The present application claims priority from Japanese Patent Application No. 2007-015006, filed on Jan. 25, 2007, the entire contents of which are hereby incorporated by reference.
1. Field of the Invention
The present invention is related to a multi-optical axis photoelectric sensor configured by light emitting and receiving units each of which is formed by disposing a plurality of light emitting or receiving elements in a line to form a light curtain between them for detecting an object like a human body entering into the light curtain, and is especially related to an indicator installed into the multi-optical axis photoelectric sensor.
2. Description of the Related Art
To secure the safety of human being from a machine that is a hazardous source, like a press machine, a multi-optical axis photoelectric sensor is provided to the route where human being can enter into such a hazardous source.
A multi-optical axis photoelectric sensor has a light emitting unit having a plurality of light emitting elements disposed along a longitudinal direction of the unit in a line and a light receiving unit having a plurality of light receiving elements disposed along a longitudinal direction of the unit in a line.
A light curtain is formed by a plurality of light axes formed between the light emitting and receiving units. When some object intrudes into the light curtain, the sensor detects blocking of some of the light axis of the light curtain and outputs a cutout order signal for stopping a power source of a motor for driving the hazardous source so as to maintain a safety by stopping the operation of the hazardous source forcibly.
In general, a multi-optical axis photoelectric sensor uses an infrared ray as the light emitted by the light emitting element. In this case, since the infrared ray is invisible and the multi-optical axis photoelectric sensor comprises only two elongated casings, it is difficult to visibly position the light curtain.
If an operator can recognize the position of the light axes of the light curtain, it will increase the level of safety of the operation.
In view of the above requirement, it has already been proposed that a multi-optical axis photoelectric sensor has a plurality of indicators disposed at a side surface being different from a front surface of a casing for emitting the light or receiving the light.
However, in this conventional technology, when the casing of the light emitting or light receiving unit is covered by a protecting cover made of some metal to protect the sensor or to reinforce the sensor, the indicators are also covered by the cover except for the light emitting or light receiving surface and therefore becomes invisible for an operator.
Further, for example JP-A-1999-345548 and corresponding U.S. Pat. No. 6,414,603 describe a light emitting unit of a multi-optical axis photoelectric sensor having a plurality of indicating elements along a longitudinal direction of the unit across an approximately total length of the unit.
However, since the optical axes and the indicating elements are facing to outside of the unit through a light emitting surface and are parallel with each other along the longitudinal direction, a width of the light emitting surface becomes wider in a transverse direction of the unit.
Further, since an axis including the plurality of the indicating elements disposed along the longitudinal direction is offset to the optical axes disposed along the longitudinal direction, it is difficult for an operator to recognize an exact plane having the light curtain.
Accordingly, a purpose of the present invention is to provide a multi-optical axis photoelectric sensor that is able to prevent the intrusion of an object into the light curtain area toward a hazardous area by being able to visibly identify the exact location of the light curtain area.
To achieve such a purpose of the present invention, a multi-optical axis photoelectric sensor has a light emitting unit having a first casing and a plurality of light emitting elements being equally spaced from each other from one end portion of the first casing to another end portion of the first casing in a first row, a light receiving unit having a second casing and a corresponding number of light receiving elements as the number of the light emitting elements being equally spaced from each other from one end portion of the second casing to another end portion of the second casing in a second row, a light emitting circuit installed into the light emitting unit for driving the light emitting elements forming the optical axes, a light receiving circuit installed into the light receiving unit for processing a first signal from the light receiving elements forming the optical axes with the light emitting elements, a status output circuit for outputting a binary signal corresponding to each of a first status being a light through status to all of the optical axes and a second status being a light blocked status to at least one optical axis based on a second signal from the light receiving circuit, a diagnosis device for diagnosing a malfunction of the light emitting circuit, the light receiving circuit and the status output circuit, a first indicating portion disposed at each of the light emitting and receiving units comprising a plurality of first indicating elements being in the same row of each of the light emitting and receiving elements with no-interference to each of the light emitting and receiving elements, a second indicating portion disposed at one of the light emitting and receiving units and comprising a plurality of second indicating elements being out of the same row of one of the light emitting and receiving elements of the units having the second indicator portion with no-interference to one of the light emitting and receiving elements of the units having the second indicator portion and an indicating control portion for turning on the plurality of the first indicating elements of the first indicating portion to show the first and second rows of the units when the binary signal indicating the first status is output by the status output circuit and indicating a result of the diagnosis based on the diagnosis device with a predetermined turn-on pattern of the plurality of the second indicating elements of the second indicating portion when a malfunction is diagnosed by the diagnosis device.
