JP2003079062A - Charging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To cope with various robot apparatuses and devices. SOLUTION: The charging device comprises a charging core part 101 to supply power mainly from an AC adapter to a battery 17 for a robot apparatus 1, a mounting pedestal 102 which has a recess with a shape conforming to the belly of the robot apparatus 1, and a fixing screw 103 to fix the charging core part 101 and the mounting pedestal 102 detachably.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a charging device,
More specifically, the present invention relates to a charging device for a robot device having a moving means including a rechargeable battery.

[0002]

2. Description of the Related Art In recent years, there has been provided a robot apparatus having an external shape imitating animals such as dogs and cats and humans. Such a robot device is an AV (Audio Visual) device such as a portable small cassette reproducing device or an I (I) such as a portable information terminal.
Like T (Information Technology) related equipment,
It is equipped with a battery (rechargeable battery) and operates using this battery as a power source.

For example, as shown in FIG. 24, a charging device for charging a battery provided in a robot device is a dedicated charging device 300 designed exclusively for the robot device.
The dedicated charging device 300 is integrated by incorporating a charging unit having a charging function inside a dedicated housing 301 designed according to the shape of a target robot device. The charging terminal 302 of the charging unit is exposed on the main surface of the dedicated housing 301. When the robot device is placed on the dedicated housing 301, the charging terminal 302 is separated from the conductor provided in the robot device. Contact with a plate-shaped connecting terminal. As a result, the dedicated charging device 300 starts charging the battery provided in the robot device.

[0004]

By the way, since the above-mentioned dedicated charging device 300 is designed exclusively for the target robot device, it is applicable to robot devices other than the target, such as robot devices having different shapes and sizes. Can not do it. In addition, the dedicated charging device 300 cannot support AV equipment or IT-related equipment other than the robot device.

In order to deal with the robot devices, AV devices, and IT-related devices not covered by the above, even if the specifications of the charging unit of the dedicated charging device 300 are the same, the newly designed dedicated housing is It is necessary to design another new dedicated charging device that integrates the charging part inside. As a result, there is a problem in that a new design time, a manufacturing period, a manufacturing cost, and the like of another dedicated charging device are required, which causes various wastes.

[0006] Further, the user is required to purchase a dedicated charging device for each of the above-mentioned non-target robot devices, AV devices and IT-related devices,
There is a problem that the financial burden becomes large.

Therefore, the present invention has been proposed in view of the above-mentioned circumstances, and an object thereof is to provide a charging device capable of coping with various robot devices and equipment.

[0008]

In order to solve the above-mentioned problems, a charging device according to the present invention is electrically connected to a robot device in a charging device for a robot device having a moving means provided with a charging battery. A charging unit having a connecting means for storing the charging unit in a state where the connecting unit is exposed, and a mounting table on which the robot device is mounted at a position where the connecting unit is connected, and a charging unit stored in the mounting table. And a mounting table, and mounting means for detachably mounting the mounting table, and the charging section supplies at least electric power to the robot device mounted on the mounting table via the connecting means.

According to this charging device, the charging unit has the connecting unit for electrically connecting to the robot apparatus having the moving unit having the rechargeable battery, and the charging unit is stored and connected with the connecting unit exposed. By installing a mounting table for mounting the robot device at a position connected to the means, and mounting means for detachably attaching the charging unit and the mounting table stored in the mounting table, only the mounting table is replaced as necessary. can do.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the embodiments of the present invention, the present invention is applied to a charging device for a robot device having a moving means provided with a battery (charging battery), particularly for a robot device that walks on four legs.

This charging device stores a charging core portion having a connecting portion for electrically connecting with a robot device and a charging core portion in a state where the connecting portion is exposed, and the robot is located at a position where the connecting portion is connected. A mounting base for mounting the device, a charging core stored in the mounting base, and a mounting screw for removably attaching the mounting base, the charging core unit is connected to the robot device mounted on the mounting base. Supply at least power via.

In the embodiment of the present invention, the robot apparatus has a surrounding environment (external factor) and an internal state (internal factor,
For example, it is a robot device that autonomously behaves according to emotions, instincts, and the like.

This robot apparatus is a legged mobile robot apparatus having at least an upper limb, a trunk and a lower limb, and using only the upper limb and the lower limb or only the lower limb as a moving means. The legged mobile robot device includes a "pet type" robot device that imitates the body mechanism and movement of a quadruped animal, and the body mechanism and movement of a biped animal that uses only its lower limbs as a means of movement. Although there is an imitated “humanoid” robot apparatus, in the embodiment of the present invention, the robot apparatus is a quadruped type “pet type” robot apparatus.

This robot device supports human activities in various situations in daily life such as living environment and can act in accordance with internal conditions (anger, sadness, joy, enjoyment, etc.), and can also walk on four legs. It is an entertainment robot that can express the basic movements of animals.

This robot device has a head, a body, an upper limb, a lower limb, and the like. The number of actuators and potentiometers corresponding to the degrees of freedom of movement are provided at the connecting portions of the respective portions and the portions corresponding to the joints, and the target movement can be expressed by the control of the control portion.

Further, the robot apparatus is provided with an image pickup section for acquiring the surrounding condition as image data, various sensors for detecting an externally applied action, and a physical effect or the like received from the outside. Equipped with various switches. As an imaging unit, a small CCD (Charge-C
oupled Device) Use a camera. Further, various sensors include an angular velocity sensor that detects an angular velocity, a distance sensor that measures a distance to a subject imaged by a CCD camera, and the like. The various switches include a contact-type push switch that detects a touch by a user, an operation switch that detects a touch by a user, and the like. These are installed at appropriate locations outside or inside the robot apparatus.

The appearance of this robot apparatus will be described with reference to FIG. The robot device 1 includes a body unit 2
The leg units 3A, 3B, 3C, and 3D are connected to the front, rear, left, and right, the head unit 4 is connected to the front end of the body unit 2, and the tail 5 is provided to the rear end of the body unit 2. It is configured.

