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Title:
充電システム及び充電制御方法、ロボット装置、及び充電制御プログラム及び記録媒体
Document Type and Number:
Japanese Patent JP4032793
Kind Code:
B2
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.

Inventors:
Shingo Tsurumi
Application Number:
JP2002090026A
Publication Date:
January 16, 2008
Filing Date:
March 27, 2002
Export Citation:
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Assignee:
ソニー株式会社
International Classes:
A63H11/00; B25J5/00; B25J13/08; B25J19/00; B25J19/02; G05D1/02; H02J7/00
Domestic Patent References:
JP2001125641A
JP2002059389A
JP2001325023A
Attorney, Agent or Firm:
Akira Koike
Eiichi Tamura
Seiji Iga