Patent Publication Number: US-2019181666-A1

Title: Charging station that houses and charges a robot

Description:
RELATED APPLICATIONS 
     The present application is a continuation of International Application No. PCT/JP2017/032977, filed Sep. 13, 2017, which claims priority from Japanese Application No. 2016-181513, filed Sep. 16, 2016, the disclosures of which applications are hereby incorporated by reference herein in their entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention relates to a charging station for charging a robot. 
     Description of the Background Art 
     Development of an autonomously acting robot that provides interaction with and solace to a human, such as a humanoid robot or a pet robot, is being carried out. Although this kind of robot operates in accordance with a control program, the robot causes behavior to evolve by autonomously learning based on a peripheral situation, whereby behavior evoking a sense that the robot is alive also materializes. 
     As this kind of robot also operates on electrical energy, charging is necessary. Therefore, when a remaining amount of charge of the robot decreases, an alarm is output for a user. When the user notices the alarm, the user positions the robot in a dedicated charging station, and waits until charging is completed. Alternatively, technology such that a robot is capable of communication with a charging station, and the robot is led to the station when a remaining amount of charge reaches a reference value or less and caused to charge autonomously, has also been proposed (for example, refer to JP-A-2003-1577). 
     Although this kind of charging station is designed in accordance with a form and the like of the robot, there is recognition that it is basically sufficient that a charging function is ensured. With regard to this point, the inventor has arrived at a recognition that usefulness is increased by providing the charging station with an additional function for maintaining performance of the robot, or more desirably, by not causing a user to be aware of a charging action itself. 
     SUMMARY OF THE INVENTION 
     The invention, having been completed based on the heretofore described recognition, has a main object of providing technology that increases usefulness of a robot charging station. 
     One aspect of the invention is a robot charging station. The charging station is a charging station for carrying out charging of a robot, and includes a table upon which the robot rides, a wall member disposed so as to enclose a perimeter of the table, a charging unit that charges the robot on the table, a movement mechanism for causing the wall member to move along the perimeter of the table, and a movement control unit that controls the movement mechanism. 
     Another aspect of the invention is also a robot charging station. The charging station is a charging station for carrying out charging of a robot, and includes a charging unit that supplies power to the robot, and a reference value providing unit that provides a detection target of an incorporated sensor for an operation of calibrating the sensor by the robot, and outputs a signal indicating a correct detected value of the detection target. 
     Still another aspect of the invention is also a robot charging station. The charging station is a charging station for carrying out charging of a robot, and includes a table upon which the robot rides, a charging unit that charges the robot on the table, a rotation mechanism for causing the table to rotate, and a rotation control unit that adjusts a rotational position of the table by controlling the rotation mechanism in accordance with a direction of entry of the robot. 
     According to aspects of the invention, usefulness of a robot charging station can be increased. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a drawing representing a charging system of a robot according to an embodiment; 
         FIGS. 2A and 2B  are drawings representing an external view of the robot according to the embodiment; 
         FIG. 3  is a sectional view schematically representing a structure of the robot; 
         FIG. 4  is a side view representing the structure of the robot centered on a frame; 
         FIGS. 5A and 5B  are drawings representing a configuration of a station; 
         FIGS. 6A and 6B  are drawings representing a configuration of the station; 
         FIG. 7  is a functional block diagram of a charging system; 
         FIGS. 8A and 8B  are drawings representing a charging control and an accompanying performance control; 
         FIGS. 9A and 9B  are drawings representing a charging control and an accompanying performance control; 
         FIGS. 10A and 10B  are drawings representing a charging control and an accompanying performance control; 
         FIGS. 11A and 11B  are drawings representing a charging control and an accompanying performance control; 
         FIGS. 12A and 12B  are drawings representing a charging control and an accompanying performance control; 
         FIG. 13  is a flowchart showing an example of an operation control of the station; and 
         FIGS. 14A and 14B  are drawings representing a configuration of a station according to a modified example. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Hereafter, referring to the drawings, an embodiment of the invention will be described in detail. In the following description, for the sake of convenience, a positional relationship of each structure may be expressed with a state shown in the drawings as a reference. Also, the same reference signs will be allotted to practically identical components in the following embodiment and modified examples thereof, and a description thereof may be omitted as appropriate. 
       FIG. 1  is a drawing representing a charging system  10  of a robot  100  according to the embodiment. A state wherein the robot  100  is housed in a charging station (hereafter called simply “station”)  200  is shown in the drawing. The station  200  has an internal space in which only one robot  100  can be housed. Charging is started by the robot  100  entering the station  200  and adopting a predetermined posture. Details of a configuration and an operation of each of the robot  100  and the station  200  will be described hereafter. 
       FIGS. 2A and 2B  are drawings representing an external view of the robot  100  according to the embodiment.  FIG. 2A  is a front view, and  FIG. 2B  is a side view. 
     The robot  100  is an autonomously acting robot that determines an action or a gesture based on an external environment and an internal state. The external environment is recognized using various kinds of sensor, such as a camera or a thermosensor. The internal state is quantified as various parameters that express emotions of the robot  100 . 
     The robot  100  includes three wheels for three-wheeled traveling. As shown in the drawing, the robot  100  includes a pair of front wheels  102  (a left wheel  102   a  and a right wheel  102   b ) and one rear wheel  103 . The front wheels  102  are drive wheels, and the rear wheel  103  is a driven wheel. Although the front wheels  102  have no steering mechanism, rotational speed and a direction of rotation can be individually controlled. The rear wheel  103  is formed of a so-called omni wheel, and rotates freely in order to cause the robot  100  to move forward and back, and left and right. By controlling so that the rotational speed of the right wheel  102   b  is greater than that of the left wheel  102   a , the robot  100  can turn left or rotate counterclockwise. By controlling so that the rotational speed of the left wheel  102   a  is greater than that of the right wheel  102   b , the robot  100  can turn right or rotate clockwise. 
     The front wheels  102  and the rear wheel  103  can be completely housed in a body  104  using a drive mechanism (a pivoting mechanism and a linking mechanism) to be described hereafter. A greater portion of each wheel is hidden by the body  104  when traveling too, but when each wheel is completely housed in the body  104 , the robot  100  is in a state of being unable to move. That is, the body  104  descends, and sits on a floor surface F, in accompaniment to an operation of the wheels being housed. In the sitting state, a flat seating face  108  (a grounding bottom face) formed in a bottom portion of the body  104  comes into contact with the floor surface F. 
     The robot  100  has two arms  106 . The arms  106  do not have a function of gripping an object. The arms  106  are capable of performing simple actions such as raising, waving, and oscillating. The two arms  106  can also be individually controlled. 
