Control apparatus and control method

Abstract

The present technology relates to a control device and a control method capable of diversifying operations related to charging of an autonomous moving body. The control apparatus includes an operation control unit that controls an operation of the autonomous moving body during charging based on a personality and a remaining power amount of the autonomous moving body. The present technology can be applied, for example, to a control device that controls the operation of a pet-type robot.

Description

Technical Field

[0001] This technology relates to a control device and a control method, and more specifically to a control device and a control method that enables the diversification of operations related to the charging of autonomous mobile bodies. Background Technology

[0002] Traditionally, robots that perform predetermined operations based on the amount of charge during charging have been proposed (see, for example, PTL1).

[0003] Reference List

[0004] Patent documents

[0005] PTL 1: WO 2000 / 038295 Summary of the Invention

[0006] Technical issues

[0007] However, in the robot described in PTL 1, the operation selection depends solely on the charge level, and only pre-prepared scheduled operations can be selected. Therefore, the robot described in PTL 1 has a limited range of operations during charging, and it is difficult to distinguish this robot from other individuals.

[0008] This technology has been developed in view of such circumstances as described above, and makes it possible to diversify the operations related to charging autonomous mobile bodies such as pet-type robots.

[0009] Solution to the problem

[0010] According to one aspect of the technology, the control device includes an operation control unit that controls the operation of the autonomous mobile body during charging based on the individual characteristics and remaining power of the autonomous mobile body.

[0011] In one aspect of the control method according to the present technology, the control device controls the operation of the autonomous mobile body during charging based on the individual characteristics and remaining power of the autonomous mobile body.

[0012] In one aspect of this technology, the operation of an autonomous mobile body during charging is controlled based on the individual characteristics and remaining battery power of the autonomous mobile body. Attached Figure Description

[0013] Figure 1 This is a block diagram illustrating an embodiment of an information processing system in which the present technology is applied.

[0014] Figure 2 This is a diagram illustrating an example of the hardware configuration of an autonomous mobile entity.

[0015] Figure 3 This is a configuration example of an actuator included in an autonomous moving body.

[0016] Figure 4 This is a diagram used to explain the function of displays included in autonomous moving bodies.

[0017] Figure 5 This is a diagram illustrating an example of the operation of an autonomous moving entity.

[0018] Figure 6 It is a schematic diagram illustrating the state of an autonomous mobile body during charging.

[0019] Figure 7 This is a block diagram illustrating an example of the functional configuration of an autonomous mobile body and a charging station.

[0020] Figure 8 This is a block diagram illustrating an example of the functional configuration of the main control unit of an autonomous mobile body.

[0021] Figure 9 This is a flowchart used to explain the charging response process of autonomous mobile bodies.

[0022] Figure 10 This is a table illustrating examples of motion performed by an autonomous moving body on a charging platform.

[0023] Figure 11 This is a table showing examples of the remaining battery power of an inherently uniquely illustrated autonomous mobile body and its operational characteristics on a charging station.

[0024] Figure 12 The illustration shows an example of a method for correcting motion based on the inherent characteristics of an autonomous mobile body when the remaining battery power is less than 10%.

[0025] Figure 13 The illustration shows an example of a method for correcting motion based on the inherent characteristics of an autonomous moving body when the remaining battery power is 26% or more.

[0026] Figure 14 The illustration shows examples of the individual-specific movements of autonomous mobile bodies on a charging platform.

[0027] Figure 15 This is a table of examples of features related to the remaining battery power of the learned individual diagram autonomous mobile body and its operation on the charging station.

[0028] Figure 16 The illustration shows an example of a method for correcting motion based on the learned characteristics of an autonomous moving body when the remaining battery power is less than 10%.

[0029] Figure 17 The illustration shows an example of a method for correcting motion based on the learned personality of an autonomous moving body when the remaining battery power is 26% or more.

[0030] Figure 18 The illustration shows examples of movements of autonomous mobile bodies on a charging platform, each specific to its learned individuality.

[0031] Figure 19 This is a flowchart describing a first embodiment of the charging station return process for an autonomous mobile body.

[0032] Figure 20 This is a flowchart illustrating a first embodiment of autonomous mobile body auxiliary processing for explaining autonomous mobile bodies.

[0033] Figure 21 This is a flowchart illustrating a second embodiment of autonomous mobile body auxiliary processing.

[0034] Figure 22 This is a schematic diagram illustrating the wireless power supply unit of an autonomous mobile body.

[0035] Figure 23 This is a schematic diagram illustrating an example of a power supply method between autonomous moving bodies.

[0036] Figure 24 This is a flowchart describing a second embodiment of the charging station return process for autonomous mobile bodies.

[0037] Figure 25 This is a diagram illustrating an example of a computer configuration. Detailed Implementation

[0038] In the following text, embodiments for implementing this technology will be described. They will be described in the following order.

[0039] 1. Example

[0040] 2. Modify

[0041] 3. Other

[0042] 1. Example

[0043] Reference Figures 1 to 24 An embodiment of this technology is described.

[0044] Configuration example of information processing system 1

[0045] Figure 1 This is a block diagram illustrating an embodiment of an information processing system 1 in which the present technology is applied.

[0046] The information processing system 1 includes autonomous mobile bodies 11-1 to 11-n, information processing terminals 12-1 to 12-n, and an information processing server 13.