Next, a schematic structure of the robot apparatus 1 will be described with reference to FIG. The fuselage unit 2 has a C
PU (Central Processing Unit) 10, DRAM (Dyn
amic Random Access Memory) 11, Flash ROM
(Read Only Memory) 12, PC (Personal Compute
r) A control unit 16 formed by connecting the card interface circuit 13 and the signal processing circuit 14 to each other via an internal bus 15 and a battery 17 as a power source of the robot apparatus 1 are housed. .
Further, the body unit 2 houses an angular velocity sensor 18 and an acceleration sensor 19 for detecting the acceleration of the orientation and movement of the robot apparatus 1. Further, the body unit 2 has a speaker 2 for outputting a voice such as a cry.
0 is arranged at a predetermined position as shown in FIG. Further, the tail portion 5 of the body unit 2 is provided with an operation switch 21 as a detection mechanism for detecting an operation input from the user. The operation switch 21 is a switch that can detect the type of operation by the user, and the robot apparatus 1 is, for example, “praised” or “scolded” depending on the type of operation detected by the operation switch 21. Recognize

The head unit 4 is provided with a CCD (Charge Cou) for picking up an image of the external condition, color, shape, movement of an object.
pled device) camera 22, a distance sensor 23 for measuring a distance to an object located in front, a microphone 24 for collecting an external sound, an LED (Light Em), for example.
Light emitting parts 25 and the like provided with itting diodes are arranged at predetermined positions as shown in FIG. However, in the description of the configuration, the light emitting unit 25 may be LE
It shows as D25. Although not shown in FIG. 1, a head switch 26 as a detection mechanism that indirectly detects a user's contact with the head unit 4 is provided inside the head unit 4.
Is provided. The head switch 26 is, for example, a switch that can detect the tilt direction of the head when the head is moved by the contact of the user, and the robot device 1 detects the tilt direction of the head detected by the head switch 26. Recognize "praised" or "scold" depending on.

The joint portions of the leg units 3A to 3D,
Connection between the leg units 3A to 3D and the body unit 2
Minutes, in the connecting portion between the head unit 4 and the body unit 2
Is the actuator 28 for the number of degrees of freedom₁~ 28_nAnd po
Tension meter 29₁~ 29 _nAre installed respectively
It Actuator 28₁~ 28_nIs, for example, a servo
Equipped with a motor. By driving the servo motor, the legs
The units 3A to 3D are controlled to control the target posture or movement.
Transition to work. The "meat" at the tip of each leg unit 3A-3D
The position corresponding to the "sphere" is mainly touched by the user.
Pad ball switches 27A to 27D as a detection mechanism for detecting
Is provided so that it is possible to detect contact by the user.
ing.

In addition to the above, the robot apparatus 1 has a mode lamp (not shown here) for indicating an operation mode such as an autonomous mode in which it behaves autonomously and a stop mode in which it stops action, charging, and starting. , Battery 1 during start-up and stop
A state lamp or the like for indicating the state of 7 may be appropriately provided at an appropriate place.

Then, in the robot apparatus 1, various switches such as the operation switch 21, the head switch 26, and the meat ball switch 27, the angular velocity sensor 18, and the acceleration sensor 1 are used.
9, various sensors such as the distance sensor 23, the speaker 20,
Microphone 24, the light emitting unit 25, each actuator ₂₈ 21 to
8 _n , the potentiometers 29 _{1 to} 29 _n are connected to the control unit 1 via the corresponding hubs 30 ₁ to 30 _n.
6 is connected to the signal processing circuit 14. On the other hand, CCD
The camera 22 and the battery 17 are directly connected to the signal processing circuit 14, respectively.

The signal processing circuit 14 sequentially takes in the switch data supplied from the above-mentioned various switches, the sensor data supplied from various sensors, the audio data and the image data, and DRA via the internal bus 15 respectively.
The data is sequentially stored at a predetermined position in M11. Further, the signal processing circuit 14 sequentially takes in the battery remaining amount data representing the battery remaining amount supplied from the battery 17 and stores it in a predetermined position in the DRAM 11.

The switch data, the sensor data, the voice data, the image data, and the battery remaining amount data thus stored in the DRAM 11 are used when the CPU 10 controls the operation of the robot apparatus 1.

The CPU 10 reads the control program stored in the flash ROM 12 and stores it in the DRAM 11 at the initial stage when the power of the robot apparatus 1 is turned on. Alternatively, the CPU 10 loads a control program stored in a semiconductor memory device, for example, a so-called memory card 31 mounted in a PC card slot of the body unit 2 (not shown in FIG. 1) into the PC card interface circuit 1
The data is read out via the memory 3 and stored in the DRAM 11.

The CPU 10 uses the switch data, the sensor data, the voice data, the image data, and the battery remaining amount data which are sequentially stored in the DRAM 11 from the signal processing circuit 14 as described above, and the conditions of the self and the surroundings and the usage. It is judged whether or not there is any instruction or work from other persons.

Further, the CPU 10 and this determination result and D
The action based on the control program stored in the RAM 11 is determined. The CPU 10 drives, for example, a necessary actuator from the actuators 28 _{1 to} 28 _n based on the determination result, and thus, for example, the head unit 4
Is swung up and down, left and right, or each leg unit 3A to 3D is driven to walk. The CPU 10 also generates audio data as needed and supplies it to the speaker 20 via the signal processing circuit 14. Further, the CPU 10 generates a signal for instructing turning on / off of the light emitting unit 25, and the light emitting unit 2
Turn 5 on or off.

As described above, the robot apparatus 1 behaves autonomously in response to its own and surrounding conditions and instructions and actions from the user.

Further, the robot apparatus 1 accommodates a robot apparatus-side connecting portion for electrically connecting to a charging device or a power supply connector, which will be described later, near the chest of the body unit 2. As shown in FIG. 3, the robot apparatus-side connecting portion 51 is exposed from the inside of the robot apparatus 1 when the openable / closable shutter 55 is opened.

As shown in FIG. 4, the robot apparatus side connecting portion 51 has a plate-shaped robot apparatus side connecting terminal 52 made of a conductor, a guide surface 53 for attracting and guiding a power supply connector described later, and a power source described later. It is provided with a magnet provided in the supply connector and two iron plates 54 attracting the magnet.

The robot apparatus side connection terminal 52 is provided with a power supply terminal for supplying electric power to the battery 17, and a signal transmission terminal for transmitting information about the robot apparatus 1. The guide surface 53 is an inclined surface in which the wall surface of a substantially rectangular hole that surrounds the robot device-side connection terminal 52 is oblique. The iron plates 54 are provided at both ends of the guide surface 53 in the longitudinal direction.

The robot apparatus side connecting portion 51 is exposed from the inside of the robot apparatus 1 when the shutter 55 is opened by the user, and is electrically connected to a charging apparatus or a power supply connector described later.

Next, the charging device 100 for charging the battery 17 of the robot device 1 will be described in detail with reference to FIGS. Here, the charging device 10 in the separated state
5 is shown in FIG. 5, the appearance of the charging device 100 in an assembled state is shown in FIG. 6, the back surface of the charging core portion 101 constituting the charging device 100 is shown in FIG. 7, and the charging device in an assembled state. The back side of 100 is shown in FIG.
FIG. 9 is an external view of a mounting table (stand) 102 that constitutes 00.
Shown in.