According to the present invention, in a normal mode, since all of the optical axes has a light through status as a first status, all of the indicating elements are turned on.
Therefore, since an operator can see the area forming the light curtain, it is easy to prevent an object intrusion into the light curtain.
Further, since the indicating elements are disposed along a row forming a plurality of the light emitting and receiving elements, the width of the indicating elements and the light emitting or receiving elements becomes narrow.
Preferred embodiments of the present invention will be described in view of the drawings.
In
Each of the light emitting and receiving units 2 and 3 is able to extend as a series connection by adding one building module M1 to another building module M1.
In
Similarly, the N number of light receiving elements 8 are the same number as the light emitting elements 7 of the light emitting unit 2 and are disposed in a casing 4 of the light emitting unit 3 having an elongated shape along a longitudinal direction Z. Further, each of the light emitting elements 8 is also disposed with an interval distance being equal to the interval distance between the light emitting elements 7.
The light emitting and receiving units 2 and 3 are disposed at the same two-dimensional plane and are facing each other to form a safety light curtain between the light emitting and receiving units 2 and 3.
In more detail, the light curtain is formed by emitting a light beam from each light emitting element 7 of the light emitting unit 2 to each light receiving element B of the light receiving unit 3. Each numeral 10 shows a light axis indicating an emitting light from each light emitting element 7 to each light receiving element 8.
For example, referring to
The light emitting unit 2 has the N number of the light emitting elements 7 like the light-emitting diodes, the N number of light emitting circuits 12 for driving the light emitting elements 7 respectively, an element switching-circuit 13 for scanning the light emitting circuits 12 with time-sharing and a light emitting control circuit 14 for controlling the light emitting unit 2 as a whole.
The light emitting control circuit 14 generates a light emitting timing to emit the N number of the light emitting elements 7 in turn by receiving a clock signal from a clock generating circuit 15.
The light emitting unit 2 also includes a communication control circuit 17 for controlling communication between the light emitting and receiving units 2 and 3, for example controlling communication of the timing signal and communication with the additional extended light emitting unit 2. The light emitting control circuit 14 receives an order from the light receiving unit 3 and activates the N number of the light emitting circuit 12 in a series.
Thus, each light emitting toward the light receiving unit 3 is carried out with a predetermined light emitting timing from the light emitting element 7 corresponding to a first optical axis 10 through the light emitting element 7 corresponding to N-th optical axis 10 in a series.
The light receiving unit 3 has the N number of the light receiving elements 8, the N number of light receiving circuits 18 for driving the light receiving elements 8 respectively, an element switching circuit 19 for scanning the light receiving circuits 18 with time-sharing and a light receiving control device 20 for controlling the light receiving unit 3 as a whole. The light receiving control device 20 receives a clock signal from a clock generating circuit 21 to activate the N number of the light receiving elements 8 in a series.
Further, the light emitting unit 3 also includes a communication control circuit 23 for controlling communication between the light emitting and receiving units 2 and 3, for example controlling communication of the timing signal and communication with the additional extended light receiving unit 3. The light receiving control device 20 receive the timing signal from the light emitting unit 2 and activates the N number of the light receiving circuit 18 in a series to receives outputs of the light receiving elements 8 corresponding to emitted light beams in a series from the light emitting unit 2.
Displacement of the Light Emitting Unit 2 and Light Receiving Unit 3
The light emitting and receiving units 2 and 3 as a pair unit can be provided with several layouts. For example, in the case of a press machine, the units 2 and 3 can be disposed so as to surround the press machine like a U-shaped and in the case of a conveyer, the units 2 and 3 can be disposed at the entrance and exit.
Module M1 Through M3
As shown in
In more detail, the connector 6 of the module M2 is a conventional male or female shaped connector and one connector 6 of the module M1 connected to the connector 6 of the module M2 is the other shaped connector against the connector 6 of the module M2. Further, the other connector 6 of the module M1 connected to the other extended module M1 is the same type connector to the connector 6 of the module M2.
