JP2010235179A - Powdered medicine feeder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a powdered medicine feeder immediately transferring to a next working process while correctly determining that the drop and feed of powdered medicine by an oscillating feeder is completed. <P>SOLUTION: The powdered medicine feeder is equipped with: a smoothing means 13 for fetching a plurality of detection data at a preset period out of the detection data to be secularly detected by a detection means 5, and calculating an average of the plurality of the fetched detection data; a determining means 14 for determining that the calculated the moving average is equal to or less, or less than the threshold; and a transferring means 15 for transferring to the next working process, based on the output signal when the determining means 14 determines that the moving average is equal to or less, or less than the threshold. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  In the present invention, after the powder from the hopper is sent out by the vibration feeder, the powder is dropped and supplied to the rotary table arranged below the vibration feeder, and the powder dropped and supplied from the vibration feeder is detected by the detecting means. It is related with the constituted powder supply device.

  2. Description of the Related Art Conventionally, this type of powder supply device drops powder supply by a vibration feeder into an annular concave groove provided in a rotary table that rotates at a constant speed, and the powder supply that falls is composed of a light emitting part and a light receiving part. It can detect with an optical sensor and can calculate the discharge amount of a powder based on the detection signal (for example, refer patent document 1).

  Further, it is determined that the supply of powdered medicine has been completed based on the detection signal from the sensor, and control to shift to the next work process (for example, a process for performing a remaining medicine process) is also performed. Specifically, when the control device provided in the powder supply device confirms that the detection signal from the sensor has fallen below a preset threshold, a predetermined time (for example, 10 seconds) has elapsed from that point by a timer or the like. When the confirmation is completed, the process proceeds to the next work process. The threshold value is set to determine that the supply of powder has been completed, so the value is set to a sufficiently small value.

Incidentally, if the detection signal from the sensor falls below a preset threshold value, the following inconvenience occurs if the operation is immediately shifted to the next work process.
In other words, the detection value of the sensor may fluctuate over time due to powder and fall below the threshold value. For this reason, although the powder is being supplied, the process may be shifted to the next work process by mistake, so that it is not possible to move to the next work process until a predetermined time elapses as described above. By doing so, erroneous detection can be avoided.

Japanese Patent No. 3761912 (see FIG. 1, paragraph 0037)

According to the above configuration, it is necessary to measure an extra time (for example, 10 seconds) using a timer after the threshold value is exceeded, and there is a disadvantage that it takes time to move to the next work process.
Further, while measuring a predetermined time (for example, 10 seconds) using a timer, for example, a lump of powder remaining in the vibration feeder may fall. In this case, if the sensor detects a lump of powder that falls, the sensor may output a detection signal that exceeds the threshold depending on the size of the lump. It takes more time and there is room for improvement.
Incidentally, although it is conceivable to set the threshold value large so that the value when the powder powder remaining in the vibration feeder is detected by the sensor does not exceed the threshold value, the following inconvenience occurs.
In other words, the detection value of the sensor when the drop supply from the vibration feeder is performed may be lower than the threshold due to the properties of the powder such as powder that is difficult to flow through the vibration feeder or black powder that is difficult for the sensor to detect. . As described above, if the detection value of the sensor becomes lower than the threshold value even though the drop supply from the vibration feeder is not finished, the measurement process proceeds to the next work step when the measurement for a predetermined time is finished. Therefore, the threshold value cannot be set unnecessarily large.

  Therefore, the present invention has been made in view of such a situation, and the place to be solved is that it is possible to accurately determine that the powder drop supply by the vibration feeder has ended, but immediately to the next work process. It is providing the powder supply apparatus which can transfer.

