Abstract
This paper presents plug-in automatic charge of omnidirectional mobile robot with active casters. In this system, a camera on the robot detects an outlet on wall and a plug on the robot is inserted in the outlet by only movement of robot. Because this system needs no stations for automatic charge of robot, this system provides space saving and improvement of efficiency for robot task. Outlet is detected by feature values of contours. Distance and angle of outlet are measured by geometric relation of object and picture. Furthermore, it is confirmed that camera enables robot to approach outlet by experiment. Hereafter, robot will be installed plug and experiment of plug-in automatic charge will be tried.
