JP4919809B2 - 平面物体の非接触検出のための方法およびデバイス - Google Patents

平面物体の非接触検出のための方法およびデバイス Download PDF

Info

Publication number
JP4919809B2
JP4919809B2 JP2006548162A JP2006548162A JP4919809B2 JP 4919809 B2 JP4919809 B2 JP 4919809B2 JP 2006548162 A JP2006548162 A JP 2006548162A JP 2006548162 A JP2006548162 A JP 2006548162A JP 4919809 B2 JP4919809 B2 JP 4919809B2
Authority
JP
Japan
Prior art keywords
characteristic
planar object
input voltage
receiver
signal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
JP2006548162A
Other languages
English (en)
Japanese (ja)
Other versions
JP2007517745A5 (https=
JP2007517745A (ja
Inventor
ディルク シェーン
Original Assignee
ペッパール ウント フュフス ゲゼルシャフト ミット ベシュレンクテル ハフツング
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ペッパール ウント フュフス ゲゼルシャフト ミット ベシュレンクテル ハフツング filed Critical ペッパール ウント フュフス ゲゼルシャフト ミット ベシュレンクテル ハフツング
Priority claimed from PCT/EP2004/014639 external-priority patent/WO2005066050A1/de
Publication of JP2007517745A publication Critical patent/JP2007517745A/ja
Publication of JP2007517745A5 publication Critical patent/JP2007517745A5/ja
Application granted granted Critical
Publication of JP4919809B2 publication Critical patent/JP4919809B2/ja
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B65H7/12Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation
    • B65H7/125Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation sensing the double feed or separation without contacting the articles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50Occurence
    • B65H2511/51Presence
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50Occurence
    • B65H2511/51Presence
    • B65H2511/514Particular portion of element
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50Occurence
    • B65H2511/52Defective operating conditions
    • B65H2511/524Multiple articles, e.g. double feed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/10Mass, e.g. mass flow rate; Weight; Inertia
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00Sensing or detecting means
    • B65H2553/30Sensing or detecting means using acoustic or ultrasonic elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00Sensing or detecting means
    • B65H2553/40Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/41Photoelectric detectors
    • B65H2553/412Photoelectric detectors in barrier arrangements, i.e. emitter facing a receptor element
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20Calculating means; Controlling methods
    • B65H2557/24Calculating methods; Mathematic models
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20Calculating means; Controlling methods
    • B65H2557/24Calculating methods; Mathematic models
    • B65H2557/242Calculating methods; Mathematic models involving a particular data profile or curve
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/30Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
    • B65H2557/31Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for converting, e.g. A/D converters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/30Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof
    • B65H2557/32Control systems architecture or components, e.g. electronic or pneumatic modules; Details thereof for modulating frequency or amplitude
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00Handled material; Storage means
    • B65H2701/10Handled articles or webs
    • B65H2701/19Specific article or web
    • B65H2701/192Labels

Landscapes

  • Controlling Sheets Or Webs (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Geophysics And Detection Of Objects (AREA)
JP2006548162A 2004-01-07 2004-12-22 平面物体の非接触検出のための方法およびデバイス Expired - Fee Related JP4919809B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102004001314.4 2004-01-07
DE102004001314 2004-01-07
DE102004056742A DE102004056742A1 (de) 2004-01-07 2004-11-24 Verfahren und Vorrichtung zur berührungslosen Detektion von flächigen Objekten
DE102004056742.5 2004-11-24
PCT/EP2004/014639 WO2005066050A1 (de) 2004-01-07 2004-12-22 Verfahren und vorrichtung zur berührungslosen detektion von flächigen objekten

Publications (3)

Publication Number Publication Date
JP2007517745A JP2007517745A (ja) 2007-07-05
JP2007517745A5 JP2007517745A5 (https=) 2009-08-13
JP4919809B2 true JP4919809B2 (ja) 2012-04-18

