiving channel, and the sensor and the receiving lens are sequentially arranged in the receiving channel.

6. The radar apparatus according to claim 5, wherein,

the transmitting lens and the receiving lens satisfy at least one of the following conditions:

(1) The diameter of the receiving lens is larger than or equal to that of the transmitting lens;

(2) Along the direction of the emission channel towards the light-passing hole, the emission lens is closer to the light-passing hole than the receiving lens.

7. The radar apparatus according to claim 1, wherein,

the shell comprises a main body part and an extension part, wherein the main body part is provided with the light-passing hole, the extension part is arranged around the light-passing hole, and the extension part extends from the main body part to the detection module.

8. The radar apparatus according to claim 7, wherein,

the extension end of extension portion is concave arc, the detection module is towards the tip of extension portion is convex arc, wherein concave arc's centre of a circle convex arc's centre of a circle with the rotation center of rotation seat is the concentric setting.

9. The radar apparatus according to claim 1, wherein,

the rotating seat is provided with a first guide part, the shell is provided with a second guide part, and the first guide part is connected with the second guide part.

10. A mobile robot comprising a radar apparatus according to any one of claims 1 to 9.