As shown in FIG. 5, the charging device 100 is mainly composed of a DC power source (not shown) such as an AC (Alternat).
ing Current: AC) A charging core unit 101 that supplies electric power from an adapter to the battery 17 of the robot apparatus 1, a mounting table 102 on which the robot apparatus 1 is mounted, and a charging core unit 1
01 and the mounting table 102 are detachably attached to the mounting screw 103.

In the charging device 100, as shown in FIG. 6, the charging core portion 101 and the mounting base 102 are attached with the mounting screw 1.
03 is attached and assembled, and the power cord 121 of the AC adapter is inserted.

As shown in FIG. 5, for example, the charging core unit 101 has a connecting unit 104 for electrically connecting with the robot apparatus 1, a display unit 105 for displaying a state regarding the robot apparatus 1, and a display unit 105. The operation unit 106 for adjusting the information displayed on the display, the placement detection unit 107 that detects whether or not the robot apparatus 1 is placed, and the mounting screw 103 that is screwed as shown in FIG. Screw hole 108
And a storage detection unit 109 that detects whether or not the charging core unit 101 itself is stored in the mounting table 102, and a power plug 1 provided at the tip of a power cord 121 of the AC adapter.
At least a DC (Direct Current) insertion port (jack) 110 into which 22 is inserted is provided.

As shown in FIG. 5, for example, the charging core unit 101 has a substantially trapezoidal side surface, a display unit 105 and an operation unit 106 provided on the front surface, and a connection unit 104 and a placement detection unit 107 on the upper surface. Provided, and as shown in FIG.
A screw hole 108 and a storage detector 109 are provided on the lower surface,
An insertion port 110 is provided on the back surface. At this time, the front surface and the back surface are substantially parallel to each other, and the size of the back surface is smaller than that of the front surface.

As shown in FIG. 5, for example, the mounting table 102 includes a charging core storage section 111 for storing the charging core section 101, a robot apparatus mounting section 112 for mounting the robot apparatus 1, and a mounting screw. An insertion hole 113 for inserting 103, a detection projection 114 that pushes up the storage detection unit 109 of the charging core unit 101 into the charging core unit 101, and a power cord 121 of an AC adapter inserted into a power supply connector described later. Guide groove 115 for guiding the mounting table 102 toward the rear end, the first lead-out portion 116 connected to the guide groove 115, and the insertion port 110 of the charging core portion 101 as shown in FIG. Insertion hole 117 for exposing from the core part storage part 111, and the insertion port 11 of the charging core part 101.
At least a second lead-out portion 118 for leading out the power cord 121 of the AC adapter plugged in 0 from the mounting table 102. Further, as shown in FIG. 9, the mounting table 102 has a front plate 119 attached to a position corresponding to the front surface of the charging core unit storage unit 111 when the charging core unit storage unit 111 does not store the charging core unit 101. I have it.

The mounting table 102 has a charging core section 101 stored in a charging core section storage section 111 provided at one end in the longitudinal direction thereof, and has a substantially box shape as shown in FIG. The portion 112 is a substantially curved recess along the shape of the abdomen of the robot apparatus 1.

Further, as shown in FIG. 5, the mounting screw 103 has a so-called wing nut shape so that the user can easily screw it into the screw hole 108, and the mounting screw 103 is The mounting table 102 is detachably attached.

Next, each part constituting the charging core section 101 will be described. The connection portion 104 corresponds to the robot device-side connection portion 51 that is stored near the chest of the body unit 2 of the robot device 1 when the robot device 1 is placed with the charging device 100 assembled. It is provided in the position. The connection unit 104 enables the charging core unit 101 to supply power to the robot device 1 and exchange information by connecting to the robot device-side connection unit 51.

Here, FIG. 10 shows a specific example of the configuration of the connection unit 104. In FIG. 10, the connection unit 104 in the state where the robot device 1 is not placed is shown in (A), and the connection unit 104 in the state where the robot device 1 is placed is shown in (B).

The connecting portion 104 comprises a pin-shaped connecting terminal 104 ₁ made of a conductor and a connecting terminal cover 104 ₂ covering the connecting terminal 104 ₁ . The connection terminal 104 ₁ is
A power supply terminal for supplying electric power from the AC adapter and a signal transmission terminal for transmitting information about the robot apparatus 1 are provided. Connection terminal cover 104 _2, when the robot apparatus 1 is placed, as shown in FIG. 10 (B), pushed inside, exposing the connection terminals 104 ₁ was covered with the connection terminal cover 104 _2. That is, when the robot apparatus 1 is placed, the connection terminal 104 ₁ is exposed and comes into contact with the robot apparatus side connection terminal 52 of the robot apparatus side connection unit 51, and the charging core unit 101 supplies power to the robot apparatus 1 and It is possible to exchange information.

The display unit 105 is, for example, a liquid crystal display, and is provided at a position where the user can view it with the charging device 100 assembled. The display unit 105 displays various information relating to the robot device 1, such as battery remaining amount data of the battery 17, time of a built-in clock built in the robot device 1, speaker volume of the speaker 20 (FIG. 2), and the like.

The operation portion 106 is composed of a plurality of input push button switches, and is provided at a position where a user can easily operate the charging device 100 in an assembled state. A dedicated function is assigned to each input push-button switch, and by operating the user, the time of the built-in clock displayed on the display unit 105, the speaker volume of the speaker 24, and the like can be adjusted. Adjust various information.

The placement detection unit 107 is provided at a position in contact with the robot device 1 when the robot device 1 is placed with the charging device 100 assembled. The placement detection unit 107 has a protrusion shape protruding in a direction perpendicular to the upper surface of the charging core unit 101, and when the robot device 1 is placed, a part of the placement detection unit 107 is charged by the robot device 1. It is detected that the robot apparatus 1 is pushed down into the inside 101 and placed.

The screw hole 108 is a female screw corresponding to the mounting screw 103. After the charging core 101 is stored in the charging core storage 111 of the mounting table 102, the mounting screw 10 is inserted.
3 are screwed together.

The storage detection unit 109 is pushed down by the detection projection 114 provided on the bottom surface of the charging core unit storage unit 111 when the charging core unit 101 is stored in the charging core unit storage unit 111 of the mounting table 102. It has the shape When the storage detection unit 109 is pushed down into the charging core unit 101, the charging core unit 101 causes the charging core unit storage unit 11 to move.
It is detected that the data is stored in 1.