[0047] Note that in the following text, when it is not necessary to separately distinguish between autonomous mobile units 11-1 to 11-n, autonomous mobile units 11-1 to 11-n are simply referred to as autonomous mobile unit 11. Similarly, in the following text, when it is not necessary to separately distinguish between information processing terminals 12-1 to 12-n, information processing terminals 12-1 to 12-n are simply referred to as information processing terminal 12.

[0048] Communication via network 21 is possible between each autonomous mobile unit 11 and information processing server 13, between each information processing terminal 12 and information processing server 13, between each autonomous mobile unit 11 and each information processing terminal 12, between autonomous mobile units 11, and between information processing terminals 12. Furthermore, it is also possible to perform direct communication between each autonomous mobile unit 11 and each information processing terminal 12, between autonomous mobile units 11, and between information processing terminals 12 without using network 21.

[0049] The autonomous mobile body 11 is an information processing device that identifies its own and surrounding conditions based on collected sensor data, and autonomously selects and executes various operations accordingly. One of the characteristics of the autonomous mobile body 11 is that, unlike robots that simply execute operations according to instructions from users, the autonomous mobile body 11 autonomously performs appropriate operations based on the situation.

[0050] The autonomous mobile body 11 can perform tasks such as user recognition and object recognition based on captured images, and perform various autonomous actions based on the recognized user, object, etc. Furthermore, for example, the autonomous mobile body 11 can also perform voice recognition based on the user's speech, and take actions based on instructions from the user.

[0051] Furthermore, the autonomous mobile body 11 performs pattern recognition learning to acquire the ability to recognize users and objects. In this case, the autonomous mobile body 11 can not only perform supervised learning based on given learning data, but also perform pattern recognition learning related to objects by dynamically collecting learning data based on user instruction, etc.

[0052] Furthermore, the autonomous mobile body 11 can be disciplined by the user. Here, the discipline of the autonomous mobile body 11 is, for example, broader than general discipline in which the user teaches and memorizes rules or prohibitions, and means that when the user is involved with the autonomous mobile body 11, the changes that the user feels will appear in the autonomous mobile body 11.

[0053] The shape, capabilities, desires, etc., of the autonomous mobile body 11 can be appropriately designed according to its purpose and role. For example, the autonomous mobile body 11 may consist of an autonomous mobile robot that moves autonomously in space and performs various operations. Specifically, for example, the autonomous mobile body 11 may be configured with an autonomous mobile robot that has the shape and operational capabilities to mimic a human or an animal such as a dog. Furthermore, for example, the autonomous mobile body 11 may include a vehicle or other device with the ability to communicate with a user.

[0054] Furthermore, the autonomous mobile body 11 possesses a unique personality specific to each individual. This personality is, for example, the internal personality of the autonomous mobile body 11 and is represented by its operations. In other words, the personality of the autonomous mobile body 11 includes characteristics (e.g., personality traits or attributes) and traits represented by its operations. Here, the movement of the autonomous mobile body 11 is represented not only by the movement of each part of the autonomous mobile body 11 but also by facial expressions, voice, etc. In other words, the operations of the autonomous mobile body 11 include external visual, auditory, and tactile movements and changes.

[0055] The personality of autonomous mobile entity 11 includes inherent personality and learned personality.

[0056] The inherent characteristics are those set before the autonomous mobile body 11 begins operation, and are represented by various parameters, for example, those pre-set before the autonomous mobile body 11 is shipped. For example, one of several types of inherent characteristics may be pre-set for each autonomous mobile body 11.

[0057] The acquired personality is a personality acquired through experience after the autonomous mobile body 11 has been running or through interaction with the user (such as discipline), and is represented by various parameters, for example, set or changed after the autonomous mobile body 11 has been running. For example, multiple autonomous mobile bodies 11 with the same inherent personality may have different personalities due to the acquired personality.

[0058] The information processing terminal 12 includes, for example, a smartphone, a tablet computer, or a personal computer (PC), and is used by the user of the autonomous mobile body 11. The information processing terminal 12 performs various functions by executing pre-defined applications (hereinafter referred to as applications). For example, the information processing terminal 12 performs management and customization of the autonomous mobile body 11 by executing pre-defined applications.

[0059] For example, the information processing terminal 12 communicates with the information processing server 13 via the network 21 or directly with the autonomous mobile body 11 to collect various data related to the autonomous mobile body 11, present the data to the user, and give instructions to the autonomous mobile body 11.

[0060] For example, the information processing server 13 collects various data from each autonomous mobile body 11 and each information processing terminal 12, provides various data to each autonomous mobile body 11 and each information processing terminal 12, and controls the operation of each autonomous mobile body 11. Additionally, similar to the autonomous mobile body 11, the information processing server 13 is also capable of performing pattern recognition learning and processing corresponding to user discipline based on the data collected from each autonomous mobile body 11 and each information processing terminal 12. Furthermore, for example, the information processing server 13 supplies each information processing terminal 12 with the aforementioned applications and various data related to each autonomous mobile body 11.

[0061] Network 21 includes, for example, public line networks (such as the Internet, telephone line networks, or satellite communication networks), various local area networks (LANs) including Ethernet (registered trademark), and wide area networks (WANs). Additionally, network 21 may include private line networks, such as Internet Protocol-Virtual Private Networks (IP-VPNs). Network 21 may also include wireless communication networks such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

[0062] Note that the configuration of the information processing system 1 can be flexibly changed according to specifications, operation, etc. For example, in addition to the information processing terminal 12 and the information processing server 13, the autonomous mobile body 11 can also perform information communication with various external devices. The aforementioned external devices may include, for example, servers that send weather, news, and other service information, and various home appliances owned by the user.