That is, the powder supply device of the present invention is provided with a vibration feeder for sending powder, a rotary table to which powder supplied by the vibration feeder is dropped and supplied, and a drop supply from the vibration feeder. A powder supply device comprising a detection means for detecting the powder to be detected, wherein a plurality of detection data are taken in a predetermined cycle of the detection data detected over time by the detection means, and Smoothing means for smoothing a plurality of captured detection data to calculate smoothed data, determination means for determining whether the smoothed data is less than or less than a threshold value, and smoothing by the determination means Transition means for transitioning to the next work process based on the output signal when it is determined that the digitized data is below the threshold value or below the threshold value. It is set to.
According to the above configuration, by smoothing the detection data by the smoothing means, even when the detection value from the detection means fluctuates greatly due to the properties of the powder, it is calculated during the drop supply that is being dropped by the vibration feeder. It is possible to avoid the smoothed data that has been smoothed below the threshold or below the threshold. Accordingly, since there is no malfunction such as shifting to the next work process during the fall supply that is being supplied by the vibration feeder, if the discrimination means determines that the smoothed data is below the threshold or below the threshold, the transfer means By this, it is possible to immediately shift to the next work process. In addition, even if the powder lump remaining in the vibration feeder falls after the transition to the next work process and the detection means detects it, the transferred work is not interrupted.

  Further, the powder supply device of the present invention includes a peak value specifying unit that specifies a peak value of the smoothed data, and the determination by the determining unit is started when the peak value is specified by the peak value specifying unit. May be.

  As described above, if it is configured to start discrimination by the discriminating means from the time when the peak value is specified, the smoothing data is less than the threshold value or when the fall supply amount when the powder drop supply is started is small. Even when the value is less than the threshold value, the determination by the determination unit is not started. For this reason, the reliable powder supply apparatus which can avoid the malfunctioning which transfers to the following work process accidentally reliably can be provided.

  Moreover, the powder supply apparatus of this invention is good also considering the arbitrary values of the range from 0 to 20% of the peak value specified by the peak value specifying means as the threshold value.

  As described above, when the detection means is constituted by an optical sensor if an arbitrary value in the range from 0 to 20% of the peak value specified by the peak value specifying means is used as a threshold value In addition, for example, even when the detection value varies depending on the color (generally, black powder is harder to detect than white powder), the threshold can be set according to the peak value. During the supply, it is possible to reliably avoid a malfunction such as being below the threshold value or less than the threshold value and erroneously shifting to the next work step, and the determination by the determination means can be performed with high accuracy.

  The smoothing unit may be configured to calculate a moving average value of the plurality of detection data as smoothed data.

  In the powder supply device according to the present invention, by calculating the smoothed data, the smoothed data does not fall below the threshold or less than the threshold, so when the smoothed data falls below the threshold or below the threshold. The transfer means can immediately shift to the next work process. Therefore, the time for counting the predetermined time by the timer is not required as in the prior art, and the determination means is used to immediately move to the next work process, so the powder powder remaining in the vibration feeder after the transfer is detected. Therefore, it is possible to perform control with high accuracy by setting the threshold value to an appropriate value. Accordingly, it is possible to provide a powder supply device that can immediately determine that the supply of powder drops by the vibration feeder has been completed and can immediately proceed to the next work process.

It is a schematic side view which shows one Embodiment of the powder supply apparatus which concerns on this invention. It is the perspective view which abbreviate | omitted a part of chemical | medical agent packaging apparatus incorporating the powdered medicine supply apparatus. It is a control block diagram of a powder supply apparatus. It is a graph when the 1st powdered medicine supplied by dropping is detected by the detection device. It is a flowchart which shows control of a powder supply apparatus. It is a schematic side view of the powder supply apparatus in the state where a large amount of powder was deposited. It is a 2nd control block diagram of a powder supply apparatus. It is a graph when the 2nd powdered medicine supplied by dropping is detected by the detection device. It is a flowchart which shows the 2nd control of a powder supply apparatus. It is a graph when the 2nd powder which supplied less supply amount than FIG. 8 is detected by the detection apparatus. It is a flowchart which shows the 3rd control of a powder supply apparatus.

Hereinafter, an embodiment of a powder supply device according to the present invention will be described in detail with reference to the drawings.
In FIG. 1, the powder supply apparatus 1 in this embodiment is shown. The powder supply device 1 is supplied by dropping from a vibration feeder 3 for sending out powder from the hopper 2, a rotary table 4 to which powder supplied from the vibration feeder 3 is dropped and supplied, and a discharge port 3 </ b> A of the vibration feeder 3. And detecting means 5 for detecting the powder.

  The vibration feeder 3 includes a vibration unit (not shown), and drives the vibration unit so that the powder is sent to the left side in FIG.

  The detecting means 5 comprises an optical sensor having a light emitting part and a light receiving part, and the light emitted from the light emitting part is reflected by the falling powder supplied and reflected, and the amount of light and the light received when the reflected light is received by the light receiving part. Based on the time, the control unit U to be described later calculates the fall supply amount of the powdered medicine.