Family

ID=34716369

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2006548162A Expired - Fee Related JP4919809B2 (ja) 2004-01-07 2004-12-22 平面物体の非接触検出のための方法およびデバイス
JP2006548161A Expired - Fee Related JP4917437B2 (ja) 2004-01-07 2004-12-22 平面物体の非接触検出のための方法およびデバイス
JP2006548163A Expired - Fee Related JP4917438B2 (ja) 2004-01-07 2004-12-22 平面物体の非接触検出のための方法およびデバイス

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2006548161A Expired - Fee Related JP4917437B2 (ja) 2004-01-07 2004-12-22 平面物体の非接触検出のための方法およびデバイス
JP2006548163A Expired - Fee Related JP4917438B2 (ja) 2004-01-07 2004-12-22 平面物体の非接触検出のための方法およびデバイス

Country Status (3)

Country Link
US (1) US7726214B2 (https=)
JP (3) JP4919809B2 (https=)
DE (4) DE102004056710A1 (https=)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005026200A1 (de) * 2005-06-07 2006-12-21 Pepperl + Fuchs Gmbh Detektion und Vorrichtung zur Detektion von Aufzeichnungsträgern
DE102005026532A1 (de) 2005-06-08 2006-12-14 Bhs Corrugated Maschinen- Und Anlagenbau Gmbh Wellpappeanlage
DE102007005591B4 (de) 2006-02-24 2019-01-17 Heidelberger Druckmaschinen Ag Einrichtung zum Steuern der Bewegung eines Bedruckstoffes
DE102006023971B8 (de) * 2006-05-22 2009-04-30 Pepperl + Fuchs Gmbh Optischer Sensor und Verfahren zum Nachweis von Personen, Tieren oder Gegenständen
EP2099704B1 (en) * 2007-01-05 2010-09-01 De La Rue International Limited Method of monitoring a sequence of documents
DE102008026603B4 (de) * 2008-05-16 2011-06-01 Leuze Electronic Gmbh & Co Kg Sensor zur Erfassung von Objekten in einem Erfassungsbereich
DE102008030518B4 (de) * 2008-06-27 2010-07-29 Sick Ag Optoelektronischer Sensor
DE102008031679A1 (de) 2008-07-04 2010-01-07 Krones Ag Prüfvorrichtung für Behältnisse
DE202010000971U1 (de) 2010-01-15 2011-06-20 Pepperl + Fuchs GmbH, 68307 Vorrichtung zum Detektieren von flächigen Objekten
JP5764979B2 (ja) * 2011-03-07 2015-08-19 株式会社リコー 用紙搬送装置、画像形成装置及び用紙搬送装置の制御方法
JP5939829B2 (ja) * 2012-02-17 2016-06-22 キヤノン株式会社 シート給送装置及び画像形成装置
EP2769949B1 (de) 2013-02-21 2018-05-30 Pepperl & Fuchs GmbH Verfahren zum messtechnischen Unterscheiden von Materialbereichen eines blatt-, bahn- oder bogenartigen Materials sowie Vorrichtung hierzu
JP2015215279A (ja) * 2014-05-13 2015-12-03 大日本印刷株式会社 粘着剤抜け検査装置
CN111959888B (zh) * 2020-08-25 2025-01-21 广东中烟工业有限责任公司 一种用于检测条盒缺包的装置
CN113295125B (zh) * 2021-06-21 2023-02-28 重庆工商大学 阵列式沉渣厚度检测装置、系统及检测方法
CN115127488B (zh) * 2022-06-28 2023-08-18 常州市武滚轴承有限公司 基于音频检测模块的轴承外圈内壁光滑度检测装置及方法
TWI908609B (zh) * 2025-02-14 2025-12-11 輝創電子股份有限公司 超音波近場偵測系統
CN120141367B (zh) * 2025-05-13 2025-08-22 浙江一鸣包装印刷有限公司 面向瓦楞包装箱生产过程的厚度检测方法及系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59178307A (ja) * 1983-03-29 1984-10-09 Matsushita Electric Ind Co Ltd 超音波計測装置
JP2001330423A (ja) * 2000-04-19 2001-11-30 Eastman Kodak Co 超音波の位相シフト及び振幅を使用して多重文書を検出する方法及び装置
JP2002370840A (ja) * 2001-06-12 2002-12-24 Canon Electronics Inc シート給送装置および画像形成装置および画像評価装置