Next, each part of the mounting table 102 will be described. The charging core storage unit 111 includes the mounting table 10
2 is formed at one end in the longitudinal direction of the charging core portion 10.
1 to expose the upper surface of the charging core unit 101
The connection unit 104 and the placement detection unit 107 of the robot device 1
Store so that it touches.

The robot device mounting portion 112 is a concave portion having a substantially curved shape along the shape of the abdomen of the robot device 1, receives the abdomen of the robot device 1, and receives the leg units 3A to 3D of the robot device 1. The robot apparatus 1 is mounted without burdening (FIG. 1).

The insertion hole 113 is provided in the charging core storage section 111.
Is formed at a position corresponding to the screw hole 108 of the charging core portion 101 stored in the.
Insert through 8.

The detection projection 114 is the storage detection unit 10 of the charging core unit 101 stored in the charging core unit storage unit 111.
9 is formed at a position corresponding to 9, and the storage detection unit 109
Is pushed up into the charging core portion 101.

The guide groove 115 is a narrow groove formed in parallel with the longitudinal direction of the mounting table 102 along the substantially central axis of the bottom surface of the robot apparatus mounting portion 112, and is inserted into a power supply connector described later. The power cord 121 of the AC adapter is guided to the first lead-out section 116.

The first lead-out portion 116 is connected to the guide groove 115 and is formed at the rear end of the mounting table 102, and guides the power cord 121 of the AC adapter from the mounting table 102.

The insertion hole 117 is provided in the charging core section storage section 111.
It is formed at a position corresponding to the insertion port 110 of the charging core unit 101 stored in, and exposes the insertion port 110 from the charging core unit storage unit 111.

The second lead-out portion 118 is formed as an opening at the rear end portion of the mounting table 102, which is an extension of the position where the insertion hole 117 is formed, and the charging core portion storage portion 1 is formed.
The power supply cord 121 of the AC adapter inserted into the insertion port 110 of the charging core unit 101 stored in the mounting table 1
It derives from 02.

The front plate 119 is removed when the charging core unit 101 is stored in the charging core unit storage unit 111, and is located in front of the charging core unit storage unit 111 when the charging core unit 101 is not stored. Attached to. Mounting table 102 to which the front plate 119 is attached
Is used for the purpose of mounting the robot apparatus 1 and for the purpose of charging by a power supply connector described later.

Charging core unit 10 having the above-mentioned configuration
1 and the mounting table 102 are attached by a mounting screw 103, the charging device 100 has an insertion port 1
The power cord 121 of the AC adapter is plugged in 10 and the robot apparatus 1 is placed in the state as shown in FIG. At this time, the connecting portion 1 provided in the charging core portion 101
The connection terminal 104 _{1 of} 04 contacts the robot apparatus side connection terminal 52 of the robot apparatus side connection unit 51, and the placement detection unit 10
7 detects the placement of the robot apparatus 1. As a result, the charging device 100 starts charging the battery 17 of the robot device 1 and acquires information about the robot device 1.

As described in detail above, the charging device 1
In 00, the charging core unit 101 that mainly supplies electric power from the AC adapter to the battery 17 of the robot apparatus 1 and the mounting table 102 on which the robot apparatus 1 is mounted are attached by the mounting screw 1
It is detachably attached by 03. Table 1
02, the charging core portion storage unit 111 is provided at one end in the longitudinal direction of the mounting table 102 to store the charging core unit 101, and the robot device mounting unit 112 is substantially curved along the shape of the abdomen of the robot device 1. It is a concave part.

As a result, the charging device 100 includes the mounting table 1
It is possible to replace only 02 with another mounting table designed for another robot device different in shape, size, etc. from the robot device 1, and as a result, another robot device other than the robot device 1 can be replaced. Will also be able to respond. It is assumed that this other robot device includes at least the same robot device-side connecting portion 51 and battery 17 as the robot device 1.

More specifically, referring to the drawings, the charging device 100 includes a robot device 1 as shown in FIG.
When charging the battery 17, the charging core portion 101 and the mounting base 102 are attached by the mounting screws 103, and the power cord 12 of the AC adapter is attached to the charging core portion 101.
The robot apparatus 1 is placed with 1 being inserted.
At this time, since the mounting table 102 has a recess along the shape of the abdomen of the robot apparatus 1, the connecting terminal 104 ₁ of the connecting section 104 and the robot apparatus side connecting terminal 52 of the robot apparatus side connecting section 51 are separated from each other. Make sure contact. As a result, the charging device 100 can start charging the battery 17 of the robot device 1 and can acquire information about the robot device 1.

Further, as shown in FIG. 13, the charging device 100 charges the charging core portion 101 and the abdomen of the robot device 1a when charging the battery 17 of the robot device 1a having a different abdominal shape from the robot device 1. The mounting table 102a designed according to the shape of 1 is mounted by the mounting screw 103, and the robot apparatus 1a is mounted with the power cord 121 of the AC adapter inserted in the charging core unit 101. At this time, the mounting table 102a is mounted on the robot apparatus 1
Since the concave portion follows the shape of the abdomen of a, the connecting terminal 104 ₁ of the connecting portion 104 and the robot apparatus side connecting portion 51
The robot device-side connection terminal 52 is surely contacted. As a result, the charging device 100 can start charging the battery 17 of the robot device 1a and can also acquire information regarding the robot device 1a.

As shown in FIG. 14, the charging device 100 charges the battery 17 of the robot device 1b having a different shape and size of the abdomen from the robot device 1, as shown in FIG.
The charging core portion 101 and the mounting table 102b designed according to the shape and size of the abdomen of the robot apparatus 1b are attached by the mounting screws 103, and the charging core portion 101 is
With the power cord 121 of the C adapter plugged in,
The robot device 1b is placed. At this time, the mounting table 102
Since b is a concave portion along the shape and size of the abdomen of the robot apparatus 1b, the connection terminal 10 of the connection portion 104 is formed.
4 and ₁ and the robot unit-side connection terminals 52 of the robotic device-side connecting portion 51 is reliably contacted. Thereby, the charging device 1
00 can start charging the battery 17 of the robot apparatus 1b and can also acquire information about the robot apparatus 1b.

These mounting table 102a and mounting table 102b
Has a shorter design and manufacturing period and a lower manufacturing cost than the conventional dedicated charging device designed exclusively for the robot device 1a and the robot device 1b. Since the charging device 100 can perform the same function as the conventional dedicated charging device by simply replacing the mounting table 102 with the mounting table 102a or the mounting table 102b using the charging core unit 101 as a common component, various wastes can be achieved. Can be omitted, and cost reduction can be realized.