  As shown in FIG. 2, the turntable 4 is formed of a donut-shaped plate member configured to be rotatable about the longitudinal axis 6, and forms an annular groove 4 </ b> A for depositing powder from the vibration feeder 3. is doing.

  The tip of the vibration feeder 3 is swung so that the discharge port 3A of the vibration feeder 3 moves from the outer side to the inner side of the concave groove 4A of the rotary table 4 so that the height of the powder pile is uniform in the concave groove 4A. It is preferable to configure freely or to move the entire vibration feeder 3. Note that the discharge port 3 </ b> A of the vibration feeder 3 may move from the inside to the outside of the recessed groove 4 </ b> A of the rotary table 4. It is preferable to implement them in units so that the optical sensors can also move together in conjunction with the movement of the discharge port 3A.

FIG. 2 shows a part of a medicine packaging device in which a powder supply device in which the hopper 2 is omitted is incorporated.
This medicine packaging device includes a cutting device 9 that is rotatable about a horizontal axis 8 so as to cut a pile of powder 7 deposited in the groove 4A from the vibration feeder 3 one by one, and a powder cut by the cutting device 9. 7 and a hopper 10 arranged to receive 7. Note that the powder discharged from the lower end opening 11 of the hopper 10 is received by a non-illustrated wrapping paper, and the wrapping paper is heat-sealed so as to be packaged one by one by a sealing device. It has become.

  As shown in FIG. 3, the powder supply device 1 includes a control unit U including a computer that controls driving of the rotary solenoid 12 and the vibration feeder 3 based on a detection signal from the detection unit 5.

  The control unit U captures a plurality of detection data at a preset period among the detection data (sensor values) detected over time by the detection means 5, and smoothes the captured plurality of detection data by smoothing them. The smoothing means 13 for calculating the normalized data, the determination means 14 for determining that the calculated smoothed data is less than (or less than) the threshold value A, and the moving average value by the determination means 14 is the threshold value. Based on the output signal when it is determined that it is less than A (or less than the threshold value), a transition means 15 for transitioning to the next work process is provided. Smoothing refers to reducing variation in data. Specifically, it includes averaging the data as described later, or removing data that is far away from other data.

  In addition, the control unit U includes a peak value specifying unit 16 that specifies a peak value among the moving average values calculated by the smoothing unit 13. Then, the discrimination by the discrimination means 14 is started from the time when the peak value is specified by the peak value specifying means 16.

  FIG. 4 shows data when powder is detected by the detection means 5 when powdered powder called lactose is dropped and supplied to the rotary table 4 by the vibration feeder 3, and the horizontal axis indicates time (sec) and the vertical axis indicates the sensor value. It is the graph which took (no unit). In the graph, the thin line 21 is an unprocessed sensor value, and the thick line 22 is a moving average value obtained by taking a moving average of the sensor values by the smoothing means 13. The peak value P1 specified by the peak value specifying means 16 is 650. The threshold A is set to a sufficiently low value since it is set to determine that the supply of powder has been completed. Here, 10% of 65 is set as the threshold value A with respect to 650 of the peak value P1, but it may be any value in the range from 0% to 20% of the peak value P1, but the peak Any value from 0 to 20% of the value P1 is preferable.

  As shown in FIG. 4, in the case of powders whose sensor values vary greatly, the lower value of the sensor values (thin line 21 values) for which the moving average value is not calculated is lower than the threshold A. By calculating the moving average value as described above, there is an advantage that it is possible to avoid that all the sensor values are less than the threshold value A, and to shift to the next work process during the powder supply.

A control method for controlling the driving of the rotary solenoid 12 and the vibration feeder 3 by the control unit U configured as described above will be described based on the flowchart of FIG.
For example, when the switch is pressed and the control is started, it is determined whether or not the powder drop supply (also referred to as swinging) is started (step S1). This determination is made based on whether or not the detection means 5 has detected a powder that is greater than or equal to the set amount. When the sprinkling is started, the sensor value (detected value) is averaged (step S2). The averaging process here is a process of calculating an average value of a plurality of detection data captured by the smoothing means 13 as described above. Specifically, the average value is calculated by dividing the sum of 10 detection data from the first detection data detected in 2 seconds to the 10th by the number 10, and then the oldest first detection data The total of 10 detection data from the second detection data to the newest 11th detection data newly detected is divided by the number 10 to calculate the average value, and such calculation is repeated. This averaging process is continued until there is no detected data. In particular, the number of detection data to be summed for averaging is not limited to ten, and may be any number as long as it is plural.