On the other hand, the light receiving unit 3 has one or more optical axis module M1 as the building module and one light receiving control module M3. Each optical axis module M1 is connected to the other optical axis module M1 by way of a connector 6 in a series. Further, the other end portion of the connected optical axis module M1 is connected to the light receiving control module M3 by way of the other connector 6.
In more detail, the connector 6 of the module M3 is one of a conventional male or female shaped connector and one connector 6 of the module M1 connected to the connector 6 of the module M3 is the other shaped connector against the connector 6 of the module M3. Further, the other connector 6 of the module M1 connected to the other extended module M1 is the same type connector to the connector 6 of the module M3.
Each of the light emitting and receiving control modules M2 and M3 is connected to the communication line L1 by way of communication control circuits 17 and 23 respectively.
Optical Axis Module M1
As shown in
For example, the first indicating element 31a is two light-emitting diodes having a red emitting color and green emitting color. The two light-emitting diodes are selected by the first indicating controller 31b to indicate the current status of the relationship between the units 2 and 3.
One indicating element as the first indicating element 31a is provided to one optical axis module M1 as a preferred first embodiment of the present invention. In other words, the number of the first indicating elements 31a is smaller than the number of the optical axes 10 installed into the each of the light emitting and receiving units 2 and 3.
Light Emitting Control Module M2
The light emitting control module M2 is a sort of the optical axis module and has the light emitting elements 7, the light emitting circuits 12, the element switching circuit 13, the first indicating elements 31a, a first indicating control portion 31b, the light emitting control circuit 14, the clock generating circuit 15 and the communication control circuit 17.
Light Receiving Control Module M3
The light receiving control module M3 is a sort of an optical axis module and has the light receiving elements 8, the light receiving circuits 18, the element switching circuit 19, the first indicating elements 31a and a first indicating control portion 31b, an input-output portion 5, the light receiving control portion 20, the clock generating circuit 21, the communication control circuit 23, a second indicating portion 32 including a plurality of second indicating elements 32a and a second indicating control portion 32b for controlling the second indicating elements 32a.
For example, the second indicating element 32a has two light-emitting diodes like the first indicating elements 31a and is able to select one specified color from red and green.
Further, in
Signal Lines L11 Through L14
As shown in
The element switching circuits 13 are connected to each other by way of the line L13 and also connected to the light emitting control circuit 14 of the light emitting control module M2 by way of line L13.
The first indicating control portions 31b of the modules M1 as the light receiving side are connected to each other by way of a signal line L11 and also connected to the light receiving control portion 20 of the light emitting control module M3 by way of line L11.
The element switching circuits 19 of the light receiving side are connected to each other by way of the line L14 and also connected to the light receiving control portion 20 of the light emitting control module M3 by way of line L12.
Casing 4
As shown in
As shown in
As shown in
Further, as shown in
Accordingly, an outermost light emitting or receiving element 7 or 8 disposed at the both ends of all of the light emitting or receiving elements 7 or 8 in the casing 4, is disposed in the end casing 40, especially adjacent to the closed end portion 40b.
Furthermore, as shown in
As shown in
Further, one or more optical axis module M1 is installed into the casing 4 of the light receiving side and the light emitting control module M3 is also installed into the casing 4 of the light receiving side at one end portion of the casing 4.
According to the above-mentioned embodiment, the light emitting control module M2 has the light emitting elements 7 and the light receiving control module M3 has the light receiving elements 8. However, it is also preferred that each of the control modules M2 and M3 has no element 7 or 8.
Displacement of the First Indicating Elements 31a
The casing 4 of the light emitting side and the casing 4 of the light receiving side are confronted with each other as shown in
The light emitting elements 7 are disposed along the longitudinal direction Z and the light receiving elements 8 are also disposed along the longitudinal direction Z.
Each of the first indicating portion 31 comprising a plurality of the first indicating elements 31a, is disposed at a portion being on a line including all of the light emitting elements 7 or receiving elements 8 along the longitudinal direction Z and where there is no-interference to the light emitting or receiving elements 7 and 8.
In other words, each of the first indicating elements 31a is disposed between the light emitting elements 7 or light receiving elements 8 on the longitudinal direction Z which is positioned on all of the light emitting or receiving elements 7 and 8.
Further, each of the first indicating elements 31a has approximately the same pitch to the adjacent first indicating element 31a on a center line Z1 along the longitudinal direction Z.
