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

• US 6,965,211 B2
• Filed: 04/14/2005
• Issued: 11/15/2005
• Est. Priority Date: 03/27/2002
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Tsurumi, Shingo
• Primary Examiner(s): Ip, Paul
• Application Number:
  US11/107,664
• Publication Number:
  US 20050194921A1
• Time in Patent Office: 215 Days
• Field of Search: 318/568.12, 318/568.13, 318/568.16, 318/587, 700/245, 701 23- 25, 320/107
• US Class Current: 318/568.13
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: H02J 7/00 Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries

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.

Claims

1. In an electrical charging system including a robot apparatus and an electrical charging device, said robot apparatus having movement means and a built-in power supply unit for driving and adapted for acting autonomously responsive to an inner state, a program for allowing said robot apparatus to execute charging processing of electrically charging said power supply unit, said program comprising:

an imaging step of imaging a surrounding state;

a position vector calculating step of calculating the distance and direction to a marker from an image of said marker provided to an electrical charging device, photographed by said imaging step, and from the pre-stored information on said marker; and

a movement controlling step of performing control by driving said movement means to cause movement of said robot apparatus towards said electrical charging device depending on the distance and direction to said marker calculated by said position vector calculating step.