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4015464A (en) 1975-02-21 1977-04-05 The Washington University Ultrasonic continuous wave particle monitor
DE2623893B2 (de) * 1976-05-28 1978-09-14 Karl Deutsch Pruef- Und Messgeraetebau, 5600 Wuppertal Verfahren zur Durchführung des digitalen Tiefenausgleichs bei der Ultraschall-Prüfung und Ultraschall-Priifeinrichtung zur Ausübung dieses Verfahrens
DE2632674B2 (de) 1976-07-16 1978-06-08 Karl Deutsch Pruef- Und Messgeraetebau, 5600 Wuppertal Elektronische Einrichtung zur taktweisen Erfassung, Aus- und Bewertung von Impulsen bei der zerstörungsfreien Ultraschall-Werkstoffprüfung
DE2936737C2 (de) 1979-09-07 1985-01-03 Mannesmann AG, 4000 Düsseldorf Vorrichtung zum US-Prüfen von Blechen
DE3048710A1 (de) * 1980-12-23 1982-07-15 GAO Gesellschaft für Automation und Organisation mbH, 8000 München "verfahren zur pruefung des flaechengewichts von duennem material"
DE3236017C2 (de) 1982-09-29 1984-10-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Verfahren zum zerstörungsfreien Prüfen eines Werkstückes
DD238955A1 (de) 1985-07-04 1986-09-10 Polygraph Leipzig Verfahren und einrichtung zur kontrolle von fehl- und/oder mehrfachbogen
DE3815205C2 (de) * 1987-05-08 1995-06-29 Hitachi Construction Machinery Verstärkerschaltung mit regelbarem Verstärkungsfaktor
DE4008600A1 (de) 1990-03-17 1991-09-19 Koenig & Bauer Ag Laser-mehrfachbogenkontrolle
DE4022325C2 (de) 1990-07-13 2001-06-07 Roland Man Druckmasch Akustische Vereinzelungskontrolle
DE4233855C2 (de) 1992-10-08 1998-04-30 Leuze Electronic Gmbh & Co Verfahren zur Kontrolle von Bögen
DE4403011C1 (de) 1994-02-01 1995-02-16 Fraunhofer Ges Forschung Verfahren zur Vereinzelung von unmagnetischen Blechen
DE19521129C1 (de) * 1995-06-09 1996-10-31 Leuze Electronic Gmbh & Co Kapazitiver Sensor
DE29722715U1 (de) 1997-12-30 1999-04-29 Klaschka GmbH & Co, 75233 Tiefenbronn Blechdicken-Meßeinrichtung
DE59907919D1 (de) * 1998-08-03 2004-01-15 Siemens Ag Verfahren zum Sendefrequenzabgleich eines Ultraschall-Nährungsschalters und Ultraschall-Nährungsschalter mit Sendefrequenzabgleich
DE59911895D1 (de) * 1998-10-20 2005-05-19 Siemens Ag Verfahren zur Betriebsoptimierung eines Ultraschall-Näherungsschalters und Ultraschall-Näherungsschalters mit Betriebsoptimierung
US6212130B1 (en) 1999-03-08 2001-04-03 Scan-Optics, Inc. Method and apparatus for plural document detection
DE19927865B4 (de) * 1999-05-07 2005-12-01 Leuze Electronic Gmbh & Co Kg Vorrichtung zur Detektion von Objekten
DE19921217B4 (de) * 1999-05-07 2004-11-25 Leuze Electronic Gmbh + Co Kg Vorrichtung zur Detektion von Etiketten
JP2001328750A (ja) 2000-05-22 2001-11-27 Fujitsu Ltd ダブルフィード検出方法およびその装置
DE20018193U1 (de) * 2000-10-25 2001-01-04 Leuze Electronic Gmbh + Co, 73277 Owen Vorrichtung zur Kontrolle von Bögen
JP2003176063A (ja) 2001-06-15 2003-06-24 Omron Corp 紙葉類重送検出装置および方法、並びにプログラム
DE20312388U1 (de) 2003-03-23 2003-11-20 Pepperl + Fuchs GmbH, 68307 Mannheim Vorrichtung zur berührungslosen Detektion von Unregelmäßigkeiten der Dicke von flächigen Objekten, wie Papier, Pappe, Folien, Bleche oder Etiketten