  When the averaging process for the first sensor value (detected value) is completed, the peak value is specified by the peak value specifying means 16, but after the first averaging process for the sensor value (detected value). Since the peak value does not exist, the averaged first value is stored as the peak value. The average value after the second time is compared with the stored peak value to determine whether it is less than the peak value (step S3). If the averaged value is greater than or equal to the peak value, the value is updated as the peak value (step S4). While repeating this, when the averaged value becomes less than the peak value, it is determined that the powder supply amount has decreased, and whether or not the averaged value is less than the set threshold A (65). Is discriminated (step S5). When the averaged value is less than the threshold value A, it is determined that the powder supply has ended, and the control is terminated, and the shift means 15 immediately shifts to the next work process. In FIG. 4, the time 22A at 68 seconds is a time when the time is less than the threshold A, and the next work process is started at this time 22A.

  Specifically, as shown in FIG. 3, the next work process is to discharge the powder remaining in the hopper 2 to the vibration feeder 3 by driving the rotary solenoid 12 and hitting the hopper 2. 3 is a step of performing a remaining medicine process for reliably dropping and supplying the remaining powder to the rotary table 4 with the vibration of 3 being maximized.

  By the way, when the amount of the powder supplied to the rotary table 4 increases, the height of the peak of the powder 7 deposited on the rotary table 4 increases. In such a situation, as shown in FIG. 6, the irradiation light from the optical sensor 5 arranged at a position close to the rotary table 4 (low position) hits the peak of the powder 7, and the peak of the powder 7. The reflected light from the light is received. Looking at the detection value of the reflected light, the powder 7 is dropped and supplied at the point 20A at 130 seconds in FIG. 8 because the value continues to be higher than the set threshold value A. If this is the case, the control unit U will misrecognize, and inconvenience that it is not possible to proceed to the next work process occurs. That is, in the control method of FIG. 5, when the height of the peak of powder 7 becomes higher than threshold A (a low value set to recognize that the supply of powder has been completed), the next work process Will not be able to migrate.

In order to eliminate the inconvenience, a control unit U is configured as shown in FIG.
That is, the smoothing means 13 having the same configuration as described above, the stable moving state determination means 17 for determining that the calculated moving average value is less than the threshold value B (or less than the threshold value), and is in a stable state, Same as the above that shifts to the next work step based on the output signal when the moving average value is less than the threshold value B (or less than the threshold value) and is determined to be in the stable state by the stable state determining means 17. And a configuration transition means 15. The threshold value B is a value for recognizing whether or not the powder supply has decreased and entered the end region where the powder drop supply ends, and is therefore set to a value that is naturally higher than the threshold value A in FIG. This is set to a value higher than the sensor value when the peak is detected. Accordingly, when the sensor value becomes less than the threshold value B, it can be recognized that the amount of powder fall supply has decreased by a predetermined amount, and it can be recognized that it has entered the end region where the powder drop supply ends. When entering this end region, it is made possible to recognize whether or not a powder pile has been detected by determining that it is in a stable state.

  In FIG. 4, since the detection data of powder may be lower than the threshold value A, by providing the smoothing means 13, it is possible to avoid the transition to the next work process during the powder drop supply, Since the powder detection data in FIG. 8 is data that is much smaller and stable than the powder detection data shown in FIG. 4, the smoothing means 13 may be omitted. . In this case, the stable state discriminating means 17 is a means for discriminating that the powder detection data is less than the threshold value B (or below the threshold value) and is in a stable state.