When the user purchases the robot device 1a or the robot device 1b different from the robot device 1, the user does not purchase the conventional dedicated charging device, but the cheaper mounting table 102a or the mounting device 102a. Since it suffices to purchase only the stand 102b and attach the charging core unit 101 to these, the economical burden can be reduced.

Further, the charging device 100 includes the charging core unit 1
Since 01 includes the display unit 105 and the operation unit 106, for example, in addition to charging the battery 17 of the robot device 1, it is possible to display the remaining battery amount data, adjust the time of the internal clock, adjust the speaker volume, and the like. it can. As described above, the charging device 100 includes the battery 17 of the robot device 1.
In addition to the charging function, it has various functions such as a battery remaining amount display function, a time setting function, and a speaker volume control function.

On the other hand, the power supply connector is a connection device specialized in the charging function for supplying the power from the AC adapter to the battery 17 of the robot apparatus 1. The power supply connector 150 will be described in detail with reference to FIGS. 15 and 16. Here, the external appearance of the power supply connector 150 is shown in FIG. 15, and the cross section of the power supply connector 150 is shown in FIG.

As shown in FIG. 15, the power supply connector 150 includes a housing 153 composed of an upper case 151 and a lower case 152, and a pin-shaped charging terminal 15 composed of a conductor.
4, a guide wall 155 surrounding the charging terminal 154, and a housing 15
Two magnets 156 housed inside 3,
16 and the insertion port 110 into which the power plug 122 provided at the tip of the power cord 121 of the AC adapter is inserted.
As shown in, the charging terminal 154 and the two magnets 1
And a support column 157 for supporting 56 at a predetermined height.

The case 153 is composed of an upper case 151 and a lower case 152, and is formed in a substantially columnar shape.
The charging terminal 154 is connected to the robot device-side connecting portion 51 (FIG. 3).
Is provided on the opposite surface of the housing 153 facing the
This is a power supply terminal for supplying power from the adapter. The guide wall 155 is formed in a substantially rectangular shape surrounding the power receiving terminal 154, and is for guiding the power supply connector 150 itself to the guide surface 53 (FIG. 4) of the robot apparatus side connection portion 51 to be called in. . The magnet 156 is
It is provided inside the casing 153, and is provided at both ends of the charging terminal 154 so as to correspond to the two iron plates 54 (FIG. 4) of the robot apparatus side connection portion 51, and is attracted to the iron plate 54. The magnetic force of the magnet 156 is configured to be detached from the iron plate 54 of the robot apparatus side connecting portion 51 under the own weight of the robot apparatus 1. The support pillar 157 is provided in the housing 153.
Is provided inside and supports the charging terminal 154 at a height at which the charging terminal 154 is exposed, and supports the magnet 156 at a height at which the magnet 156 is in contact with the upper case 151. Also, the power supply connector 1
Since the insertion port 110 of 50 is the same as the insertion port 110 of the above-described charging device 100, the same reference numerals are given and the description thereof will be omitted.

In the power supply connector 150 having the above-described structure, when connected to the robot apparatus 1, the guide wall 155 is called by the guide surface 53 of the robot apparatus side connecting portion 51, and the magnet 156 is connected to the robot apparatus. By adsorbing with the iron plate 54 of the side connecting portion 51, the charging terminal 1
54 contacts the robot device side connection terminal 52 (FIG. 4) of the robot device side connection portion 51. And the robot device 1
Starts charging the battery 17 if the power plug 122 of the AC adapter is inserted into the insertion port 110 of the power supply connector 150.

At this time, in the power supply connector 150, as shown in FIG. 17, it is desirable that the robot apparatus 1 is mounted on the mounting table 102 to which the charging core portion 101 is removed and the front plate 119 is attached. . At this time, the power supply connector 150 fits in the space of the charging core storage unit 111 and does not interfere. Also, the power supply connector 1
AC adapter power cord 121 plugged into 50
Is placed along the guide groove 115 shown in FIG. 9, for example.
2 is guided in the direction of the rear end portion and is led out from the first lead-out portion 116.

As described above in detail, in the power supply connector 150, the guide wall 155 is called by the guide surface 53 of the robot apparatus side connecting portion 51, and the magnet 15 is inserted.
Since 6 is attracted to the iron plate 54 and connected to the robot apparatus 1, it is possible to easily attach / detach to / from the robot apparatus 1 even if the user cannot see it, which is convenient for the user.

Further, the power supply connector 150 is not mechanically connected to the robot apparatus 1 by a hook that is a lock mechanism as in the conventional case, but rather the robot apparatus 1
It is attracted to the robot apparatus 1 by the magnetic force of the magnet 156 which is designed to come off under its own weight. Thus, the power supply connector 150 is safe for the user, for example, when the power cord 121 of the AC adapter is pulled up, there is no risk of the robot device 1 coming off and being damaged before being lifted, and thus the user is safe.

Further, the power supply connector 150 has the magnet 156 housed inside the housing 153, and therefore has a clean design. Further, since the power supply connector 150 houses the magnet 156 inside the housing 153, dust or the like does not directly adhere to the magnet 156 and damage to the magnet 156 can be prevented.

By the way, the robot apparatus 1 is a robot apparatus capable of performing autonomous actions according to its own (inside) and surroundings (outside), instructions and actions from the user. FIG. 18 shows an example of the software configuration of the control program for controlling the robot apparatus 1.
As described above, this control program is stored in the flash ROM 12 (FIG. 2) in advance and is read out at the initial stage of power-on of the robot apparatus 1.

In FIG. 18, the device driver layer 200 is located in the lowest layer of the control program, and is a device driver layer including a plurality of device drivers.
It is composed of the set 201. In this case, each device driver is an object that is allowed to directly access the hardware used in a normal computer such as the CCD camera 22 (FIG. 2) and the timer, and receives an interrupt from the corresponding hardware. Perform processing.

The robotic server object 202 is located in the lowest layer of the device driver layer 200, and is a hardware such as the above-mentioned various switches, various sensors and actuators 28 _{1 to} 28 _n (FIG. 2). Virtual robot 203, which is a software group that provides an interface for accessing wear
A power manager 204, which is a software group that manages switching of power supplies, a device driver manager 205 that is a software group that manages various other device drivers, and a software group that manages the mechanism of the robot apparatus 1. Designed Robot 20
6 and 6.

The manager object 207 is composed of an object manager 208 and a service manager 209. The object manager 208 uses the robotic server object 20
2, the middleware layer 210, and the software group that manages the activation and termination of each software group included in the application layer 211. The service manager 209 is a connection group stored in the memory card 31 (FIG. 2). It is a software group that manages the connection of each object based on the connection information between each object described in the file.

