Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2006-06-13
2006-06-13
Ip, Paul (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S580000, C701S025000, C701S028000
Reexamination Certificate
active
07061199
ABSTRACT:
A robot apparatus1is to be electrically charged autonomously. An electrical charging device100is provided with two markers, namely a main marker118and a sub-marker119, and the heights of the markers are pre-stored in the robot apparatus. When the robot apparatus1is to find the direction and the distance to the electrical charging device100, a CCD camera20finds 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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Frommer William S.
Frommer & Lawrence & Haug LLP
Ip Paul
Sony Corporation
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