发明名称 |
Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium |
摘要 |
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. |
申请公布号 |
US7061199(B2) |
申请公布日期 |
2006.06.13 |
申请号 |
US20050108047 |
申请日期 |
2005.04.14 |
申请人 |
SONY CORPORATION |
发明人 |
TSURUMI SHINGO |
分类号 |
A63H11/00;B25J5/00;B25J13/08;B25J19/00;B25J19/02;G05D1/02;H02J7/00 |
主分类号 |
A63H11/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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