  Further, the control unit U includes a peak value specifying unit 18 that specifies a peak value of the moving average value calculated by the smoothing unit 13. Then, the determination by the moving average value stable state determination means 17 is started from the time when the peak value is specified by the peak value specification means 18. In FIG. 8, the graph at the time of dropping and supplying powder called a kamag is shown. FIG. 8 is a graph with time (sec) on the horizontal axis and sensor value (no unit) on the vertical axis. In the graph, the thin line 19 is a sensor value that is not processed, and the thick line 20 is a moving average value obtained by taking a moving average by the smoothing means 13. The peak value P1 specified by the peak value specifying means 18 is 2400, and about 1/5 of the peak value 2400 is set as the threshold value B, but from 20% to 6% of the peak value. Any value in the range up to 20% may be used.

A method of controlling the driving of the rotary solenoid 12 and the vibration feeder 3 by the control unit U will be described based on the flowchart shown in FIG.
Similarly to FIG. 5, for example, when the switch is pressed and the control is started, it is determined whether or not the powder drop supply (swing) is started (step S <b> 6). This determination is made based on whether or not the detection means 5 has detected a powder that is greater than or equal to the set amount. When the sprinkling is started, the sensor value (detected value) is averaged (step S7). Here, the averaging process is a process of calculating an average value of a plurality of detection data captured by the smoothing unit 13 as described above, and detailed description thereof is omitted.

  When the averaging process of the first sensor value (detected value) is completed, the peak value is specified by the peak value specifying unit 18 as described above, but the first sensor value (detected value) is In the averaging process, since there is no peak value, the averaged value is stored as a peak value. The average value after the second time is compared with the stored peak value to determine whether it is less than the peak value (step S8). If the averaged value is greater than or equal to the peak value, the value is updated as the peak value (step S9). While repeating this, when the averaged value is less than the peak value, it is determined that the amount of powder fallen supply has decreased, and it is determined whether or not the averaged value is less than the set threshold value B. (Step S10). When the averaged value is less than the threshold value, it is determined whether or not it is stable (step S11). If it is determined that it is not stable, the process returns to the averaging process (S7). On the other hand, if it is determined that it is stable, it is determined that a powdered mountain is detected, the control is terminated, and the shift means 15 immediately shifts to the next work process. The criterion for determining the stability is that a plurality of consecutive moving average values (for example, five, but any number of moving average values) of the calculated moving average values are the same (or almost the same). Is to become a state.

  As shown in FIG. 7, the next work step is to drive the rotary solenoid 12 and hit the hopper 2 to discharge powdered powder remaining in the hopper 2 to the vibration feeder 3 as shown in FIG. The remaining medicine processing is performed in order to reliably drop and supply the remaining powder to the rotary table 4 by maximizing the vibration of 3.

  FIG. 10 shows the case where the same powder as in FIG. 8 is used, and FIG. 8 shows the case where the peak of the powder is higher than the threshold A, whereas FIG. 10 shows the case where the peak of the powder is lower than the threshold A. Show. That is, this is a case where the sensor value at the time point 20B at 130 seconds is smaller than the threshold value A. In the flowchart of FIG. 11, the control method which can cope with both the coping method when detecting the powder peak of FIG. 8 and the coping method when detecting the powder peak of FIG. 10 is shown.

The control unit for performing the control captures a plurality of detection data in a preset cycle among the detection data (sensor values) detected by the detection means 5 with time, and extracts the plurality of detection data thus captured. The smoothing means 13 for calculating the average value, and the calculated moving average value is in a range of less than (below) the threshold value B and greater than (or exceeds) the threshold value A, and in a stable state. First determination means for determining the presence, second determination means for determining that the moving average value is less than (or less than) the threshold A, and output signals from the first determination means and the second determination means And a transition means 15 for transitioning to the next work process.
That is, when it is determined by the first determination means that the moving average value is less than (or below) the threshold value B and within (or exceeds) the threshold value A and is in a stable state, the transition means 15 If the second operation means determines that the moving average value is less than the threshold value A (or less than the threshold value), the transfer device 15 moves to the next operation step.

  Next, the control method of the control unit will be described. Similarly to FIG. 9, for example, when the switch is pressed and the control is started, it is determined whether or not the powder drop supply (swing) is started ( Step S12). This determination is made based on whether or not the detection means 5 has detected a powder that is greater than or equal to the set amount. When the sprinkling is started, sensor value averaging processing is performed (step S13). The averaging process here is a process of calculating an average value of a plurality of detection data captured by the smoothing means 13 as described above, and is the same as described above.