[0063] Furthermore, for example, the autonomous mobile entity 11 and the information processing terminal 12 do not necessarily have a one-to-one relationship, but may have, for example, a many-to-many, many-to-one, or one-to-many relationship. For example, a user can use one information processing terminal 12 to check data related to multiple autonomous mobile entities 11, or can use multiple information processing terminals to check data related to one autonomous mobile entity 11.

[0064] Hardware configuration example of autonomous mobile body 11

[0065] Next, a hardware configuration example of the autonomous mobile body 11 will be described. In the following sections, it will be explained that the autonomous mobile body 11 is an example of a dog-like quadrupedal walking robot.

[0066] Figure 2 This is a diagram illustrating an example of the hardware configuration of the autonomous mobile body 11. The autonomous mobile body 11 is a dog-shaped quadrupedal walking robot that includes a head, body, four legs, and a tail.

[0067] The autonomous mobile body 11 includes two displays on its head: display 51L and display 51R. In the following text, when it is not necessary to distinguish between display 51L and display 51R separately, display 51L and display 51R will be referred to simply as display 51.

[0068] In addition, the autonomous mobile body 11 includes various sensors. The autonomous mobile body 11 includes, for example, a microphone 52, a camera 53, a time-of-flight (ToF) sensor 54, a human detection sensor 55, a distance measurement sensor 56, a touch sensor 57, an illuminance sensor 58, a foot button 59, and an inertial sensor 60.

[0069] The autonomous mobile body 11 includes, for example, four microphones 52 on its head. Each microphone 52 collects, for example, the user's speech and ambient sounds, including surrounding sounds. In addition, by setting up multiple microphones 52, it is possible to collect ambient sounds with high sensitivity and perform sound source localization.

[0070] The autonomous mobile body 11 includes, for example, two wide-angle cameras 53 at its nose and waist, which capture images of the environment surrounding the autonomous mobile body 11. For example, the camera 53 positioned at the nose captures images of the frontal field of view (i.e., the dog's field of view) of the autonomous mobile body 11. The camera 53 positioned at the waist captures images of the environment surrounding the upper side of the autonomous mobile body 11. For example, the autonomous mobile body 11 can extract feature points such as the ceiling based on the images captured by the camera 53 positioned at the waist, and perform simultaneous localization and mapping (SLAM).

[0071] The ToF sensor 54 is positioned, for example, at the tip of the nose, and detects the distance to objects present in front of the head. The autonomous mobile body 11 is able to detect the distance to various objects with high accuracy by using the ToF sensor 54, and can operate based on the relative position with target objects including users, obstacles, etc.

[0072] Human detection sensor 55 is positioned, for example, on the chest, and detects the position of the user, the user's pet, etc. When human detection sensor 55 detects a moving object in front of autonomous mobile body 11, autonomous mobile body 11 can perform various operations on the moving object, such as operations based on emotions such as interest, fear, and surprise.

[0073] A distance measurement sensor 56 is positioned, for example, on the chest, and detects the state of the floor surface in front of the autonomous mobile body 11. The autonomous mobile body 11 can detect the distance to objects present on the floor surface in front of it with high accuracy by using the distance measurement sensor 56, and can operate based on the relative position of the objects.

[0074] Touch sensors 57 are positioned at locations where the user is highly likely to touch the autonomous mobile body 11, such as the top of the head, below the chin, or the back, and detect the user's contact (touch). Touch sensors 57 are, for example, capacitive or pressure-sensitive touch sensors. Using touch sensors 57, the autonomous mobile body 11 can detect contact operations performed by the user (such as touching, stroking, striking, and pushing) and can perform operations based on these contact operations. Furthermore, for example, by arranging touch sensors 57 in a linear or planar shape at each location, it is possible to detect the touch position at each location.

[0075] An illuminance sensor 58 is positioned, for example, at the base of the tail behind the head, and detects the illuminance of the space in which the autonomous mobile body 11 is located. The autonomous mobile body 11 can use the illuminance sensor 58 to detect the ambient brightness and perform operations based on the brightness.

[0076] Foot buttons 59 are positioned, for example, at locations corresponding to the paws of the four legs, and detect whether the bottom surfaces of the legs of the autonomous mobile body 11 are in contact with the floor. The autonomous mobile body 11 can detect whether it is in contact with or not in contact with the floor surface via the foot buttons 59, and can also identify, for example, that the autonomous mobile body 11 has been picked up by a user.

[0077] Inertial sensors 60 are arranged in, for example, the head and the torso, and detect physical quantities such as velocity, acceleration, or rotation of the head or torso. For example, inertial sensors 60 include six-axis sensors that detect acceleration and angular velocity along the X, Y, and Z axes. The autonomous moving body 11 is able to detect the movement of the head and body parts with high accuracy by using inertial sensors 60 and to perform operational control as needed.

[0078] Note that the configuration of the sensors included in the autonomous mobile body 11 can be flexibly changed according to specifications, operation, etc. For example, in addition to the above configuration, the autonomous mobile body 11 may also include various communication devices, such as temperature sensors, geomagnetic sensors, and Global Navigation Satellite System (GNSS) signal receivers.

