Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium
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Accused Products
Abstract
A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus 1 is to find the direction and the distance to the electrical charging device 100, a CCD camera 20 finds the direction vector of the marker from the photographed image. This direction vector is transformed into a position vector of a camera coordinate system {c} and further into a position vector of the robot coordinate system {b}. The coordinate in the height-wise direction in the robot coordinate system {b} is compared to the pre-stored height to find the distance between the markers and the robot apparatus and the direction of the robot apparatus.
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Citations
26 Claims
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1-25. -25. (canceled)
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26. 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 at least one marker provided at a predetermined position; -
said robot apparatus including imaging means for imaging a surrounding state and movement means to move said robot apparatus;
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; and
operation controlling means for performing control for driving said movement means, 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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Specification