     Two eyes  110  are provided in a head portion front surface (a face) of the robot  100 . A high resolution camera  402  and a temperature sensor  406  are incorporated at the back of the eye  110 . The eye  110  is also capable of an image display using a liquid crystal element or an organic EL element. The robot  100  incorporates a speaker, and is also capable of simple speech. A horn  112  is attached to an apex portion of the robot  100 . 
     An omnidirectional camera  400  (a first camera) is incorporated in the horn  112  of the robot  100 . The omnidirectional camera  400  can film in all directions up and down and left and right (360 degrees: in particular, practically all regions above the robot  100 ) at one time using a fisheye lens. The high resolution camera  402  (a second camera) incorporated in the eye  110  can film only in a direction in front of the robot  100 . A filming range of the omnidirectional camera  400  is wide, but resolution is lower than that of the high resolution camera  402 . 
     The temperature sensor  406  may be a thermal imaging camera that converts a peripheral temperature distribution into an image. In addition to this, the robot  100  incorporates various sensors, such as a microphone array having a multiple of microphones, a form measuring sensor (depth sensor) that can measure a form of a measurement target, and an ultrasonic wave sensor. 
       FIG. 3  is a sectional view schematically representing a structure of the robot  100 .  FIG. 4  is a side view representing the structure of the robot  100  centered on a frame.  FIG. 3  corresponds to a section seen along an A-A arrow of  FIG. 4 . 
     As shown in  FIG. 3 , the body  104  of the robot  100  includes a base frame  308 , a main body frame  310 , a pair of wheel covers  312 , and an outer skin  314 . The base frame  308  is formed of metal, and supports an internal mechanism together with configuring a shaft of the body  104 . The base frame  308  is configured by an upper plate  332  and a lower plate  334  being linked vertically by a multiple of side plates  336 . A sufficient interval is provided between the multiple of side plates  336  so that ventilation can be carried out. A battery  118 , a control circuit  342 , and various kinds of actuator and the like are housed inside the base frame  308 . 
     The main body frame  310  is formed of a resin material, and includes a head portion frame  316  and a trunk portion frame  318 . The head portion frame  316  is of a hollow hemispherical form, and forms a head portion framework of the robot  100 . The trunk portion frame  318  is of a stepped cylindrical form, and forms a trunk portion framework of the robot  100 . The trunk portion frame  318  is integrally fixed to the base frame  308 . The head portion frame  316  is attached to an upper end portion of the trunk portion frame  318  so as to be relatively displaceable. 
     Three shafts, those being a yaw shaft  321 , a pitch shaft  322 , and a roll shaft  323 , and actuators  324  and  325  that drive each shaft so as to rotate, are provided in the head portion frame  316 . The actuator  324  includes a servo motor for driving the yaw shaft  321 . The actuator  325  includes a multiple of servo motors for driving each of the pitch shaft  322  and the roll shaft  323 . The yaw shaft  321  is driven for a head shaking action, the pitch shaft  322  is driven for a nodding action, a looking up action, and a looking down action, and the roll shaft  323  is driven for a head tilting action. 
     A plate  326  supported by the yaw shaft  321  is fixed to an upper portion of the head portion frame  316 . A multiple of ventilation holes  327  for securing ventilation between upper and lower portions are formed in the plate  326 . 
     A base plate  328  made of metal is provided so as to support the head portion frame  316  and an internal mechanism thereof from below. The base plate  328  is linked to the upper plate  332  (the base frame  308 ) via a joint  330 . A support base  335  is provided on the base plate  328 , and the actuators  324  and  325  and a crosslink mechanism  329  (a pantagraph mechanism) are supported by the support base  335 . The crosslink mechanism  329  links the actuators  324  and  325  vertically, and can cause an interval between the actuators  324  and  325  to change. 
     More specifically, the roll shaft  323  of the actuator  325  is linked to the support base  335  via a gear mechanism omitted from the drawings. The pitch shaft  322  of the actuator  325  is linked to a lower end portion of the crosslink mechanism  329 . Meanwhile, the actuator  324  is fixed to an upper end portion of the crosslink mechanism  329 . The yaw shaft  321  of the actuator  324  is linked to the plate  326 . A rotary drive mechanism, omitted from the drawings, for driving the crosslink mechanism  329  so as to extend and contract is provided in the actuator  325 . 
     According to this kind of configuration, the actuator  325  and the head portion frame  316  can be caused to rotate (roll) integrally by causing the roll shaft  323  to rotate, whereby an action of tilting the head can be realized. Also, the crosslink mechanism  329  and the head portion frame  316  can be caused to rotate (pitch) integrally by causing the pitch shaft  322  to rotate, whereby a nodding action and the like can be realized. The plate  326  and the head portion frame  316  can be caused to rotate (yaw) integrally by causing the yaw shaft  321  to rotate, whereby an action of shaking the head can be realized. Furthermore, an action of extending and contracting the neck can be realized by causing the crosslink mechanism  329  to extend and contract. 
     The trunk portion frame  318  houses the base frame  308  and a wheel drive mechanism  370 . As shown in  FIG. 4 , the wheel drive mechanism  370  includes a front wheel drive mechanism  374  and a rear wheel drive mechanism  376 . An upper half portion  380  of the trunk portion frame  318  is of a smooth curved form so as to provide an outline of the body  104  with roundness. The upper half portion  380  is formed so as to become gradually narrower toward an upper portion corresponding to a neck portion. A lower half portion  382  of the trunk portion frame  318  is of a small width in order to form a housing space S of the front wheel  102  between the wheel covers  312 . A boundary of the upper half portion  380  and the lower half portion  382  is of a stepped form. 
     Left and right side walls configuring the lower half portion  382  are parallel to each other, are penetrated by a pivot shaft  378 , to be described hereafter, of the front wheel drive mechanism  374 , and support the pivot shaft  378 . The lower plate  334  is provided so as to close off a lower end aperture portion of the lower half portion  382 . In other words, the base frame  308  is fixed to and supported by a lower end portion of the trunk portion frame  318 . 
     The pair of wheel covers  312  are provided so as to cover the lower half portion  382  of the trunk portion frame  318  from left and right. The wheel cover  312  is formed of resin, and is attached so as to form a smooth outer face (curved face) continuous with the upper half portion  380  of the trunk portion frame  318 . An upper end portion of the wheel cover  312  is linked along a lower end portion of the upper half portion  380 . Because of this, the housing space S, which is opened downward, is formed between the side wall of the lower half portion  382  and the wheel cover  312 . 