[0079] Next, we will refer to Figure 3 This describes an example of the configuration of the joints of the autonomous moving body 11. Figure 3 The illustration shows an example configuration of the actuator 71 included in the autonomous moving body 11. Besides Figure 3 Apart from the rotation point shown in the diagram, the autonomous moving body 11 has a total of 22 rotational degrees of freedom, including two rotational degrees of freedom for each ear and tail, and one rotational degree of freedom for the mouth.

[0080] For example, since the autonomous moving body 11 has three degrees of freedom in its head, it can both nod its head and tilt its neck. In addition, by employing an actuator 71 located in the waist to reproduce the swinging motion of the waist, the autonomous moving body 11 can achieve more natural and flexible movements that are closer to those of a real dog.

[0081] It should be noted that, for example, by combining single-axis and dual-axis actuators, the autonomous moving body 11 can achieve the aforementioned 22 rotational degrees of freedom. For example, a single-axis actuator can be used for the elbow or the knee of the leg, and a dual-axis actuator can be used for the shoulder or the groin.

[0082] Next, we will refer to Figure 4 The function of the display 51 included in the autonomous mobile body 11 is described.

[0083] The autonomous mobile body 11 includes two displays 51R and 51L, corresponding to the right and left eyes, respectively. Each display 51 has the function of visually expressing the eye movements and emotions of the autonomous mobile body 11. For example, each display 51 expresses the operation of the eyeballs, pupils, and eyelids according to emotions and actions, and thus it is possible to produce natural facial expressions and natural operations close to those of a real animal such as a dog, and express the gaze and emotions of the autonomous mobile body 11 with high accuracy and flexibility. In addition, the user can intuitively grasp the state of the autonomous mobile body 11 from the eye movements displayed on the display 51.

[0084] Each display 51 is implemented, for example, by two independent organic light-emitting diodes (OLEDs). By using OLEDs, the curvature of the eyeball can be reproduced. As a result, a more natural appearance can be achieved compared to representing a pair of eyeballs with a single flat panel display or with two independent flat panel displays.

[0085] Using the above configuration, such as Figure 5 As shown in the illustration, the autonomous moving body 11 can reproduce the movement and emotional expression of a more realistic living being by controlling the movement of joints and eyeballs with high accuracy and flexibility.

[0086] In addition, such as Figure 6 As shown in the diagram, the autonomous mobile body 11 is being charged while positioned on a tabletop charging station 101. As will be described later, the autonomous mobile body 11 operates on the charging station 101 based on its individual characteristics and remaining battery power.

[0087] exist Figure 5 and Figure 6 The external structure of the autonomous mobile body 11 is illustrated in a simplified manner in the figure.

[0088] Functional configuration examples of autonomous mobile body 11 and charging station 101

[0089] Next, we will refer to Figure 7 This describes an example of the functional configuration of the autonomous mobile unit 11 and the charging station 101. Figure 7 In this document, only the configurations necessary for the processing described later are described, and descriptions of configurations unnecessary for the processing described later are omitted as appropriate.

[0090] The autonomous mobile body 11 includes a display 51, an input unit 121, a main control unit 122, a memory 123, a pupil display control unit 124, a mouth drive control unit 125, a mouth drive unit 126, a neck drive control unit 127, a neck drive unit 128, a leg drive control unit 129, a leg drive unit 130, a tail drive control unit 131, a tail drive unit 132, a sound control unit 133, a speaker 134, a wireless communication module 135, a power supply control unit 136, and a rechargeable battery 137.

[0091] The charging station 101 includes a charging control unit 201, a charging circuit 202, and a display unit 203.

[0092] The autonomous mobile body 11 and the charging station 101 are connected to each other via a connector 102.

[0093] The input unit 121 includes the aforementioned microphone 52, camera 53, ToF sensor 54, human detection sensor 55, distance measurement sensor 56, touch sensor 57, illuminance sensor 58, foot button 59, and inertial sensor 60, and has the function of collecting various types of sensor data about the user and the surrounding environment. Furthermore, the input unit 121 includes, for example, input devices (such as switches or buttons). The input unit 121 supplies the collected sensor data and input data input via the input devices to the main control unit 122.

[0094] The main control unit 122 includes, for example, a processor (such as a central processing unit (CPU)) that performs various types of information processing and controls each unit of the autonomous mobile body 11.

[0095] For example, the main control unit 122 identifies the condition in which the autonomous mobile body 11 is placed based on data supplied from each unit of the autonomous mobile body 11.

[0096] For example, the main control unit 122 controls the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131 and voice control unit 133 based on the recognition result of the state in which the autonomous mobile body 11 is placed, thereby controlling the operation of the autonomous mobile body 11.

[0097] For example, based on data supplied from each unit of the autonomous mobile body 11, the main control unit 122 performs learning processing related to the recognition of the autonomous mobile body 11's actions, surrounding conditions, etc.

[0098] For example, the main control unit 122 controls the power supply of the autonomous mobile body 11 by controlling the power supply control unit 136.

[0099] The memory 123 includes, for example, non-volatile memory and volatile memory, and stores various programs and data.

[0100] The pupil display control unit 124 controls the display 51 to control the movement of the left and right eyes displayed on the display 51.

[0101] The mouth drive control unit 125 controls the movement of the mouth of the autonomous moving body 11 by controlling the mouth drive unit 126. The mouth drive control unit 125 supplies the main control unit 122 with drive data (hereinafter referred to as mouth drive data) that instructs the operating angle, operating speed, etc. of the actuator 71 included in the mouth drive unit 126.