As shown in
The first indicating elements 31a disposed at both end portions of each of the light emitting and receiving units 2 and 3 are installed into each of the end casings 40. Further, the center line Z1 is disposed at a center portion against a transverse direction X of the casing 4.
As shown in
Therefore, a distance between the outermost optical axis 10 installed into the casing 40 and the closed end portion 40b of the casing 40 is closer than a distance between the first indicating element 31a installed into the end casing 40 and the closed end portion 40b.
Displacement of the Second Indicating Elements 32a
The second indicating portion 32 comprising a plurality of the second indicating elements 32a is disposed at a place being out of the center line Z1 on a surface of the light receiving unit 3 facing the light emitting unit 2 and having no-interference to any of the light receiving elements 8.
Further, the second indicating portion 32 is also located on the surface of the light emitting unit 2 facing the light receiving unit 3.
Furthermore, the second indicating portion 32 is located at the both of the light emitting and receiving units 2 and 3.
Input-output Portion 5
The input-output portion 5 has a function for inputting and outputting from and to an external device (not shown) as a controller function.
The input-output portion 5 has safety and non-safety output control circuits (not shown) which output a signal to a safety control device or non-safety control device when a hazardous source like a press machine is detected.
The light receiving control portion 20 of the light receiving control module M3 shown in
The input-output portion 5 controls the light emitting unit 2, the light receiving unit 3 and the press machine or the other control devices connected to the input-output portion 5 based on a signal output from the light receiving control portion 20.
For example, the multi-optical axis photoelectric sensor 1 can be installed with several modes, including a normal mode, a mute mode, an optical axis setting mode and a diagnosis mode or the like.
Normal Mode
The normal mode is a mode for detecting an object intruding into the light curtain area based on a status of the optical axes forming between the light emitting elements 7 and the light receiving elements 8, especially a light through status and a light blocked status.
In the normal mode, the status output circuit 33 shown in
In the normal mode, the input-output portion 5 turns on the first indicating elements 31a of the first indicating portion 31 for indicating a detection area formed by the optical axes 10 based on the received binary signal and also turns on the second indicating elements 32a of the second indicating portion 32 based on the output status of the status output circuit 33.
In more detail, in the normal mode, the input-output portion 5 turns on the first indicating elements 31a with one of a predetermined turn-on patterns based on the status signal from the status output circuit 33.
For example, the input-output portion 5 turns on all of the first indicating elements 31a to “green-color”, when the input-output portion 5 receives the binary signal indicating the first status. On the other hand, when the input-output portion 5 receives the binary signal indicating the second status, the external device like the press machine or the like connected to the input-output portion 5 stops the operation based on the output signal from the input-output portion 5.
At the same time, the input-output portion 5 turns off the first indicating elements 31a corresponding to the optical axis modules M1, M2 and M3 having the optical axis being the light blocked status and turns on the first indicating elements 31a corresponding to the optical axis modules M1, M2 and M3 having the optical axis being the light through status to “red-color”.
Further, in case of input-output portion 5 receiving the binary signal indicating the second status, it is also preferred that all of the second indicating elements 32a turns on with “red-color” based on the output signal from the input-output portion 5 at the same time to the above-mentioned action to the first indicating elements 31a.
One preferred example for a turn-on pattern in view of
As shown in
Further, when the optical axis 101 located at the closest position to the end portion of one end casing 40 becomes the light through status and at least one of the other optical axes 102 through 10n becomes the light blocked status, the first indicating element 31a1 corresponding to the modules M2 and M3 including the light emitting and receiving elements 7 and 8 respectively forming the optical axis 101 located at the closest position to the end portion of the one end casing 40, turns on with “red-color”.
Similarly, when the optical axis 10n located at the closest position to the end portion of another end casing 40 becomes the light through status and at least one of the other optical axes 101 through 10n-1 becomes the light blocked status, the first indicating element 31am corresponding to the modules M1 including the light emitting and receiving elements 7 and 8 respectively forming the optical axis 10n located at the closest position to the end portion of another end casing 40, turns on with “red-color”.
Furthermore, when the optical axes 101 and 10n located at the closest position to the end portions of the both end casings 40 becomes the light through status and at least one of the other optical axes 102 through 10n-1 becomes the light blocked status, all of the first indicating elements 31a2 through 31am-1 corresponding to the intermediate casing 41 in addition to the first indicating elements 7 corresponding to both end casings 40, turn on with “red-color”.