The middleware layer 210 is located in the upper layer of the robotic server object 202 and is composed of a software group which provides basic functions of the robot apparatus 1 such as image processing and voice processing. There is. Further, the application layer 211 is located in an upper layer of the middle wear layer 210, and determines the action of the robot apparatus 1 based on the processing result processed by each software group forming the middle wear layer 210. It is composed of a software group for doing.

The specific software configurations of the middleware layer 210 and the application layer 211 are shown in FIGS. 19 and 20, respectively.

The middleware layer 210 is shown in FIG.
As shown in, each signal processing for noise detection, temperature detection, brightness detection, scale recognition, distance detection, posture detection, contact detection, operation input detection, motion detection and color recognition Recognition system 25 including modules 220 to 229 and input semantics converter module 230
0 and the output semantics converter module 247
In addition, the output system 251 includes signal processing modules 240 to 246 for posture management, tracking, motion reproduction, walking, fall recovery, LED lighting, and sound reproduction.

Each signal processing module 22 of the recognition system 250
0 to 229 are robotic server objects 2
02 by the virtual robot 203
The corresponding data of each switch data, each sensor data, audio data or image data read from (FIG. 2) is taken in, predetermined processing is performed based on the data, and the processing result is input to the input semantics converter module 230. give. Here, for example, the virtual robot 203 is configured as a portion that exchanges or converts a signal according to a predetermined communication protocol.

The input semantics converter module 230 has the signal processing modules 220 to 229.
"Noisy" based on the processing result given by
"Hot", "bright", "I heard Domiso scale",
Self and surrounding conditions such as "detected obstacle", "detected fall", "scold", "praised", "detected moving object" or "detected ball", The command and the action from the user are recognized, and the recognition result is output to the application layer 211.

The application layer 211 is shown in FIG.
As shown in 0, the action model library 260, the action switching module 261, the learning module 262, the emotion model 263, and the instinct model 264 are composed of five modules.

The behavior model library 260 contains the information shown in FIG.
As shown in "When the battery level is low",
Independently corresponding to some preselected condition items such as "returning from a fall", "avoiding obstacles", "expressing emotions", "detecting a ball", etc. A behavior model is provided.

Each of these behavior models will be described later as necessary when a recognition result is given from the input semantics converter module 230, or when a fixed time has elapsed since the last recognition result was given. As described above, referring to the corresponding emotional parameter value held in the emotion model 263 and the corresponding desire parameter value held in the instinct model 264, each subsequent action is determined, and the decision result is determined by the action switching module 26.
Output to 1.

In the case of the robot apparatus 1, each action model is
Is a node (state) NOD as shown in FIG.
E₀~ NODE_nFrom any other node NODE₀~ NO
DE _nIs called a finite probability automaton
The next action is determined using the algorithm. Existence
A limited probability automaton is a node NODE₀~ N
ODE_nFrom any other node NODE₀~ NODE_nTo
Whether or not to change each node NODE₀~ NODE_nBetween
Arc ARC connecting₁~ ARC_n1Against that
The set transition probability P₁~ P_nProbabilistically based on
It is an algorithm to determine.

Specifically, each behavior model has its own
NODE that forms the behavior model of the child₀~ NODE_n
To correspond to each of these nodes NODE₀~ NO
DE _nEach has a state transition table 270 as shown in FIG.
ing.

In this state transition table 270, the node N
Input events (recognition results) that are transition conditions in ODE _{0 to} NODE _n are listed in the order of priority in the row of “input event name”, and further conditions regarding the transition conditions are displayed in the rows of “data name” and “data range”. Described in the corresponding column.

Therefore, in the node NODE ₁₀₀ represented by the state transition table 270 of FIG. 23, when the recognition result of "ball detected (BALL)" is given, the "size of the ball" given together with the recognition result is given. "SIZE" is in the range of "0 to 1000", and when the recognition result of "obstacle detection (OBSTACLE)" is given, the "distance to that obstacle" given together with the recognition result is given. It is a condition for making a transition to another node that "(DISTANCE)" is in the range of "0 to 100".

Further, in this node NODE ₁₀₀ , even if there is no recognition result input, the parameter values of each emotion and each desire held in the emotion model 263 and the instinct model 264, which the behavior model periodically refers to, are stored. Among them, "joy (JO
Y) ”,“ Surprise ”or“ Sadness ”has a parameter value of“ 50 ”.
When it is in the range of "1 to 100", it is possible to transit to another node.

In addition, in the state transition table 270, in the column of "transition destination node" in the column of "transition probability to other node", the node names that can transit from the nodes NODE _{0 to} NODE _n are listed, and " Input event name ",
Other nodes that can transition when all the conditions described in the "Data name" and "Data range" rows are met
The transition probabilities from DE _{0 to} NODE _n are respectively described in the corresponding places in the column of “probability of transition to other node”, and the action to be output when transitioning to the nodes NODE _{0 to} NODE _n is “other It is described in the row of “output action” in the column of “transition probability to node”. In addition, the sum of the probabilities of each row in the column of "probability of transition to other node" is 100.
It is [%].

Therefore, in the node NODE ₁₀₀ represented by the state transition table 270 of FIG. 23, for example, "ball is detected (BALL)" and the "SIZE" of the ball is in the range of "0 to 1000". When the recognition result that is "1" is given, the transition to "node NODE ₁₂₀ (node 120)" is possible with a probability of "30 [%]", and the action of "ACTION 1" is output at that time.

Each behavior model has nodes NODE ₀ to N described as such a state transition table 270.
The ODE _n is configured to be connected to each other, and when a recognition result is given from the input semantics converter module 230, the corresponding node NODE _n is input.
_The next action is stochastically determined using the state transition table of ₀ to NODE _n , and the determination result is output to the action switching module 261.

The action switching module 261 shown in FIG.
Selects a behavior output from a behavior model having a predetermined high priority among the behaviors output from the behavior models of the behavior model library 260, and executes the command (hereinafter, This is called an action command) to the output semantics converter module 247 of the middleware layer 210.
Note that, in this embodiment, the action model shown on the lower side in FIG. 21 has a higher priority.

The action switching module 261 outputs the output semantics converter module 24 after the action is completed.
Based on the action completion information given from 7, the learning module 262 and the emotion model 26 indicate that the action is completed.
3 and instinct model 264.