[0102] The mouth drive unit 126 includes an actuator 71 that drives the mouth of the autonomous moving body 11.

[0103] At the same time, as a result of the movement of the eyes and mouth of the autonomous mobile body 11 being controlled by the pupil display control unit 124 and the mouth drive control unit 125, the facial expression of the autonomous mobile body 11 changes.

[0104] The neck drive control unit 127 controls the movement of the neck of the autonomous moving body 11 by controlling the neck drive unit 128. The neck drive control unit 127 supplies the main control unit 122 with drive data (hereinafter referred to as neck drive data) that instructs the operating angle, operating speed, etc. of the actuator 71 included in the neck drive unit 128.

[0105] The neck drive unit 128 includes actuators 71 that drive the joints of the neck of the autonomous moving body 11.

[0106] The leg drive control unit 129 controls the movement of each leg of the autonomous mobile body 11 by controlling the leg drive unit 130. The leg drive control unit 129 supplies the main control unit 122 with drive data (hereinafter referred to as leg drive data) that instructs the operating angle, operating speed, etc. of the actuator 71 included in the leg drive unit 130.

[0107] The leg drive unit 130 includes actuators 71 for the joints of each leg of the autonomous moving body 11.

[0108] The tail drive control unit 131 controls the tail drive unit 132 to control the movement of the tail of the autonomous moving body 11. The tail drive control unit 131 supplies the main control unit 122 with drive data (hereinafter referred to as "tail drive data") that indicates the operating angle, operating speed, etc. of the actuator 71 included in the tail drive unit 132.

[0109] The tail drive unit 132 includes an actuator 71 that drives the tail of the autonomous moving body 11.

[0110] The sound control unit 133 generates and processes sound data corresponding to the sound to be output by the autonomous moving body 11, and controls the characteristics of the sound and the output timing.

[0111] The sounds output by the autonomous mobile body 11 include, for example, sounds used by the autonomous mobile body 11 to communicate with the user or express a state or emotion, operational sounds associated with the operation of the autonomous mobile body 11, and dramatic sounds used to enhance the dramatic effect of the autonomous mobile body 11. Examples of sounds used by the autonomous mobile body 11 to communicate with the user or express a state or emotion include crying, talking, and sleeping sounds. Operational sounds include, for example, crying, footsteps, etc. Dramatic sounds include, for example, sound effects, music, etc.

[0112] Furthermore, the sounds output by the autonomous mobile body 11 include, for example, sounds output or altered in response to external stimuli (hereinafter referred to as stimulus-response sounds), and sounds output or altered according to the operation of the autonomous mobile body 11 (or in combination with the operation of the autonomous mobile body 11). Stimulus-response sounds include, for example, crying, talking, and sleeping sounds. Sounds output or altered according to the operation of the autonomous mobile body 11 include, for example, operating sounds and dramatic sounds.

[0113] The characteristics of the sound to be controlled include, for example, the type of sound (e.g., crying, talking, etc.), content, features (e.g., pitch, volume, tone, etc.), and timbre. For example, in the case of a talking sound, the content of the sound includes the content of the conversation.

[0114] The speaker 134 outputs the various sounds mentioned above based on the sound data supplied from the sound control unit 133.

[0115] The wireless communication module 135 communicates with another autonomous mobile body 11, the information processing terminal 12, and the information processing server 13, either via network 21 or without network 21, and sends and receives various data. The wireless communication module 135 supplies the received data to the main control unit 122 and obtains the data to be sent from the main control unit 112.

[0116] Note that the communication method of the wireless communication module 135 is not particularly limited and can be flexibly changed according to specifications and operation.

[0117] The power supply control unit 136 controls the supply of power accumulated in the rechargeable battery 137 to each unit of the autonomous mobile body 11. The power supply control unit 136 detects the remaining power of the rechargeable battery and supplies the remaining power data indicating the detection result to the main control unit 122.

[0118] The charging control unit 201 controls the charging of the rechargeable battery 137 of the autonomous mobile body 11 through the charging circuit 202.

[0119] Under the control of the charging control unit 201, the charging circuit 202 charges the rechargeable battery 137 of the autonomous mobile body 11.

[0120] The display unit 203 includes, for example, light-emitting diodes (LEDs) and displays, for example, the charging status of the rechargeable battery 137 of the autonomous mobile body 11.

[0121] Configuration example of main control unit 122

[0122] Figure 8 The diagram shows... Figure 7 Example of functional configuration of the main control unit 122. The main control unit 122 includes an identification unit 151, a learning unit 152, and an operation control unit 153.

[0123] The identification unit 151 identifies the status of the autonomous mobile body 11 based on input data and sensor data supplied from the input unit 121, received data supplied from the wireless communication module 135, mouth drive data supplied from the mouth drive unit 126, neck drive data supplied from the neck drive control unit 127, leg drive data supplied from the leg drive control unit 129, and tail drive data supplied from the tail drive control unit 131.

[0124] The conditions under which the autonomous mobile body 11 is placed include, for example, its own condition and the surrounding conditions. The own condition includes, for example, the state and movement of the autonomous mobile body 11. The surrounding conditions include, for example, the state, movement, and commands of people in the vicinity (such as a user), the state and movement of living beings in the vicinity (such as a pet), the state and movement of objects in the vicinity, time, location, and the surrounding environment. Objects in the vicinity include, for example, another autonomous mobile body. Furthermore, in order to identify the condition, the recognition unit 151 performs, for example, human recognition, facial expression and gaze recognition, emotion recognition, object recognition, operation recognition, spatial region recognition, color recognition, shape recognition, marker recognition, obstacle recognition, step recognition, brightness recognition, temperature recognition, sound recognition, word comprehension, position estimation, and pose estimation.

