Patent ID: 7071648

Claim:
In an electrical charging system including a robot apparatus and an electrical charging device, said robot apparatus having movement means and a built-in power supply unit for driving and adapted for acting autonomously responsive to an inner state, a recording medium having recorded thereon a program for allowing said robot apparatus to execute charging processing of electrically charging said power supply unit, said program comprising: an imaging step of imaging a surrounding state; a position vector calculating step of calculating the distance and direction to at least one marker from an image of said marker provided to an electrical charging device, photographed by said imaging step, and from the pre-stored information on said marker; and a movement controlling step of performing control by driving said movement means to cause movement of said robot apparatus towards said electrical charging device depending on the distance and direction to said marker calculated by said position vector calculating steps, wherein said at least one marker comprises a main marker and a sub marker, the main marker is provided at an uppermost location of the electrical charging device and the sub marker is provided at a rear end of the electrical charging device.