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Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium

  • US 20040012362A1
  • Filed: 03/26/2003
  • Published: 01/22/2004
  • Est. Priority Date: 03/27/2002
  • Status: Active Grant
First Claim
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1. An electrical charging system including a robot apparatus and an electrical charging device, said robot apparatus having built-in a power supply unit for driving and adapted for acting autonomously responsive to an inner state, said electrical charging device electrically charging said power supply unit, wherein said electrical charging device includes a marker provided at a predetermined position;

  • said robot apparatus including imaging means for imaging a surrounding state;

    storage means having the information on the position of said marker pre-stored therein;

    position vector calculating means for calculating the distance and the direction to said marker from the information on said marker position stored in said storage means and from an image including the marker position, photographed by said imaging means;

    operation controlling means for performing control for causing movement of said robot apparatus towards said electrical charging device depending on the distance and the direction to said marker calculated by said position vector calculating means.

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