     The outer skin  314  is formed of urethane rubber, and covers the main body frame  310  and the wheel covers  312  from an outer side. The arms  106  are molded integrally with the outer skin  314 . An aperture portion  390  for introducing external air is provided in an upper end portion of the outer skin  314 . 
     The front wheel drive mechanism  374  includes a rotary drive mechanism for causing the front wheel  102  to rotate and a housing operation mechanism for causing the front wheel  102  to enter and withdraw from the housing space S. That is, the front wheel drive mechanism  374  includes the pivot shaft  378  and an actuator  379 . The front wheel  102  has a direct drive motor (hereafter written as a “DD motor”)  396  in a central portion thereof. The DD motor  396  has an outer rotor structure, a stator is fixed to an axle  398 , and a rotor is fixed coaxially to a rim  397  of the front wheel  102 . The axle  398  is integrated with the pivot shaft  378  via an arm  350 . A bearing  352  through which the pivot shaft  378  penetrates and which supports the pivot shaft  378  so as to be able to pivot is embedded in a lower portion side wall of the trunk portion frame  318 . A sealing structure (bearing seal) for hermetically sealing the trunk portion frame  318  inside and outside is provided in the bearing  352 . The front wheel  102  can be driven to reciprocate between the housing space S and an exterior by a drive of the actuator  379 . 
     The rear wheel drive mechanism  376  includes a pivot shaft  354  and an actuator  356 . Two arms  358  extend from the pivot shaft  354 , and an axle  360  is provided integrally with leading ends of the arms  358 . The rear wheel  103  is supported so as to be able to rotate by the axle  360 . A bearing omitted from the drawings, through which the pivot shaft  354  penetrates and which supports the pivot shaft  354  so as to be able to pivot, is embedded in the lower portion side wall of the trunk portion frame  318 . A shaft sealing structure is also provided in the bearing. The rear wheel  103  can be driven to reciprocate between the housing space S and the exterior by a drive of the actuator  356 . 
     When housing the wheels, the actuators  379  and  356  are driven in one direction. At this time, the arm  350  pivots centered on the pivot shaft  378 , and the front wheel  102  rises from the floor surface F. Also, the arm  358  pivots centered on the pivot shaft  354 , and the rear wheel  103  rises from the floor surface F. Because of this, the body  104  descends, and the seating face  108  is grounded at the floor surface F. Because of this, a state in which the robot  100  is sitting is realized. By the actuators  379  and  356  being driven in the opposite direction, each wheel is caused to advance out of the housing space S, whereby the robot  100  can be caused to stand. 
     A drive mechanism for driving the arm  106  includes a wire  134  embedded in the outer skin  314 , and a drive circuit  340  (energizing circuit) of the wire  134 . The wire  134  is formed of a shape memory alloy line in this embodiment, contracts and hardens when heated, and relaxes and lengthens when allowed to cool. Leads drawn out from both ends of the wire  134  are connected to the drive circuit  340 . When a switch of the drive circuit  340  is activated, the wire  134  (shape memory alloy line) is energized. 
     The wire  134  is molded or woven in so as to extend from the outer skin  314  to the arm  106 . Leads are drawn from both ends of the wire  134  into the trunk portion frame  318 . One wire  134  may be provided in each of a left and right of the outer skin  314 , or a multiple of the wire  134  may be provided in parallel in each of the left and right of the outer skin  314 . The arm  106  can be raised by energizing the wire  134 , and the arm  106  can be lowered by interrupting the energization. 
     An angle of a line of sight (refer to dotted arrows) of the robot  100  can be adjusted by controlling an angle of rotation of the pitch shaft  322 . In the embodiment, for the sake of convenience, a direction of an imaginary straight line passing through the pitch shaft  322  and the eye  110  is taken to be a direction of the line of sight. An optical axis of the high resolution camera  402  coincides with the line of sight. Also, in order to facilitate a computing process, a straight line joining the omnidirectional camera  400  and pitch shaft  322  and the line of sight are set so as to form a right angle. 
     Slits  362  and  364  through which the upper end portion of the trunk portion frame  318  can be inserted are provided at the front and back of the head portion frame  316 . Because of this, a range of movement (range of rotation) of the head portion frame  316 , which is centered on the pitch shaft  322 , can be increased. In the embodiment, the range of movement is taken to be 90 degrees, which is 45 degrees each up and down from a state wherein the line of sight is horizontal. That is, a limit value of an angle at which the line of sight of the robot  100  is oriented upward (an angle of looking up) is taken to be 45 degrees, and a limit value of an angle at which the line of sight is oriented downward (an angle of looking down) is also taken to be 45 degrees. 
       FIGS. 5A to 6B  are drawings representing a configuration of the station  200 .  FIG. 5A  is a perspective view representing an external appearance, and  FIG. 5B  is a perspective view representing a state wherein a decoration has been removed.  FIG. 6A  is a plan view representing the state wherein the decoration has been removed, and  FIG. 6B  is an illustration representing a drive mechanism. 
     As shown in  FIG. 5A , the station  200  includes a base  201 , a table  202  supported by the base  201 , a slope  204  that forms a smooth bridge between an upper surface of the table  202  and the floor surface F, and a frame  206  provided on a perimeter of the table  202 . The table  202  is a circular turntable supported so as to be able to rotate by the base  201 . Guide grooves  207  and  208  for guiding the front wheel  102  and the rear wheel  103  of the robot  100  in a direction of travel are formed in upper surfaces of the table  202  and the slope  204 . A mark M (target point) that is used as a guide when the robot  100  enters the station  200  is applied to a center of the table  202 . In the embodiment, the mark M is a circular region of a color differing from that of the table  202 . In another aspect, as it is sufficient that the mark M is formed so as to be recognized as the mark M by the robot  100  using image processing, the surface may be ground in a circular shape, or the mark M may be formed of an LED, a reflective plate, or the like. 
     The frame  206  includes a decorative member  210  that encloses the perimeter of the table  202 . The decorative member  210  of the embodiment is obtained by a large number of decorative pieces with a tree leaf as a motif being placed one on another, and creates an image of a hedge. A side on which the slope  204  is positioned in the station  200  is a gate (front), and is opened so as to be able to accept the robot  100 . 
     As also shown in  FIG. 5B , the frame  206  includes a multiple of support columns  212  that enclose the perimeter of the table  202  in an annular form. The support column  212  functions as a “wall member” together with the decorative member  210 . Looking from the front of the station  200 , three support columns  212   a  are disposed at the back, and four support columns  212   b  are disposed on each of the left and right. The support column  212   a  is formed of a plate extending upward, and a lower end thereof is fixed to the base  201 . Meanwhile, the support column  212   b  is formed of an L-form plate, and has a support portion  213  that extends in a radial direction below the table  202 , and a column portion  214  that extends upward on an outer side of the table  202 . The decorative member  210  is placed over the support columns  212 , whereby a hedge shown in  FIG. 5A  is represented. 