[0125] Furthermore, the recognition unit 151 has the function of estimating and understanding the situation based on various identified information. For example, the recognition unit 151 identifies stimuli given to the autonomous moving body 11 from the outside and the person who gave the stimuli. The stimuli to be identified include, for example, visual stimuli, auditory stimuli, and tactile stimuli. At this time, the recognition unit 151 can use pre-stored knowledge to comprehensively estimate the situation.

[0126] The identification unit 151 supplies the identification result or estimation result of the situation (hereinafter referred to as situation data) to the learning unit 152 and the operation control unit 153. In addition, the identification unit 151 registers the situation data in the action history data stored in the memory 123.

[0127] Action history data is data that indicates the history of actions of the autonomous moving body 11. Action history data includes, for example, the following items: the date and time when the action was started, the date and time when the action was ended, the trigger for executing the action, the location where the action was indicated (however, if the location was indicated), the condition when the action was executed, and whether the action was completed (whether the action was executed to the end).

[0128] For example, when an action is performed in response to a user's instruction, the content of the instruction is registered as a trigger for performing the action. Furthermore, for example, when an action is performed in response to a predetermined condition, the content of that condition is registered. Additionally, for example, when an action is performed triggered by a user-indicated or recognized object, the type of the object is registered.

[0129] The learning unit 152 learns the status, actions, and the impact of actions on the environment based on one or more of the following: input data and sensor data supplied from the input unit 121; received data supplied from the wireless communication module 135; mouth drive data supplied from the mouth drive unit 126; neck drive data supplied from the neck drive control unit 127; leg drive data supplied from the leg drive control unit 129; tail drive data supplied from the tail drive control unit 131; status data supplied from the recognition unit 151; and data regarding the actions of the autonomous mobile body 11 supplied from the operation control unit 153. For example, the learning unit 152 performs the aforementioned pattern recognition learning or learns action patterns corresponding to user discipline. For example, the learning unit 152 alters the personality of the autonomous mobile body 11, particularly acquiring a learned personality, by performing learning processes based on experience and discipline after the start of operation.

[0130] For example, learning unit 152 uses machine learning algorithms such as deep learning to achieve the learning described above. Note that the learning algorithms employed by learning unit 152 are not limited to the examples above and can be appropriately designed.

[0131] The learning unit 152 supplies data indicating the learning results (hereinafter referred to as learning result data) to the operation control unit 153 or stores the data in the memory 123.

[0132] The operation control unit 153 controls the operation of the autonomous mobile body 11 based on the identified or estimated conditions and learning result data. The operation control unit 153 supplies data related to the actions of the autonomous mobile body 11 to the learning unit 152 and registers the data in the action history data stored in the memory 123.

[0133] The operation control unit 153 controls the internal state of the autonomous mobile body 11 based on the identified or estimated situation and learning result data. For example, the operation control unit 153 controls the state transitions of the internal state of the autonomous mobile body 11.

[0134] The internal state of the autonomous mobile entity 11 is an internal state that does not appear outside the autonomous mobile entity 11, and is set based on at least one or more of the following: the autonomous mobile entity 11's actions, physical condition, mood, age, remaining battery power, etc. The physical condition of the autonomous mobile entity 11 includes, for example, its hunger level. The hunger level is set based on, for example, the time elapsed since the autonomous mobile entity 11 performed a feeding operation. The age of the autonomous mobile entity 11 is set based on, for example, the time elapsed since the purchase date of the autonomous mobile entity 11 or the date the autonomous mobile entity 11 was first powered on, or the total operating time of the autonomous mobile entity 11.

[0135] The operation control unit 153 controls the operation of the autonomous mobile body 11 by controlling the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131, and voice control unit 133 based on at least one of the identified or estimated conditions, learning result data, and the internal state of the autonomous mobile body 11. For example, the operation control unit 153 performs rotation control of each actuator 71, display control of the display 51, and sound output control from the speaker 134.

[0136] Note that, in addition to the operations necessary for the operation of the autonomous mobile body 11, the operations of the autonomous mobile body 11 also include operations such as expressing intentions or emotions and performing. In the following text, the latter operation is referred to as movement.

[0137] Furthermore, the operations performed by the autonomous mobile body 11 for various purposes are referred to as actions. An action may include only the operations necessary for the operation of the autonomous mobile body 11, or it may include one or more types of movement. There are no particular limitations on the purpose of an action. For example, not only specific purposes such as moving to a target point or carrying a predetermined object are included, but also abstract purposes such as expressing intention or emotion are included.

[0138] For example, data for achieving motion (hereinafter referred to as motion data) can be pre-created using an authoring tool and stored in memory 123 during the manufacture of the autonomous mobile body 11. Alternatively, for example, the motion data can be downloaded to the autonomous mobile body 11 from information processing terminal 12 or information processing server 13.

[0139] Motion data includes, for example, data that continuously describes in time series control values ​​such as eye movement of display 51, target joint angles and joint movement speeds of each joint of each drive unit (each actuator 71) of autonomous moving body 11, as well as the type and volume of the sound to be output.