In addition to the above explanation, when the optical axis 101 located at the closest position to the end portion of one end casing 40 becomes the light blocked status, the first indicating elements 31a1 and 31a2 through 31am-1 corresponding to the modules M1, M2 and M3 having the light emitting and receiving elements 7 and 8 forming the optical axes being the blocked status, turn off.
Similarly, when the optical axis 10n located at the closest position to the end portion of another end casing 40 becomes the light blocked status, the first indicating elements 31am and 31a2 through 31am-1 corresponding to the modules M1 having the light emitting and receiving elements 7 and 8 forming the optical axes being the blocked status, turn off.
Namely, when only the optical axes 101 located at the closest position to the end portions of the one end casing 40 becomes the light through status, only the first indicating element 31a1 corresponding to the modules M2 and M3 including the light emitting and receiving elements 7 and 8 respectively forming the optical axis 101 located at the closest position to the end portion of the one end casing 40, turns on with “red-color” and the other first indicating elements 31a2 through 31am corresponding to the other axes turn off.
Similarly, when only the optical axes 10n located at the closest position to the end portions of another end casings 40 becomes the light through status, only the first indicating element 31am corresponding to the modules M1 including the light emitting and receiving elements 7 and 8 respectively forming the optical axis 10n located at the closest position to the end portion of another end casing 40, turns on with “red-color” and the other first indicating elements 31a1 through 31am-1 corresponding to the other axes turn off.
In case of the above-mentioned turn on patterns, when the multi-optical axis photoelectric sensor 1 is set, it is easy to adjust the optical axes forming between each of the light emitting and receiving elements 7 and 8 of the light emitting and receiving units 2 and 3. One of the both end optical axis 101 or 10n is adjusted and another of the both end optical axis 101 or 10n is adjusted with viewing the status indicated by the first indicating element 31a1 through 31am.
As a different turn on pattern, it is also preferred when at least one optical axis is a light blocked status, only the first indicating element 31a corresponding to the modules M having the light emitting and light receiving elements 7 and 8 forming the light blocked optical axis, turns off and the other first indicating elements 31 corresponding to the modules M having the light emitting and light receiving elements 7 and 8 forming the light through optical axis, turn on with “red-color”.
In this case, when all of the optical axes 10 become the light through status, all of the first indicating elements 31a turn on with “green-color”.
This turn on pattern is also useful to adjustment of the optical axes of the multi-optical axis photoelectric sensor 1.
The multi-optical axis photoelectric sensor 1 is able to diagnose a malfunction of the light emitting circuit 12, the light receiving circuit 18 and the status output circuit 33. As a result of the diagnosis, the diagnosis device 34 sends a signal indicating whether there is a malfunction of these circuits 12, 18 and 33 or not to the input-output portion 5.
In the diagnosis mode, the first indicating elements 31a are turned on with one of the predetermined turn on patterns by the input-output portion 5, after the input-output portion 5 receives the diagnosis signal from the diagnosis device 34.
For example, in the case of input-output portion 5 receiving the diagnosis signal indicating at least one of the circuits 12, 18 and 33 malfunctioning, it is preferred that all of the first indicating elements 31a repeats to turn on with “red-color” and turn off as flashing.
Further, in addition to the above action of the first indicating elements 31a, it is also preferred that the second indicating elements 32a are turned on with a predetermined turn on pattern by the input-output portion 5 so as to communicate malfunction and the portion having the malfunction to an operator.
Furthermore, in the above embodiment, the status output circuit 33 is a sort of a circuit for operating the above-mentioned function. However, it is also preferred that the above-mentioned function of the status output circuit 33 be carried out by a programmed software.
Mute Mode
A mute mode is a mode for deactivating a security function like the normal mode of the multi-optical axis photoelectric sensor 1 temporarily, when an object passes through the safety light curtain comprising all of the optical axes 10.
In the case of the muting mode, the status output circuit 33 outputs a signal corresponding to the first status regardless of the optical axes being the light through or the light blocked status to the input-output portion 5.
Further, in the case of the mute mode, the first indicating elements 31a of the first indicating portion 31 is turned on with a predetermined pattern corresponding to the first status signal from the status output circuit 33 by way of the input-output portion 5 and the second indicating portion 32 indicating information about the mute mode.