     A control device  216  for controlling the station  200  is provided behind (on a side opposite that of the slope  204 ) the frame  206 . The control device  216  is connected to a domestic power supply via an unshown adapter. 
     As shown in  FIG. 6A , the table  202  is supported so as to be able to rotate in an approximate center of the base  201 . A rotation mechanism  218  for causing the table  202  to rotate is provided below the table  202 . The table  202  has a rotary shaft on a central shaft L thereof, and when an angle of rotation of the table  202  reaches a predetermined angle shown in the drawing, the guide grooves  207  and  208  are caused to be continuous between the table  202  and the slope  204 . A seating face  225  on which the robot  100  is caused to sit is formed in the center of the table  202  (refer to a two-dot chain line). The seating face  225  has a circular form centered on the central shaft L. A height of the seating face  225  is equal to a height of the guide grooves  207  and  208 . 
     A power supply connection terminal  222  is provided in a position slightly offset from the central shaft L in the table  202 . The connection terminal  222  is driven to advance and withdraw, so as to appear from and disappear into the upper surface of the table  202 , by a connection mechanism  224  provided below the table  202 . The mark M is applied on the central shaft L in the center of the upper surface of the table  202 . The mark M is positioned on a straight line passing through the central shaft L and a center of the connection terminal  222  on the table  202 . In a modified example, the mark M may be provided in a position on the straight line differing from that of the central shaft L. 
     A pedestal  226  of an arc form when seen in plan view is provided behind the table  202 , and fixed to the base  201 . The three support columns  212   a  are disposed erect at equal intervals on the pedestal  226 . The eight support columns  212   b , including four support columns  2121  on the left side and four support columns  212   r  on the right side, can pivot centered on the central shaft L. The column portions  214  of the support columns  212   b  are positioned on concentric circles centered on the central shaft L, but an inscribed circle thereof is greater than a circumscribed circle of the pedestal  226 . One portion of the support columns  212   b  can rotate to a position behind the support columns  212   a.    
     As shown in  FIG. 6B , the four support columns  2121  on the left side are integrated below the table  202 , configuring a left support column unit  228 . The left support column unit  228  has a rotary shaft on the central shaft L, and a gear  230  is provided coaxially and integrally with the rotary shaft. The four support columns  212   r  on the right side are also integrated below the table  202 , configuring a right support column unit  232 . The right support column unit  232  also has a rotary shaft on the central shaft L, and a gear  231  is provided coaxially and integrally with the rotary shaft. The gear  231  and the gear  230  have an equal number of teeth. The rotary shafts of the left support column unit  228  and the right support column unit  232  are cylindrical shafts fitted around the rotary shaft of the table  202 , and are provided deviating in an axial direction, because of which the rotary shafts do not interfere with each other. 
     A movement mechanism  234  for causing each of the left support column unit  228  and the right support column unit  232  to pivot is provided below the table  202 . The movement mechanism  234  includes a motor  236  that is a drive source, a first gear  238  connected to a rotary shaft of the motor  236 , a second gear  240  connected to the first gear  238 , and a third gear  242  connected to the second gear  240 . The motor  236  may be a stepping motor or a DC motor. The second gear  240  and the third gear  242  have an equal number of teeth. The gear  230  of the left support column unit  228  is connected to the motor  236  via the third gear  242 , the second gear  240 , and the first gear  238 . The gear  231  of the right support column unit  232  is connected to the motor  236  via the second gear  240  and the first gear  238 . 
     This kind of configuration is such that when the motor  236  is driven in one direction, the left support column unit  228  and the right support column unit  232  pivot in gate opening directions (directions such that an entrance of the station  200  is opened by the wall member; refer to a solid arrow). When the motor  236  is driven in another direction, the left support column unit  228  and the right support column unit  232  pivot in gate closing directions (directions such that the entrance of the station  200  is closed by the wall member; refer to a dotted chain arrow). 
     A reference value providing unit  250  for calibration is provided in an upper portion of the control device  216 . In the embodiment, calibration of the temperature sensor  406  by the robot  100  can be carried out in the station  200 . The reference value providing unit  250  has a hot wire whose temperature is adjustable, adjusts the temperature of the hot wire in stages in accordance with a preset calibration program, and outputs a signal indicating a temperature value (correct detected value) of the hot wire. The robot  100  can execute calibration by comparing a value output by the temperature sensor  406  and the temperature value, and correcting a difference between the two. 
       FIG. 7  is a functional block diagram of the charging system  10 . 
     As heretofore described, the charging system  10  includes the robot  100  and the station  200 . Each component of the robot  100  and the station  200  is realized by hardware including a computer formed of a CPU (central processing unit), various kinds of coprocessor, and the like, a storage device that is a memory or storage, and a wired or wireless communication line that links the computer and the storage device, and software that is stored in the storage device and supplies a processing command to the computer. A computer program may be configured of a device driver, an operating system, various kinds of application program positioned in an upper layer thereof, and a library that provides a common function to the programs. Each block described hereafter indicates a functional unit block rather than a hardware unit configuration. 
     The robot  100  includes an internal sensor  128 , a communication unit  142 , a data processing unit  136 , a data storage unit  148 , a drive mechanism  120 , the battery  118 , and a charging circuit  420 . The internal sensor  128  is a collection of various kinds of sensor. The internal sensor  128  includes a microphone array  404 , a camera  410 , the temperature sensor  406 , a form measuring sensor  408 , and a remaining charge amount sensor  409 . 
     The microphone array  404 , being a unit wherein a multiple of microphones are linked together, is a voice sensor that detects sound. It is sufficient that the microphone array  404  is a device that detects sound, and can detect a direction of a source of the sound. The microphone array  404  is incorporated in the head portion frame  316 . As distances between a sound source and each microphone do not coincide, variation occurs in sound collection timing. Because of this, a position of the sound source can be identified from a magnitude and a phase of sound at each microphone. The robot  100  can detect a position of a sound source, and in particular a direction of the sound source, using the microphone array  404 . 
     The camera  410  is a device that films the exterior. The camera  410  includes the omnidirectional camera  400  and the high resolution camera  402 . The temperature sensor  406  detects a temperature distribution of an external environment, and converts the temperature distribution into an image. In the embodiment, the temperature sensor  406  is provided in the position of the eye  110 , but the temperature sensor  406  may be provided in another region, such as a center of the face of the robot  100 . The form measuring sensor  408  is an infrared depth sensor that reads a depth, and by extension an uneven form, of a target object by emitting near-infrared rays from a projector, and detecting reflected light of the near-infrared rays using a near-infrared camera. 