[0140] The operation control unit 153 controls the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131, and voice control unit 133 based on motion data to enable the autonomous mobile body 11 to perform movements. Furthermore, during continuous movement, the operation control unit 153 instructs the mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, and tail drive control unit 131 on the target joint angle of each drive unit, thereby enabling the autonomous mobile body 11 to assume any posture.

[0141] Processing of autonomous mobile body 11

[0142] Next, we will refer to Figures 9 to 23 Describe the processing of autonomous moving body 11.

[0143] Charging response

[0144] First, refer to Figure 9 The flowchart in the diagram describes the charging response process performed by the autonomous mobile body 11.

[0145] In step S1, the autonomous mobile body 11 performs autonomous operations under the control of the operation control unit 153. In other words, the autonomous mobile body 11 autonomously performs various operations. There are no particular restrictions on the content of the operations.

[0146] In step S2, the operation control unit 153 determines whether charging is required. Specifically, the operation control unit 153 detects the remaining power of the autonomous mobile body 11 based on the remaining power data from the power supply control unit 136. If the remaining power is equal to or greater than the charging requirement level, the operation control unit 153 determines that charging is not required and returns to step S1.

[0147] The charging requirement level can be set to any value, such as 26%.

[0148] Subsequently, in step S2, the processes of steps S1 and S2 are repeated until it is determined that charging is required.

[0149] On the other hand, in step S2, if the remaining power is less than the charging requirement level, the operation control unit 153 determines that charging is required, and the process proceeds to step S3.

[0150] In step S3, the autonomous mobile body 11 returns to the charging station 101 under the control of the operation control unit 153. In other words, the autonomous mobile body 11 moves to the charging station 101.

[0151] In step S4, the autonomous mobile body 11 begins to charge on the charging station 101 under the control of the operation control unit 153.

[0152] In step S5, the operation control unit 153 determines whether to stop the operation on the charging station 101. Specifically, the operation control unit 153 detects the remaining power of the autonomous mobile body 11 based on the remaining power data from the power supply control unit 136. If the remaining power is less than the operation stop level, the operation control unit 153 determines not to stop the operation on the charging station 101, and the process proceeds to step S6.

[0153] The operation stop level can be set to any value within a range higher than the charging requirement level, and for example, to 40%.

[0154] In step S6, the autonomous mobile body 11 wakes up on the charging station 101 and performs operations according to the remaining power and personality under the control of the operation control unit 153.

[0155] Subsequently, the processes of steps S5 and S6 are repeated until it is determined in step S5 that the operation on the charging station 101 is stopped.

[0156] This allows the autonomous mobile body 11 to operate (behavior) based on the remaining power and its personality during charging, until the remaining power becomes equal to or greater than the operation stop level.

[0157] A specific example of the operation of the autonomous mobile body 11 on the charging station 101 will be described later.

[0158] On the other hand, in step S5, when the remaining power is equal to or greater than the operation stop level, the operation control unit 153 determines that the operation on the charging station 101 should be stopped, and the process proceeds to step S7.

[0159] In step S7, the autonomous mobile body 11 sleeps on the charging station 101 under the control of the operation control unit 153.

[0160] After that, the charging process was completed.

[0161] Here, we will refer to Figures 10 to 18 An example describing the operation of the autonomous mobile body 11 on the charging station 101.

[0162] Figure 10 An example of the motion performed by the autonomous mobile body 11 on the charging station 101 is illustrated.

[0163] Examples of movements performed by the autonomous mobile body 11 on the charging station 101 include "flapping its feet", "looking around", "yawning", "sniffing around", "tilting its neck", "hiccuping", "sneezing" and "shaking hands".

[0164] "Foot flapping" is a movement that includes, for example, extending the foreleg and moving the foreleg up and down.

[0165] "Looking around" is a movement that includes, for example, turning the neck to look around.

[0166] "Yawning" is, for example, a movement that involves turning the neck while opening the mouth.

[0167] "Sniffing around" is a movement that includes actions such as lifting the face and moving the tip of the nose.

[0168] "Tilting the neck" is a movement that includes, for example, moving the neck in the left-right direction.

[0169] "Hiccup" is an action that includes, for example, opening the mouth, burping, and then shaking the neck from side to side.

[0170] "Sneezing" is, for example, a movement that involves moving the head up and down while simultaneously moving the neck backward and opening the mouth while forcefully moving the neck forward.

[0171] "Shaking hands" is a movement that includes, for example, raising one of the front legs and then lowering it in a diagonal forward direction.

[0172] For example, when the autonomous mobile body 11 is being charged and its remaining power is less than the operation stop level, the operation control unit 153 appropriately selects the movement to be performed from the aforementioned movements and causes the autonomous mobile body 11 to perform the movements sequentially. For example, the probability of each movement being selected is preset. Note that, as will be described later, the probability of each movement being selected during charging is changed based on the characteristics of the autonomous mobile body 11 and its remaining power.

[0173] The characteristics of the operation of the autonomous mobile body 11 on the charging station 101 vary depending on, for example, the individual characteristics of the autonomous mobile body 11 and the remaining power.

[0174] Figure 11 The illustration of the remaining battery power and inherent personality of the autonomous mobile body 11 illustrates an example of the characteristics of operation on the charging station 101. In this example, the inherent personality is categorized into four types: "insensitive," "loyal and sensitive," "intelligent and alert," and "active and sociable."

[0175] For example, the insensitive autonomous mobile body 11 is less affected by the remaining power. In other words, the operation of the insensitive autonomous mobile body 11 on the charging station 101 does not change much between situations where the remaining power is large and small.