For example, in the case of the mute mode, all of the first indicating elements 31a turn on with “green-color” and the second indicating elements 32a repeat to turn on with “green-color” and turn off to inform the mute mode to the operator.
Further, at each of the above-mentioned modes, it is also preferred to use different patterns except for the above-explained patterns. Furthermore, the operator of the multi-optical axis photoelectric sensor 1 can set a desired pattern to each mode.
In addition to the above-mentioned modes, when the multi-optical axis photoelectric sensor 1 has the other modes including an interlock release mode or override mode, the multi-optical axis photoelectric sensor 1 has any independent pattern for each of these modes.
A second preferred embodiment of the present invention in view of
As shown in
The multi-optical axis photoelectric sensor 1 has a flat-shaped cable 45 including a first and second communication lines L21 and L22, the optical axis module M10, the indicating module M11 and first and second fixing tools 46 and 47 for fixing the optical axis module M10 and the indicating module M11 to the flat-shaped cable 45 respectively.
According to the first embodiment of the present invention, since one of the first indicating elements 31a corresponds to one optical axis module M1, M2 or M3 having a plurality of the light emitting or receiving elements 7 or 8, the number of the optical axis modules M1, M2 and M3 is equal to the number of the first indicating elements 31a.
However, according to the second embodiment of the present invention, since each optical axis module has one light emitting or receiving element 7 or 8, a zone concept is provided instead of the module concept to provide the first indicating element 31a to the optical axes 10.
In other words, along the longitudinal direction of the unit 2 or 3, all of the optical axes provided by all of the optical axis modules are separated into several zones as an embodiment of the present invention.
In more detail, as shown in
The flat-shaped cable 45 has the first communication line L21 to electrically connect a plurality of the optical axis modules M10 to each other and the second communication line L22 to electrically connect a plurality of the indicating modules M11 to each other.
Further, it is also preferred that the optical axis module M10 has two or more of the light emitting or receiving elements 7 or 8. At this case, it is preferred that one of the first indicating elements 31a is provided to each module having two optical axes or provided to a zone comprising several modules in a series along the longitudinal direction.
Since the other elements of the second embodiment are substantially the same as the first embodiment, a detailed explanation of these elements has been omitted for brevity of description.
A third preferred embodiment of the present invention in view of
As shown in
Similar to the second embodiment of the present invention, since each optical axis module M10 has one light emitting or receiving element 7 or 8, a zone concept is provided instead of the module concept to provide the first indicating element 31a to the optical axes 10.
Therefore, in a case shown in
In more detail, in this case, one of the first indicating elements 31a disposed at the second optical axis module M20 corresponds to two of the light emitting or receiving elements provided at each of the first and second optical axis modules M10 and M20 in a series along the longitudinal direction of the unit 2 or 3.
Further, it is also preferred that each of the first optical axis module M10 and second optical axis module M20 has two or more of the light emitting or receiving elements 7 and 8.
In this case, it is preferred that one of the first indicating elements 31a is provided to each module having two optical axes or provided to a zone comprising several modules comprising the first and second optical axis modules in a series along the longitudinal direction.
Since the other elements of the third embodiment are substantially the same to the first and second embodiments, a detailed explanation of these elements has been omitted for brevity of description.
As shown in
As shown in
As shown in
As shown in
As shown in
As shown in
Further, as described in above paragraph; “Displacement of the second indicating elements 32a”, as shown in
Also, as another system, the system comprises three of the light emitting units 2, 2 and 2 and three of the light receiving units 3, 3 and 3 having a U-shape indicated in
In these systems, since each optical axis 10 is disposed on the center line Z1 of each unit in the transverse direction of the unit, it is easy to provide a pitch P that is the same as pitch P provided on a straight line Li of each unit to a corner portion Co comprising one end portion of one unit and one end portion of another unit forming 90 degrees.
In the above first embodiment of the present invention, the input-output portion 5 is installed into the light receiving unit 3. However, it is not necessary to provide the input-output portion 5 into the light receiving unit 3. It is also preferred that an outer controller 5B may have the input-output portion 5 as shown in
Although the present invention has been fully described by way of example with reference to the accompanying drawings, it is to be understood that various changes and modifications will be apparent to those skilled in the art.
Therefore, unless such changes depart from the scope of the invention as defined by this specification and claims, they should be construed as being included herein.
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