     The communication unit  142  manages a process of communicating with the station  200 . The data storage unit  148  is a storage device that stores various kinds of data. The data processing unit  136  executes various kinds of process based on data acquired by the communication unit  142  and data stored in the data storage unit  148 . The data processing unit  136  corresponds to a processor and a computer program executed by the processor. The data processing unit  136  also functions as an interface of the communication unit  142 , the internal sensor  128 , the drive mechanism  120 , and the data storage unit  148 . 
     The data storage unit  148  includes a motion storage unit  160  that defines various kinds of motion of the robot  100 . Various motions performed by the robot  100  are defined in the motion storage unit  160 . A motion is identified by motion ID. An operation timing, an operating time, an operating direction, and the like, of the various kinds of actuator (the drive mechanism  120 ) are defined chronologically in a motion file in order to perform various motions such as sitting by housing the front wheel  102 , raising the arm  106 , causing the robot  100  to carry out a rotating action by causing the two front wheels  102  to rotate in reverse or by causing only one front wheel  102  to rotate, shaking by causing the front wheel  102  to rotate in a state in which the front wheel  102  is housed, or stopping once and looking back when moving away from a user. Also, a charging posture adopted after the robot  100  enters the station  200 , a performance motion during charging, a performance motion after charging, and the like, are also defined in the data storage unit  148 . 
     The data processing unit  136  includes a recognizing unit  156 , a control unit  150 , and a sensor control unit  172 . The control unit  150  includes a movement control unit  152  and an operation control unit  154 . The movement control unit  152  determines a direction of movement of the robot  100 . The drive mechanism  120  causes the robot  100  to head toward a movement target point by driving the front wheel  102  in accordance with an instruction from the movement control unit  152 . 
     The operation control unit  154  determines a motion of the robot  100 . The operation control unit  154  instructs the drive mechanism  120  to execute a selected motion. The drive mechanism  120  controls each actuator in accordance with the motion file. 
     The sensor control unit  172  controls the internal sensor  128 . Specifically, the sensor control unit  172  controls a direction of measurement by the high resolution camera  402 , the temperature sensor  406 , and the form measuring sensor  408 . The direction of measurement by the high resolution camera  402 , the temperature sensor  406 , and the form measuring sensor  408  mounted in the head portion of the robot  100  changes in accordance with the orientation of the head portion frame  316 . The sensor control unit  172  controls a direction of filming by the high resolution camera  402  (that is, the sensor control unit  172  controls movement of the head portion in accordance with the direction of filming). 
     The recognizing unit  156  analyzes external information obtained from the internal sensor  128 . The recognizing unit  156  is capable of visual recognition (a visual unit), smell recognition (an olfactory unit), sound recognition (an aural unit), and tactile recognition (a tactile unit). The recognizing unit  156  regularly acquires detection information from the camera  410 , the temperature sensor  406 , and the form measuring sensor  408 , and can detect a moving object such as a person or a pet, and a fixed object such as audio equipment or a television. The recognizing unit  156  extracts characteristics (physical characteristics and behavioral characteristics) of the moving object, and can cluster analyze a multiple of moving objects based on the characteristics. 
     The recognizing unit  156  carries out an approximate image analysis of a subject based on an image filmed by the omnidirectional camera  400 . When identifying a user from the subject, the recognizing unit  156  measures the peripheral temperature distribution of the subject using the temperature sensor  406 , and determines whether or not the subject is a heat generating body, and in particular, a body generating heat in the region of 30 to 40 degrees Celsius. When the subject is in this temperature range, the recognizing unit  156  can assume that the subject is a homeotherm such as a human or a pet. 
     The recognizing unit  156  also measures a three-dimensional form of the subject using the form measuring sensor  408 , and determines whether or not the subject is an object having a predetermined form. For example, the recognizing unit  156  determines whether or not the subject has an uneven form. When the subject does not have an uneven form, the recognizing unit  156  can assume that the subject is a flat body such as a television, a wall, or a mirror. 
     When an image that should be filmed is identified in this way by the temperature sensor  406  and the form measuring sensor  408 , the filming target is filmed using the high resolution camera  402 . At this time, an angle of view is adjusted so that the whole of the filming target is included in a center of a screen. As already mentioned, the optical axis of the high resolution camera  402  coincides with the line of sight. Because of this, the filming target exists in the direction of the line of sight of the robot  100 . The recognizing unit  156  cluster analyzes the filming target based on an image filmed by the high resolution camera  402 , and selects an operation such as approaching or moving away. 
     The remaining charge amount sensor  409  detects a remaining amount of charge in the battery  118 . When the remaining amount of charge reaches a predetermined value or lower, the data processing unit  136  starts a control process for charging, to be described hereafter, and outputs a charging request signal to the station  200 . The movement control unit  152  causes the robot  100  to move to the station  200 . The battery  118  can be charged by the charging circuit  420  being connected to a charging circuit of the station  200 . 
     The station  200  includes a communication unit  252 , a data processing unit  254 , a data storage unit  256 , the reference value providing unit  250 , a drive mechanism  258 , a charging circuit  260 , a camera  262 , a proximity sensor  264 , a speaker  266 , and a lamp  268 . The communication unit  252  manages a process of communicating with the robot  100 . The data storage unit  256  stores various kinds of data. The data processing unit  254  executes various kinds of process based on a signal received via the communication unit  252  and data stored in the data storage unit  256 . The data processing unit  254  also functions as an interface of the communication unit  252 , the data storage unit  256 , the reference value providing unit  250 , and the drive mechanism  258 . 
     The reference value providing unit  250  includes a hot wire for heating and a temperature sensor, and when the robot  100  executes a calibration of the temperature sensor  406 , the reference value providing unit  250  heats the hot wire, and outputs a signal indicating the temperature value (correct detected value) of the hot wire. 
     The drive mechanism  258  includes the heretofore described rotation mechanism  218 , the movement mechanism  234 , and the connection mechanism  224 . The charging circuit  260  includes the heretofore described connection terminal  222 , to which the charging circuit  420  is connected when charging the robot  100 . The camera  262  is provided integrally with the control device  216 , and films the internal space and a periphery of the station  200 . A filmed image is used for identifying a position of the robot  100  when charging. The proximity sensor  264  is provided in a vicinity of the connection terminal  222  in the table  202 , and when the robot  100  sits (houses the wheels), the proximity sensor  264  detects the matter. The speaker  266  and the lamp  268  are used in a charging performance to be described hereafter. 