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59178307A (ja) * 1983-03-29 1984-10-09 Matsushita Electric Ind Co Ltd 超音波計測装置
JP2001330423A (ja) * 2000-04-19 2001-11-30 Eastman Kodak Co 超音波の位相シフト及び振幅を使用して多重文書を検出する方法及び装置
JP2002370840A (ja) * 2001-06-12 2002-12-24 Canon Electronics Inc シート給送装置および画像形成装置および画像評価装置

Also Published As

Publication number Publication date
JP2007517746A (ja) 2007-07-05
DE102004056743A1 (de) 2005-08-11
JP4917438B2 (ja) 2012-04-18
DE102004056742A1 (de) 2005-09-15
DE102004061759B4 (de) 2014-10-30
JP4917437B2 (ja) 2012-04-18
US20090050826A1 (en) 2009-02-26
DE102004056710A1 (de) 2005-08-18
DE102004061759A1 (de) 2005-08-04
US7726214B2 (en) 2010-06-01
JP2007517744A (ja) 2007-07-05
JP2007517745A (ja) 2007-07-05

Similar Documents

Publication Publication Date Title
JP4919809B2 (ja) 平面物体の非接触検出のための方法およびデバイス
JP2007517744A6 (ja) 平面物体の非接触検出のための方法およびデバイス
EP1440924B1 (en) An apparatus for detection of multiple documents in a document transport
JP2001328750A (ja) ダブルフィード検出方法およびその装置
US7526969B2 (en) Method and device for the contactless detection of flat objects
JP2007022808A (ja) 記録媒体の検出方法および装置
JP2007517746A5 (https=)
JP2007517745A5 (https=)
US20020110396A1 (en) Thickness detecting apparatus
JP7249924B2 (ja) センサ及び検査装置
JP2007517744A5 (https=)
JP2007022808A5 (https=)
KR101758366B1 (ko) 알에프를 이용한 지폐 판별 장치 및 방법
US9792750B2 (en) Method and apparatus for checking a value document
US7712386B2 (en) Method and device for the contactless detection of flat objects
CN102297849B (zh) 摩擦系数估计设备和摩擦系数估计方法
US20020060393A1 (en) Apparatus for feeding sheets and method of determining the vertical position of stacked sheets
JPS6270707A (ja) 移送途中の被測定物の超音波利用による重層検知装置
US10041912B2 (en) Sound wave sensor
EP1701901B1 (de) Verfahren und vorrichtung zur berührungslosen detektion von flächigen objekten
US20250277771A1 (en) Paper sheet handling apparatus and foreign substance detection method
JP4667255B2 (ja) 画像形成装置
KR20170048260A (ko) 알에프를 이용한 지폐 판별 장치 및 방법
JP2007225538A (ja) 紙葉厚さ測定装置

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20071218

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20071218

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20090629

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20101207

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20110202

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20110209

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20110606

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120110

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120131

R150 Certificate of patent or registration of utility model

Ref document number: 4919809

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150210

Year of fee payment: 3

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees