移動ロボットの自動充電のためのプラグインドッキングの研究

―片方に別のプラグが挿入されているコンセントへのドッキング―

抄録

In general, the autonomous robots charge their batteries by using exclusive docking stations. However, these robots’ operating range are limited around charging station’s area and it takes cost each time to set up a new charging point. In previous researches, to solve those problems, we suggested a new charging method called “Plugin-docking system” that inserts charging plug into outlet directly with the image measurement of outlet’s position and angle. In this paper, we propose new measurement methods of the angle of outlet in order to do the Plugin-docking more successfully for the outlet that another plug is inserted.