     The data storage unit  256  includes a control data storage unit  270 , a performance pattern storage unit  272 , and a state data storage unit  274 . The control data storage unit  270  stores a control program for charging control and performance control. 
     Multiple kinds of performance pattern executed when charging the robot  100  are defined in the performance pattern storage unit  272 . A performance pattern is identified by pattern ID. An operation timing, an operating time, an operating direction, and the like, of the various kinds of mechanism and device are defined chronologically as pattern data in order to express various performance patterns such as lighting up when starting charging of the robot  100 , increasing an intensity of a light in order to notify of charging completion, outputting speech, or outputting theme music for sending the robot  100  out together with opening the gate. 
     The state data storage unit  274  stores and updates an operating state and positional information of the robot  100  obtained by communication or filming, a current operating state of the station  200 , and the like. 
     The data processing unit  254  includes a state managing unit  280 , a charging managing unit  282 , a control unit  284 , and a correction reference value output unit  286 . The state managing unit  280  manages the current operating state of the station  200 . The charging managing unit  282  manages a charging state of the robot  100  (including whether or not charging is in progress, a charge ratio, and the like). When charging is completed, the robot  100  outputs a charging completion signal indicating the matter. The charging managing unit  282  determines that charging is completed based on receiving the charging completion signal. 
     The control unit  284  includes a drive control unit  290 , a charging control unit  292 , and a performance control unit  294 . The drive control unit  290  controls the drive mechanism  258  (the rotation mechanism  218 , the connection mechanism  224 , and the movement mechanism  234 ), and also functions as a “rotation control unit” and a “movement control unit”. The charging control unit  292  controls the charging circuit  260  based on the charging state managed by the charging managing unit  282 . The performance control unit  294  decides on a performance pattern when starting charging, and executes a control such as a drive, a lighting up, or a speech output of each mechanism in accordance with the performance pattern. 
     When the robot  100  enters the station  200 , or when there has been a calibration execution request from the robot  100 , the correction reference value output unit  286  adjusts the temperature of the hot wire in stages, and outputs a signal indicating the temperature value (the correct detected value, hereafter also called a “correction reference value”) of the hot wire, as heretofore described. The robot  100  executes calibration by comparing a value detected by the temperature sensor  406  and the temperature value, and correcting a difference between the two. 
       FIGS. 8A to 12B  are drawings representing a charging control and an accompanying performance control. A and B of each drawing show an example of a control process. 
     When the remaining amount of charge in the battery  118  reaches a predetermined value or lower, the robot  100  outputs a charging request signal to the station  200 . The station  200  receives the charging request signal, starts wireless communication with the robot  100 , and outputs a guiding signal (for example, an infrared beam). The robot  100  can enter the station  200  by moving with reliance on the guiding signal. 
     The robot  100  films the mark M when entering the station  200 , and with the mark M as a guide, controls a direction of travel of the robot  100  so as to be positioned on a straight line joining the mark M and the connection terminal  222 . By so doing, the robot  100  can ride up onto the center of the table  202  along the guide grooves  207  and  208 , and can cause positions and directions of a connection terminal of the robot  100  and the connection terminal  222  to coincide. As the robot  100  has the heretofore described omni wheel, the robot  100  can rotate freely on the spot, because of which the direction of travel can be adjusted easily, even immediately before the station  200 . That is, there is no need to withdraw once and change an orientation before the station  200 , change direction several times, or the like, and the robot  100  can enter the table  202  smoothly. 
     As shown in  FIGS. 8A and 8B , the robot  100  rides up onto the slope  204  with the front wheel  102  leading, and advances to the table  202 . At this time, the robot  100  travels so that the left and right front wheels  102  advance along the left and right guide grooves  207 , and the rear wheel  103  advances along the central guide groove  208 . When the robot  100  advances up the slope  204  in this way, the actuator  356  (refer to  FIG. 4 ) of the rear wheel  103  can adjust the angle of the arm  358  by an appropriate amount, whereby the robot  100  can climb the slope  204  stably and smoothly. 
     When the robot  100  reaches a predetermined position (the center) on the table  202  in accordance with the guiding signal, the robot  100  sits by housing the wheels, as shown in  FIG. 9A . At this time, a tail  105  is closed after the rear wheel  103  is housed. The tail  105  functions as a cover member that closes an entrance of the rear wheel  103 . When the proximity sensor  264  detects the sitting of the robot  100 , the connection mechanism  224  causes the connection terminal  222  to advance. The connection terminal  222  is connected to a connection terminal provided in a bottom portion of the robot  100 . Because of this, the charging circuits of the robot  100  and the station  200  attain a conductive state. 
     When stopping in the direction of entering, as shown in the drawings, the robot  100  outputs a calibration request. The correction reference value output unit  286  receives the calibration request, and causes the reference value providing unit  250  to operate, thereby providing a correction reference value. The robot  100  detects the temperature of the reference value providing unit  250  using the temperature sensor  406 , and executes a calibration by comparing the detected value and the correction reference value. 
     Continuing, the drive control unit  290  drives the rotation mechanism  218 , causing the table  202  to rotate, as shown in  FIG. 9B . When an angle of rotation is such that the robot  100  faces the front (180 degrees from the start of rotation), as shown in  FIGS. 10A and 10B , the drive control unit  290  causes the rotation mechanism  218  to stop. As the frame  206  has a height equal to that of the robot  100 , the face of the robot  100  can be confirmed from the exterior by the robot  100  facing the front in this way. 
     Continuing, the drive control unit  290  drives the movement mechanism  234 , thereby causing the left support column unit  228  and the right support column unit  232  to move forward, as shown in  FIG. 11A . Because of this, the hedge-aspect decorative member  210  takes on an aspect of enclosing the whole of a periphery of the robot  100 , as shown in  FIG. 11B . Note that as a height of the decorative member  210  is reduced in a vicinity of the front, an open space is formed in a front upper portion even in a state in which the hedge is closed in this way, and the face of the robot  100  can be exposed. The charging control unit  292  starts a charging control in a state wherein the robot  100  faces the front in this way. According to this kind of configuration and control, a performance such that it seems exactly as though the robot  100  is recovering energy by returning to its own nest can be carried out. 
     In the embodiment, a unique performance is carried out while the robot  100  is being charged. That is, the robot  100  performs a gesture of lowering the head portion and resting or sleeping, as shown in  FIG. 12A . At this time, the robot  100  carries out a performance of expressing respiration by raising and lowering the arm  106  to an appropriate extent, and making a noise as though asleep. The performance control unit  294  lights up the robot  100  by turning the lamp  268  on low. By reducing illuminance, an appearance of the robot  100  resting peacefully (an appearance of relaxing) can be portrayed. At this time, soothing music may be played simultaneously. Hereafter, this kind of performance during charging will also be called a “performance during charging”. 