  Then, when the averaging process of the first sensor value (detection value) is completed, the peak value is specified by the peak value specifying means 18, but in the averaging process of the first sensor value (detection value), Since there is no peak value, the averaged value is stored as the peak value. The average value after the second time is compared with the stored peak value to determine whether it is less than the peak value (step S14). If the averaged value is greater than or equal to the peak value, the value is updated as the peak value (step S15). While repeating this, when the averaged value is less than the peak value, it is determined that the amount of powder fallen supply has decreased, and it is determined whether or not the averaged value is less than the set threshold value B. (Step S16).

When the averaged value is less than the threshold value B, it is determined whether or not it is stable (step S17). If it is determined that the value is not stable, it is determined whether or not the averaged value is less than the threshold value A set to a value lower than the threshold value B. Return to S13).
On the other hand, when it is determined that it is stable, as described above, it is determined that a powder peak has been detected, the control is terminated, and the shift means 15 immediately shifts to the next work process. If it is determined that the averaged value is less than the threshold value A, it is determined that the sprinkling has ended, the control is terminated, and the shift means 15 immediately shifts to the next work process.

  In short, the flowchart of FIG. 11 determines that the peak is detected when the powdered peak is detected, and that the sprinkling is finished when the average value is less than the threshold A. Determine. Accordingly, in any case, the apparatus can be immediately shifted to the next work process.

  In addition, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of this invention.

  In the above embodiment, the thresholds A and B are obtained from the peak values of the averaged values. However, a preset value (a value set for each powder may be used or set independently of the powder). Value). Further, when the lens of the light emitting unit or the light receiving unit of the sensor is dirty, the detection value (sensor value) is different from the detection value of the sensor when it is not dirty, and the threshold value cannot be matched. For this reason, it is preferable that the threshold value is corrected according to the error of the detection value (sensor value) of the sensor so that the detection value of the sensor matches the threshold value. That is, the output values of the light emitting unit and the light receiving unit of the sensor before detection are grasped so as to be unrelated to the contamination of the lens, and a value obtained by adding these values to the threshold values A and B is set as the threshold value.

  In the embodiment, the powder to be controlled may be any powder. For example, the powder shown in FIG. 4 and the powder shown in FIG. 8 may be exchanged for control.

  Moreover, in the said embodiment, although the optical sensor 5 was used as a detection means, you may use an ultrasonic sensor etc. In addition, you may make it alert | warn when the difference | error of the detection value of a sensor exceeds a predetermined value.

DESCRIPTION OF SYMBOLS 1 ... Powder supply apparatus, 2 ... Hopper, 3 ... Vibration feeder, 3A ... Discharge port, 4 ... Rotary table, 4A ... Groove, 5 ... Detection means (light sensor), 6 ... Vertical axis, 7 ... Powder, 8 ... Horizontal axis, 9 ... cutting device, 10 ... hopper, 11 ... lower end opening, 12 ... rotary solenoid, 13 ... smoothing means, 14 ... discriminating means, 15 ... transition means, 16, 18 ... peak value specifying means, 17 ... stable state determination means, 19, 21 ... thin line, 20, 22 ... thick line, 20A, 20B, 22A ... point, A, B ... threshold, P1 ... peak value, U ... control unit

Claims (4)

A vibratory feeder for delivering powder,
A rotary table to which the powdered medicine sent out by the vibration feeder is supplied in a drop manner;
A powder supply device comprising a detection means for detecting powder powder dropped and supplied from the vibration feeder,
Smoothing means for acquiring a plurality of detection data in a preset cycle among the detection data detected over time by the detection means, and smoothing the acquired plurality of detection data to calculate smoothed data When,
A discriminating means for discriminating that the smoothed data is less than or less than a threshold value;
A powder supply comprising: a transition means for proceeding to the next work step based on an output signal when the smoothing data is determined to be equal to or less than a threshold value or less than a threshold value by the determination means apparatus.   The peak value specifying means for specifying the peak value of the smoothed data is provided, and the determination by the determination means is started from the time when the peak value is specified by the peak value specifying means. Powder supply device.   The powder supply device according to claim 2, wherein an arbitrary value in a range from 0 to 20% of the peak value specified by the peak value specifying means is used as the threshold value.   The medicine supply apparatus according to any one of claims 1 to 3, wherein the smoothing unit calculates a moving average value of the plurality of detection data as smoothed data.

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