The learning module 262 inputs the recognition result of the teaching received as an action from the user, such as “scold” or “praised”, among the recognition results given from the input semantics converter module 230. Then, the learning module 262, based on the recognition result and the notification from the action switching module 261,
When "scolded", it reduces the probability of that action appearing,
When "praised", the corresponding transition probability of the corresponding behavior model in the behavior model library 260 is changed so as to increase the expression probability of that behavior.

Further, the emotion model 263 is "joy (JO
Y) ”,“ Sadness ”,“ Anger (AN
GER, ”“ Surprise, ”“ Disgust, ”and“ FEAR. ”For a total of six emotions, each emotion holds a parameter indicating the strength of the emotion. And the emotion model 263
Specifies the parameter values of each of these emotions with specific recognition results such as “scold” and “praised” given from the input semantics converter module 230, the elapsed time and the notification from the action switching module 261. Periodically updated based on.

Specifically, the emotion model 263 is determined based on the recognition result provided from the input semantics converter module 230, the action of the robot apparatus 1 at that time, the elapsed time from the previous update, and the like. The amount of change in emotion at that time calculated by the arithmetic expression is ΔE
[T], the current parameter value of the emotion is E [t], and the coefficient representing the sensitivity of the emotion is ke, and the parameter value E [t + of the emotion in the next cycle is calculated by the equation (1).
1] is calculated, and this is used as the current parameter value E of the emotion.
The parameter value of the emotion is updated by replacing it with [t]. Further, the emotion model 263 updates the parameter values of all emotions in the same manner.

[0100]

[Equation 1]

The degree of influence of each recognition result or the notification from the output semantics converter module 247 on the variation amount ΔE [t] of the parameter value of each emotion is predetermined, and for example, “scolding” is given. The recognition result such as “ta” is the variation amount ΔE of the parameter value of the emotion of “anger”
[T] has a great influence, and the recognition result such as "praised" is the variation amount of the parameter value of the emotion of "joy" ΔE.
It has a great influence on [t].

Here, the notification from the output semantics converter module 247 is so-called action feedback information (action completion information), which is information on the appearance result of the action, and the emotion model 263 is also based on such information. Change emotions. This is, for example, that the behavior level of anger is lowered by the action of "barking". The notification from the output semantics converter module 247 is also input to the learning module 262 described above.
62 changes the corresponding transition probability of the behavior model based on the notification.

The feedback of the action result may be performed by the output of the action switching modulator 261 (action added with emotion).

Further, the instinct model 264 has a
XERCISE ”,“ Affection ”
N) ”,“ APPETITE ”, and“ CURIOSITY ”, which are independent of each other, hold a parameter representing the strength of the desire for each of these desires. Then, the instinct model 264 periodically updates the parameter values of these desires based on the recognition result given from the input semantics converter module 230, the elapsed time, the notification from the action switching module 261, and the like.

Specifically, the instinct model 264 determines the "motivation", "love" and "curiosity" based on the recognition result, the elapsed time, the notification from the output semantics converter module 247, and the like. The fluctuation amount of the desire at that time calculated by the arithmetic expression is ΔI
[K], the current parameter value of the desire is I [k], and the coefficient ki representing the sensitivity of the desire is set in a predetermined cycle (2).
Using the formula, the parameter value I of the desire in the next cycle
[K + 1] is calculated, and the calculation result is replaced with the current parameter value I [k] of the desire to update the parameter value of the desire. Also, the instinct model 264
Updates the parameter values of each desire except "appetite" in the same manner.

[0106]

[Equation 2]

The degree of influence of the recognition result and the notification from the output semantics converter module 247 on the variation amount ΔI [k] of the parameter value of each desire is predetermined, and for example, the output semantics converter is used. The notification from the module 247 has a great influence on the variation amount ΔI [k] of the “tiredness” parameter value.

In this embodiment, the parameter values for each emotion and each desire (instinct) are 0 to 1 respectively.
It is regulated so as to fluctuate in a range of up to 00, and the values of the coefficients ke and ki are individually set for each emotion and each desire.

The output semantics converter module 247 of the middleware layer 210, as shown in FIG. 19, is "forward", "pleasing", and "forward" given from the behavior switching module 261 of the application layer 211 as described above. The corresponding signal processing modules 240 to 246 of the output system 251 output abstract action commands such as “squeal” or “tracking (following the ball)”.
Give to.

Then, these signal processing modules 240-
246, when an action command is given, the servo command value to be given to the corresponding actuators 28 _{1 to} 28 _n (FIG. 2) to take the action based on the action command, and the output from the speaker 20 (FIG. 2). Sound data of the sound to be played and / or drive data to be given to the LED of the light emitting unit 25 (FIG. 2) is generated, and these data are generated by the virtual robot 203 of the robotic server object 202.
And to the corresponding actuators 28 _{1 to} 28 _n , the speaker 20 or the light emitting unit 25 sequentially via the signal processing circuit 14 (FIG. 2).

In this way, the robot apparatus 1 can perform autonomous actions according to its own (internal) and surrounding (external) conditions and instructions and actions from the user based on the control program.

Further, the control program for controlling the robot apparatus 1 as described above is described as being stored in the flash ROM 12 in advance, but it is provided by recording it on a recording medium in a format readable by the robot apparatus. Good.
As a recording medium for recording the control program, a magnetic reading type recording medium (for example, magnetic tape, magnetic disk,
Magnetic card), optically readable recording medium (eg CD
-ROM, MO, CD-R, DVD) etc. are considered.
The recording medium also includes a storage medium such as a semiconductor memory (which may have a rectangular shape or a square shape) or an IC card. The control program may be provided via an information network such as the so-called Internet.

The present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

For example, in the embodiment of the present invention, the charging device 100 is targeted for the robot device 1a and the robot device 1b which are different in shape and size from the robot device 1, but the present invention is not limited to this, and at least An AV device, an IT-related device, or the like including the same robot device-side connecting portion 51 and the battery 17 as the robot device 1 can also be targeted.

Further, in the embodiment of the present invention, the robot apparatus 1 has been described with respect to the "pet type" legged mobile robot of four-legged walking, but the moving means is a four-legged locomotion or a legged locomotion system. Not limited.

[0116]

As described in detail above, the charging device according to the present invention is a charging device for a robot device having a moving means provided with a rechargeable battery, and has connecting means for electrically connecting to the robot device. A charging unit having a charging unit, a charging unit that stores the charging unit in an exposed state of the connecting unit, and a mounting table on which the robot device is mounted at a position connected to the connecting unit, and a charging unit and a mounting table stored in the mounting table, The charging section supplies at least electric power to the robot device mounted on the mounting table via the connecting means.

As a result, in the charging device, for another robot device having a different shape or size, the attached mounting table is replaced with another mounting table designed for the different robot device. can do.