     During the charging, the robot  100  lowers a brightness of the eye  110 . Particularly when the eye  110  is configured of an organic EL element, there is a high possibility of advancing deterioration when continuing a state wherein brightness is high. Therefore, the brightness is reduced in accordance with expressing rest during charging. There is no sense of incongruity to this either in terms of causing the robot  100  to emulate animal-like behavior. Also, by adopting a state in which the head is lowered, the robot  100  can also be rendered inconspicuous. 
     When charging is completed, the performance control unit  294  raises the illuminance of the lamp  268 , and outputs theme music for sending out the robot  100  from the speaker  266 . By the theme music being such as to cause an impression of vitality, an aspect of the robot  100  recovering energy by resting can be portrayed. Hereafter, this kind of performance after charging is completed will also be called a “charging completed performance”. 
     Together with starting this kind of performance, the drive control unit  290  causes the left support column unit  228  and the right support column unit  232  to move backward by driving the movement mechanism  234 . By so doing, the gate is opened, and the robot  100  can be sent out. After confirming that the gate is opened, the robot  100  stands up by releasing the wheels. Because of this, the connection of the connection terminals is automatically released. Further, the robot  100  leaves the station  200 . 
     After the robot  100  leaves, the drive control unit  290  returns the table  202  to the initial position (refer to  FIG. 6B ) by causing the table  202  to rotate 180 degrees. Because of this, the next charging request can be promptly responded to. 
       FIG. 13  is a flowchart showing an example of an operation control of the station  200 . 
     A process in this drawing is executed repeatedly in a predetermined control cycle. When receiving a charging request signal from the robot  100  (Y of S 10 ), the data processing unit  254  prepares to accept the charging request, and stands by (S 12 ). For example, the data processing unit  254  starts an output of the heretofore described guiding signal, and a monitoring using the camera  262 . 
     When the robot  100  enters the station  200  and sits on the table  202  (Y of S 14 ), the drive control unit  290  causes the connection terminal  222  to protrude, and connect to the robot  100  (S 16 ). Also, the drive control unit  290  causes the table  202  to rotate (S 18 ). When the robot  100  is rotated to a position facing the front (Y of S 20 ), the drive control unit  290  causes the rotation of the table  202  to stop (S 22 ). 
     Continuing, the drive control unit  290  drives the frame  206  (the left support column unit  228  and the right support column unit  232 ) in directions such that the gate closes (S 24 ). When the gate closes (Y of S 26 ), the drive control unit  290  stops the drive of the frame  206  (S 28 ), the charging control unit  292  starts a charging process, and the performance control unit  294  starts the heretofore described “performance during charging” (S 32 ). 
     Further, when charging is completed (Y of S 34 ), the performance control unit  294  starts the heretofore described “charging completed performance” (S 36 ), and the drive control unit  290  drives the frame  206  (the left support column unit  228  and the right support column unit  232 ) in directions such that the gate opens (S 38 ). Subsequently, when the robot  100  leaves the station  200  (Y of S 40 ), a charging ending process of returning the table  202  to the initial position, and the like, is executed as heretofore described (S 42 ). When no charging request is received (N of S 10 ), the processes of S 12  to S 42  are skipped, and the whole process is ended once. 
     Heretofore, the robot  100 , the station  200 , and the charging system  10  including the robot  100  and the station  200  have been described based on the embodiment. According to the station  200 , the frame  206  (wall member) disposed so as to enclose the perimeter of the table  202  is movable, and the gate through which the robot  100  enters and leaves can be opened and closed. Because of this, the robot  100  being charged can be protected from the exterior by closing the gate, while an exit (autonomous behavior) of the robot  100  can be carried out smoothly by opening the gate after charging. 
     Also, even when the gate is closed during charging, the face of the robot  100  can be exposed by one portion of the gate being an open space, and a special performance that is only seen during charging can also be carried out. In particular, when the robot  100  is of specifications that provide an animal-like presence like that of a pet, there is a possibility that although this presence may be achievable through normal autonomous behavior, a charging action, which is not animal-like behavior, will cause a user to lose interest. According to the embodiment, the robot  100  can be made to appear to be returning to the nest and resting, without causing a user to be aware of the charging action, by causing the gate to operate in a closing direction during charging. Because of this, there is an excellent affinity with specifications that provide an animal-like presence. Furthermore, by carrying out a special performance, a user can be caused to have a sensation that the robot  100  is near at hand, even during charging. 
     When the station  200  is of a size that can accept only one robot  100 , the robot  100  can easily be caused to enter and leave through the gate by providing the table  202  with a rotation mechanism. In particular, even in the case of the heretofore described configuration wherein the perimeter of the table  202  is enclosed by the decorative member  210  and there is an open space in only a specific direction, an expression of the robot  100  can be seen through the hedge, because of which a user can be provided with a feeling of ease. 
     Furthermore, by the reference value providing unit  250  being provided in the station  200 , the robot  100  can carry out calibration of the temperature sensor  406  (internal sensor) while being charged. That is, not only charging but also internal sensor maintenance can be carried out, because of which the usefulness of the station  200  is increased. 
     Modified Example 
       FIGS. 14A and 14B  are drawings representing a configuration of a station  500  according to a modified example.  FIG. 14A  is a plan view representing a state wherein a decoration has been removed, and  FIG. 14B  is an illustration representing a drive mechanism. 
     In the embodiment, a configuration such that the position of the gate of the station  200  is limited, and the robot  100  can enter from only one direction, is shown as an example. In the modified example, a configuration such that the robot  100  can enter from many directions is employed. 
     As shown in  FIG. 14A , the station  500  is such that a configuration of a slope  504  differs from that of the slope  204  of the embodiment. The slope  504  is provided over a wide angle range on the perimeter of the table  202 . Because of this, the robot  100  can enter from the front, as shown in  FIG. 14A , and can also enter from a diagonal direction (refer to a two-dot chain arrow), as shown in  FIG. 14B . In the example shown in the drawings, the robot  100  can enter freely provided that the direction is within 30 degrees left or right with respect to the front direction. 
