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    • 7. 发明申请
    • CONTROL APPARATUS AND CONTROL METHOD
    • 控制装置和控制方法
    • US20110219262A1
    • 2011-09-08
    • US12948746
    • 2010-11-17
    • Mitsuru MAEJIMAYasuyuki Nagata
    • Mitsuru MAEJIMAYasuyuki Nagata
    • G06F11/20
    • G06F11/20
    • A control apparatus controls a first and a second power supply units having a redundant configuration and converters connected to respective outputs of the power supply units. The power supply units generate a plurality of voltages and supply a storage device with the generated voltages through the respective converters. The control apparatus includes a determination unit for determining whether an abnormality occurs in a first voltage that the first power supply unit generates, upon the second power supply unit failing, and an instruction unit for instructing the converter connected to the first power supply unit to generate the first voltage on the basis of a second voltage that the first power supply unit generates, upon the abnormality occurring in the first voltage of the first power supply unit.
    • 控制装置控制具有冗余配置的第一和第二电源单元和连接到电源单元的相应输出的转换器。 电源单元产生多个电压,并通过相应的转换器向存储装置提供产生的电压。 控制装置包括:判定单元,用于在第二电源单元发生故障时,确定第一电源单元产生的第一电压是否发生异常;以及指示单元,用于指示连接到第一电源单元的转换器产生 基于第一电源单元在第一电源单元的第一电压中发生异常时第一电源单元产生的第二电压的第一电压。
    • 10. 发明授权
    • Image processing apparatus
    • 图像处理装置
    • US5452370A
    • 1995-09-19
    • US163404
    • 1993-12-07
    • Yasuyuki Nagata
    • Yasuyuki Nagata
    • G06T1/00G06K9/00
    • G06K9/00G06T1/0014
    • An image processing apparatus calculates a feature of an object for recognition with a high degree of accuracy. Image information taken by a camera attached to a robot is first digitized and then stored into an image memory. A program in a robot program storage section includes instructions for operation of the robot and an instruction requesting an image processing CPU to extract a feature for recognition of an object being worked upon (e.g., a ring with a projection). In response to an instruction from a robot instruction analyzing and executing section, the image processing CPU determines a removal range for image information in the image memory, extracts a feature (e.g., a projection) of the object for recognition (e.g., a ring with a projection), executes a calculation regarding the feature (e.g., a moment calculation and so forth) and delivers a result of the calculation to the robot instruction analyzing and executing section. The robot grasps the object in accordance with the result of the calculation received.
    • 图像处理装置以高精度计算用于识别的对象的特征。 首先将附接到机器人的照相机拍摄的图像信息数字化,然后存储到图像存储器中。 机器人程序存储部分中的程序包括用于操作机器人的指令和请求图像处理CPU提取用于识别被处理对象的特征(例如,具有投影的环)的特征的指令。 响应于来自机器人指令分析和执行部分的指令,图像处理CPU确定图像存储器中的图像信息的去除范围,提取用于识别的对象的特征(例如,投影)(例如,具有 投影),执行关于特征的计算(例如,力矩计算等),并将计算结果传递给机器人指令分析和执行部。 机器人根据收到的计算结果来掌握物体。