Therefore, by replacing the charging device with the above-mentioned other mounting table, it becomes possible to correspond to another robot device, so that various wastes can be eliminated and cost reduction can be realized. can do.

Further, when the user newly purchases another robot apparatus, he / she needs to purchase only the mounting table corresponding to the other robot apparatus and attach the charging unit.
Economic burden can be reduced.

[Brief description of drawings]

FIG. 1 is an external view showing an external appearance of a robot apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a schematic configuration of a robot device.

FIG. 3 is an external view showing the external appearance of the abdomen of the robot apparatus.

FIG. 4 is a diagram illustrating a schematic configuration of a robot apparatus-side connection unit that constitutes the robot apparatus.

FIG. 5 is an external view showing an external appearance of the charging device in a separated state in the embodiment of the present invention.

FIG. 6 is an external view showing the external appearance of the charging device in an assembled state.

FIG. 7 is an external view showing a back surface of a charging core portion which constitutes the charging device.

FIG. 8 is an external view showing a back surface of a mounting table that constitutes the charging device.

FIG. 9 is a diagram illustrating a position where a front plate of a mounting table that constitutes the charging device is attached.

FIG. 10 is a diagram showing a specific configuration of a connecting portion of a charging core portion that constitutes a charging device.

FIG. 11 is a diagram showing a state in which the robot device is mounted on the charging device.

FIG. 12 is a diagram illustrating a configuration of a charging device corresponding to the robot device.

FIG. 13 is a diagram illustrating a configuration of a charging device for robot devices having different shapes.

FIG. 14 is a diagram illustrating a configuration of a charging device for robot devices having different shapes and sizes.

FIG. 15 is an external view showing the external appearance of the power supply connector according to the embodiment of the present invention.

FIG. 16 is a cross-sectional view showing a cross section of a power supply connector.

FIG. 17 is a diagram showing a state in which the robot apparatus to which the power supply connector is connected is mounted on the mounting table.

FIG. 18 is a diagram showing a software configuration of a control program in the robot apparatus.

FIG. 19 is a diagram showing a configuration of a middle wear layer of a control program in the robot apparatus.

FIG. 20 is a diagram showing a configuration of an application layer of a control program in the robot apparatus.

FIG. 21 is a diagram showing the configuration of a behavior model library of the control program in the robot apparatus.

FIG. 22 is a diagram illustrating a finite probability automaton that is an algorithm for determining the behavior of the robot device.

FIG. 23 is a diagram showing state transition conditions for determining the action of the robot apparatus.

FIG. 24 is an external view showing the external appearance of a conventional dedicated charging device.

[Explanation of symbols]

1, 1a, 1b robot device, 2 body unit,
51 robot device side connection part, 52 robot device side connection terminal, 53 guide surface, 54 iron plate, 55 shutter,
100 charging device, 101 charging core part, 102, 10
2a, 102b mounting table, 103 mounting screw, 104 connecting portion, 104 ₁ connecting terminal, 104 ₂ connecting terminal cover,
105 display unit, 106 operation unit, 107 placement detection unit, 108 screw hole, 109 storage detection unit, 110 insertion port, 111 charging core unit storage unit, 112 robot device placement unit, 113 insertion hole, 114 detection protrusion Part, 1
15 guide grooves, 116 first lead-out portion, 117 insert hole, 118 second lead-out portion, 119 front plate, 1
21 power cord, 122 power plug, 150 power supply connector, 151 upper case, 152 lower case, 153 housing, 154 charging terminal, 155 guide wall, 156 magnet, 157 support pillar

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) A63H 29/22 A63H 29/22 LF term (reference) 2C150 CA02 DA05 DA25 DA27 DA28 DF03 DF04 DF06 DF33 FA03 FA04 5G003 AA01 BA01 FA03 5H030 AS11 AS18 BB12 BB15 DD06 DD07 DD09 DD11 DD15 DD27

Claims (15)

[Claims] 1. A charging device for a robot apparatus having a moving means having a rechargeable battery, the charging section having a connecting means for electrically connecting to the robot apparatus, and the charging in a state where the connecting means is exposed. A mounting table for storing the unit, and mounting the robot device at a position where the robot unit is connected to the connecting unit, and a charging unit and the mounting table stored in the mounting table, and mounting means for detachably mounting, The charging device, wherein the charging part supplies at least electric power to the robot device mounted on the mounting table via the connecting means. 2. The mounting table has a concave portion having a substantially curved shape that conforms to the shape of the abdomen of the robot apparatus, and the robot apparatus is mounted in the concave portion such that the abdomen of the robot apparatus contacts. The charging device according to claim 1. 3. The mounting table receives the abdomen of the robot apparatus in the recess, and supports the robot apparatus without imposing a load on the legs of the robot apparatus. Charging device. 4. The mounting means is a mounting screw, the charging section has a screw hole into which the mounting screw is screwed, and the mounting table has an insertion hole through which the mounting screw is inserted. The charging device according to claim 1, wherein: 5. The mounting screw is inserted into the insertion hole and screwed into the screw hole to attach the charging unit stored in the mounting table and the mounting table. The charging device described. 6. The charging device according to claim 1, wherein the charging unit exchanges information with the robot device via the connecting means. 7. The charging unit comprises display means for displaying information on the robot device connected to the connecting means, and operating means for adjusting the information displayed on the display means. The charging device according to claim 6, wherein: 8. The charging device according to claim 7, wherein the information is charging information indicating a charging state of a charging battery included in the robot device. 9. The charging device according to claim 7, wherein the information is time information indicating a time of a built-in clock provided in the robot device. 10. The charging device according to claim 7, wherein the information is volume information indicating a volume of a speaker provided in the robot device. 11. The connection means includes a connection terminal that comes into contact with the robot apparatus, and a connection terminal cover that covers the connection terminal, and the connection terminal cover is such that the robot apparatus is mounted on the mounting table. The charging device according to claim 1, wherein when not present, the connection terminal is covered, and when the robot device is placed on the mounting table, the connection terminal is exposed. 12. The charging device according to claim 1, wherein the charging unit includes a placement detection unit that detects whether or not the robot device is placed on the placement table. 13. The charging device according to claim 1, wherein the charging unit includes storage detection means for detecting whether the charging unit is stored in the mounting table. 14. The charging device according to claim 1, wherein the charging unit includes an insertion port into which a power cord for supplying electric power from a DC power source is inserted. 15. The charging device according to claim 14, wherein the mounting table includes an insertion hole through which the power cord is inserted at a position corresponding to the insertion port in a state where the charging unit is stored. .