     The drive control unit  290  identifies a direction from which the robot  100  is approaching based on an image filmed by the camera  262 , and adjusts a rotational position of the table  202  in accordance with the direction of approach. The drive control unit  290  controls the angle so that the front wheel  102  and the rear wheel  103  of the robot  100  can travel along the guide grooves  207  and  208  of the table  202 , whatever direction the robot  100  approaches from. That is, the drive control unit  290  controls the angle of rotation of the table  202  so that the robot  100  is positioned on a straight line joining the mark M and the connection terminal  222 . At this time, the robot  100  enters in such a way that the rotary shaft of the table  202  coincides with a line extended in the direction of travel. By causing the left and right front wheels  102  to rotate in opposing directions, the robot  100  can change the direction of travel on the spot, because of which the robot  100  can change the orientation, even immediately before riding up onto the slope  504 , so that the direction of travel coincides with the rotary shaft of the table  202 . Because of this, positions and angles of the connection terminals of the robot  100  and the station  500  can be caused to coincide. The mark M is provided in a position coinciding with the rotary shaft of the table  202  so that the robot  100  can recognize the rotary shaft. 
     Even when the robot  100  enters diagonally in this way, the drive control unit  290  has already ascertained the direction of entry. Because of this, the robot  100  can be oriented toward the front, and charging control and performance control can be carried out in the same way as in the embodiment. Depending on the configuration of the frame  206 , a range of allowable entry angles of the robot  100  can also be increased. 
     The invention not being limited to the heretofore described embodiment and modified example, components can be modified and embodied without departing from the scope of the invention. Various inventions may be formed by combining a multiple of the components disclosed in the heretofore described embodiment and modified example as appropriate. Also, some components may be eliminated from the total of components shown in the heretofore described embodiment and modified example. 
     An example wherein the connection terminal  222  is provided in a position offset to one side from the center (central shaft L) of the table  202  is shown in the embodiment. In a modified example, a multiple of the connection terminal  222  may be provided, and selectively connected to the robot  100 . Specifically, two connection terminals  222  may be provided in positions that are symmetrical in the center of the table  202 . According to this kind of configuration, the process of returning the table  202  to the initial position by causing the table  202  to rotate 180 degrees every time the robot  100  is sent out can be omitted. 
     An example wherein the robot  100  carries out calibration when entering the station  200  for charging is shown in the embodiment. In a modified example, a configuration may be such that the reference value providing unit  250  is caused to function regardless of an existence or otherwise of charging, whereby calibration can be carried out. Also, a configuration may be such that calibration can be carried out even when the robot  100  exists outside the station  200 . For example, calibration may be carried out by regularly detecting an output of the remote reference value providing unit  250  using the temperature sensor  406  (thermal imaging camera) of the robot  100 . 
     An example wherein the reference value providing unit  250  is installed behind the frame  206  (on the side opposite the gate) is shown in the embodiment. In a modified example, the reference value providing unit  250  may be installed on the gate side. Because of this, calibration can also be carried out after charging of the robot  100  is completed, that is, after heat of the robot  100  itself has cooled to an extent. Because of this, calibration can be carried out with greater accuracy. In the embodiment, the target of calibration is a temperature sensor, but the target may also be another sensor, such as a form measuring sensor (depth sensor) or a posture sensor for detecting the posture of the robot. 
     An example wherein a guiding signal (infrared beam) is projected as means of guiding the robot  100  to the station  200  is shown in the embodiment, but other guiding means may also be employed. For example, a configuration may be such that a dedicated LED lamp is installed in the control device  216 , and the robot  100  can identify a direction of entry by relying on light of the LED lamp. Alternatively, the station  200  may instruct (control) the robot  100  with regard to a direction of travel using wireless communication. 
     Wired charging by the station  200  is shown as an example in the embodiment. In a modified example, a wireless power supply method may be employed. An electromagnetic induction method, an electric field coupling method, a magnetic field resonance method, or the like, can be employed, but as each method is commonly known, a description thereof will be omitted. 
     Although not mentioned in the embodiment, the height of the frame  206  is preferably equal to or greater than the height of the robot  100 . Because of this, the robot  100  can be completely housed by the station  200 . This means that the robot  100  can reliably enter the station  200  regardless of where the station  200  is installed. 
     Although not mentioned in the embodiment, the decorative member  210  may be configured so as to be attachable to and detachable from the support column  212 . By so doing, the decorative member may be replaceable in accordance with the size of the robot that is the charging target. A frame height necessary and sufficient for the height of the robot may be realized by changing the decorative member in accordance with the height of the robot. Also, a support column structure such that height is variable may be employed. Furthermore, a structure such that the support columns can be driven in a radial direction of the table, so that a diameter of an enclosure formed by the support columns is variable, may be employed. Owing to the size of the frame being variable in this way, the station is applicable to robots of various sizes and forms, and versatility of the station can be increased. 
     Although not mentioned in the embodiment, the performance control unit  294  may change the performance pattern in accordance with a personality or clothing of the robot  100 . Alternatively, the performance control unit  294  may change the performance pattern in accordance with a time band. 
     Although not mentioned in the embodiment, a function of changing clothing of the robot may be incorporated in the station. Also, an air conditioning function, or a cooling function formed of a fan or the like, may be employed in the station, whereby heat of the entering robot is lowered. A cleaning function that removes dirt (dirt on the wheels or the like) on the robot may be incorporated in the station. 
     Although not mentioned in the modified example ( FIGS. 14A and 14B ) of the embodiment, a further mark (called a “mark N” for the sake of convenience) may be provided on the straight line joining the mark M and the connection terminal  222 . The drive control unit  290  may control the angle of rotation of the table  202  so that the robot  100  is positioned on a straight line joining the mark M and the mark N. According to this kind of configuration, it is sufficient that the drive control unit  290  identifies the orientation of the table  202  by recognizing the marks M and N based on an image filmed by the camera  262 , and there is no longer a need to recognize the connection terminal  222 . Arranging so that the marks are set in an aspect (form, color, or the like) easily recognized by the robot  100  is particularly effective. In this case, the mark N is preferably provided in an end portion of the table  202 , or the like, so that a distance of the mark N from the mark M is greater than that of the connection terminal  222 . When the distance between the mark M and the connection terminal  222  is small, identifying the orientation of the table  202  using the two is difficult. In this kind of case too, identifying the orientation of the table  202  becomes easier, and controlling the angle of rotation of the table  202  becomes easier, by setting the distance (interval) between the mark M and the mark N to be large. 
     Furthermore, the drive control unit  290  may recognize the mark M and a central portion (called a “central portion R” for the sake of convenience) of the robot  100  based on an image filmed by the camera  262 , and adjust the rotational position of the table  202  so that the mark M, the central portion R, and the mark N are aligned on a straight line. The central portion R may be a center of a front of the robot  100 , and is preferably set so that the position of the front wheel  102  can be identified. The central portion R may be set on a central line of the robot  100  that is equidistant from the left wheel  102   a  and the right wheel  102   b . In order to facilitate image processing, a marker may be provided on the central portion R, or a central portion of the robot  100  filmed by a camera may be utilized as a virtual marker.