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    • 4. 发明授权
    • Robot controller
    • 机器人控制器
    • US07129664B2
    • 2006-10-31
    • US11360420
    • 2006-02-24
    • Hitoshi KuboNaoyuki Matsumoto
    • Hitoshi KuboNaoyuki Matsumoto
    • G05B19/10
    • G05B19/4155B25J9/1664G05B2219/40519
    • A robot hand is moved at a moving speed in direct movement from a start position to an end position. When the robot hand passes through a setting position on a movement route from the start position to the end position, a setting position passing signal is outputted. At this time, a robot controller does not lower the moving speed of the robot hand before and after arrival at the setting position. Therefore, the reduction in the moving speed of the robot hand due to existence of the setting position can be prevented and the movement time of the robot hand can be prevented from undesired prolongation. By doing this, the cycle time can be shortened and the operability of the robot can be improved.
    • 机器人手以从开始位置到结束位置的直接移动的移动速度移动。 当机器人手通过从起始位置到结束位置的移动路线上的设定位置时,输出设定位置通过信号。 此时,机器人控制器在到达设定位置之前和之后不降低机器人手的移动速度。 因此,可以防止由于设定位置的存在而导致的机器人手的移动速度的降低,并且能够防止机器人手的移动时间不期望的延长。 通过这样做,能够缩短循环时间,提高机器人的操作性。
    • 6. 发明授权
    • Apparatus and method for supervising multiprocessor communications using
messages transmitted between processors in a circular fashion
    • 使用以循环方式在处理器之间传输的消息来监督多处理器通信的装置和方法
    • US5463763A
    • 1995-10-31
    • US89636
    • 1993-07-12
    • Hitoshi Kubo
    • Hitoshi Kubo
    • G06F11/30G06F11/00G06F15/16G06F15/173G06F15/177
    • G06F11/0757G06F11/0724G06F11/2028G06F11/2035H04L41/0677H04L45/00
    • A multiprocessor system includes a plurality of processors each of which functions a data processing node. Each of the processors comprises an address management table in which prior node and next node addresses which are respectively assigned to its prior node and next node processors, a normal message transmitting section for transmitting to the next node processor designated by the next node address a normal operation message indicating that it is operating normally and a message supervising section for receiving and supervising a message transmitted from its prior node processor designated by the prior node address and detecting the occurrence of a failure in its prior node processor according to whether or not a normal operation message indicating that the prior node processor is operating normally is transmitted from the prior node processor within a preset monitoring time.
    • 多处理器系统包括多个处理器,每个处理器对数据处理节点起作用。 每个处理器包括地址管理表,其中分别分配给其先前节点和下一个节点处理器的先前节点和下一个节点地址,正常消息发送部分,用于向下一个节点地址指定的下一个节点处理器发送正常 指示其正常运行的操作消息和用于接收和监督从其先前节点地址指定的先前节点处理器发送的消息的消息监督部分,并且根据是否正常检测其先前节点处理器中的故障的发生 指示先前节点处理器正常运行的操作消息在预设监视时间内从先前节点处理器发送。
    • 9. 发明授权
    • Computer system with an access control unit for resource
    • 具有资源访问控制单元的计算机系统
    • US5251317A
    • 1993-10-05
    • US469209
    • 1990-01-24
    • Matoi IizukaHitoshi Kubo
    • Matoi IizukaHitoshi Kubo
    • G06F9/46G06F9/52G06F12/00
    • G06F9/52
    • In a computer system of the multi-task type, when a plurality of tasks execute related data processings, ID data specifically provided for the data processings is generated, and recorded. With the recorded ID, an exclusive control and a shared control in the access to a predetermined resource are performed. When, after a main task records ID data and makes an access to a resource, another task requests the access to the resource on the basis of another ID data, the access to the resource is prohibited or the resource rejects the access to it. When a sub task executing the data processing related to that executed by the main task makes an access to the resource by using the request and the ID data both supplied from the main task, the sub task can access to the resource.
    • 在多任务类型的计算机系统中,当多个任务执行相关的数据处理时,产生专门为数据处理提供的ID数据并被记录。 利用记录的ID,执行对预定资源的访问中的排他控制和共享控制。 当主要任务记录ID数据并访问资源之后,另一个任务在另一个ID数据的基础上请求对资源的访问,对资源的访问被禁止或资源拒绝对其进行访问。 当执行与主任务执行的数据处理相关的子任务通过使用从主任务提供的请求和ID数据来访问资源时,子任务可以访问资源。
    • 10. 发明授权
    • Method for controlling process priority in semaphore operation
    • 控制信号量操作过程优先级的方法
    • US5241676A
    • 1993-08-31
    • US523816
    • 1990-05-15
    • Hitoshi Kubo
    • Hitoshi Kubo
    • G06F9/46G06F9/52
    • G06F9/52
    • In the P operation of a semaphore operation, the semaphore priority set in the semaphore is compared with the process priority of an execution process. When the semaphore priority is higher than the process priority of the execution process, the process priority is changed to the semaphore priority and the process is executed in accordance with the changed process priority. In the V operation, on the other hand, the semaphore priority is compared with the process priority of the first process which is placed in the wait state. When the semaphore priority is higher than the process priority of the first process in the wait state, the process priority is changed to the semaphore priority and the process is placed in the ready state. Furthermore, the process priority of the process in the ready state is compared with the process priority of an execution process. When the process priority of the process in the ready state is higher than the process priority of the execution process, the execution process is placed in the ready state.
    • 在信号量操作的P操作中,将信号量中设置的信号量优先级与执行过程的进程优先级进行比较。 当信号量优先级高于执行过程的进程优先级时,将过程优先级更改为信号量优先级,并根据更改的进程优先级执行进程。 另一方面,在V操作中,将信号量优先级与放置在等待状态的第一进程的进程优先级进行比较。 当信号量优先级高于等待状态下的第一进程的进程优先级时,将进程优先级更改为信号量优先级,并将进程置于就绪状态。 此外,将处于就绪状态的进程的进程优先级与执行进程的进程优先级进行比较。 当处于就绪状态的进程的进程优先级高于执行进程的进程优先级时,执行进程处于就绪状态。