[0176] Here, the remaining battery level is determined based on a predetermined threshold. The threshold can be variable, and when it is variable, it can be set by the user.

[0177] For example, when the remaining power is high, the loyal and sensitive autonomous mobile body 11 tends to move its neck to find its owner. On the other hand, for example, when the remaining power is low, the loyal and sensitive autonomous mobile body 11 moves slowly and becomes smaller.

[0178] Here, the owner is, for example, a user who owns autonomous mobile body 11.

[0179] For example, when the remaining battery power is high, the intelligent and alert autonomous mobile body 11 will not move overly cautiously. On the other hand, for example, when the remaining battery power is low, the intelligent and alert autonomous mobile body 11 moves slowly and becomes smaller.

[0180] For example, when the remaining battery power is high, the active and social autonomous mobile body 11 moves quickly and with great speed. On the other hand, for example, when the remaining battery power is low, the active and social autonomous mobile body 11 continues to play when an owner or other individuals (other autonomous mobile bodies 11) are present.

[0181] For example, in order to achieve Figure 11 The characteristics of the operation are used to correct each movement of the autonomous mobile body 11 based on the remaining power and inherent characteristics. Figure 12 and Figure 13The illustration shows each motion of the autonomous moving body 11 in order to achieve Figure 11 Examples of methods that feature operations within the context.

[0182] Figure 12 The illustration shows an example of a method for correcting movement by the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131 and operation control unit 153 of the autonomous mobile body 11 when the remaining battery power is less than 10%.

[0183] In the insensitive autonomous moving body 11, the control values ​​of the motion data are not corrected. Therefore, each movement is performed as is based on the motion data and becomes a standard movement.

[0184] In the loyal and sensitive autonomous locomotion unit 11, the mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, and tail drive control unit 131 correct the joint movement speed (velocity) to 0.9 times the motion data. Other control values ​​of the motion data are not corrected. Therefore, in each movement, the movement of the mouth, neck, each leg, and tail is slowed down.

[0185] In the intelligent and alert autonomous locomotion unit 11, the mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, and tail drive control unit 131 correct the joint movement speed to 0.9 times the motion data. Other control values ​​of the motion data are not corrected. Therefore, in each movement, the movement of the mouth, neck, each leg, and tail is slowed down.

[0186] In the active and social autonomous locomotion system 11, when the owner or other individual is nearby, the mouth drive control unit 125, neck drive control unit 127, and leg drive control unit 129 correct the joint movement speed and target joint angle (amplitude) to 1.1 times the motion data. Control values ​​for other movements are not corrected. Therefore, when the owner or other individual is nearby, mouth, neck, and leg movements are rapid and large in each movement. On the other hand, when the owner or other individual is not nearby, the control values ​​for the motion data are not corrected. Therefore, when the owner or other individual is not nearby, each movement is performed as is based on the motion data and becomes standard movement.

[0187] Figure 13 The illustration shows an example of a method for correcting movement by the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131, and operation control unit 153 of the autonomous mobile body 11 when the remaining battery power is 26% or more.

[0188] In the insensitive autonomous moving body 11, the control values ​​of the motion data are not corrected. Therefore, each movement is performed as is based on the motion data and becomes a standard movement.

[0189] In the loyal and sensitive autonomous mobile body 11, the operation control unit 153 corrects the probability of selecting the action of shaking its neck to find the owner to a factor of 1.2. Other control values ​​of the motion data are not corrected. Therefore, the number of times the autonomous mobile body 11 shakes its neck to find the owner increases.

[0190] In the intelligent and alert autonomous mobile body 11, the operation control unit 153 corrects the probability of the autonomous mobile body 11 doing nothing to a factor of 1.2. Other control values ​​of the motion data are not corrected. Therefore, the time that the autonomous mobile body 11 does nothing increases.

[0191] In the active and social autonomous locomotion 11, the mouth drive control unit 125, neck drive control unit 127, and leg drive control unit 129 correct the joint movement speed and target joint angle to 1.1 times the motion data. Other control values ​​of the motion data are not corrected. Therefore, in each movement, the movement of the mouth, neck, and each leg becomes fast and large.

[0192] In addition, for example, the autonomous mobile body 11 performs movements specific to each individual on the charging station 101.

[0193] Figure 14 The illustration shows examples of the movement of the autonomous mobile body 11 on the charging station 101, each with its own inherent characteristics.

[0194] For example, the insensitive autonomous mobile body 11 performs movements including dozing by slowly moving its neck up and down on the charging station 101.

[0195] For example, when a loyal and sensitive autonomous mobile body 11 finds its owner on the charging station 101, the autonomous mobile body 11 performs movements including raising its hands (front legs) and barking.

[0196] For example, the intelligent and alert autonomous mobile body 11 performs movements on the charging station 101, including facing the direction from which the sound is emitted and adopting a lying-down posture with its head down.

[0197] For example, on the charging station 101, the active and social autonomous mobile body 11 performs movements including swinging its neck from side to side and flapping its front and hind legs.

[0198] Figure 15The illustration shows an example of the characteristics of operation on the charging station 101 regarding the remaining battery power and learned personality of the autonomous mobile body 11. In this example, the learned personality is categorized into four types: "cute," "dependent," "shy," and "wild."

[0199] The adorable autonomous mobile creature 11 possesses a personality characterized by a strong desire to express emotions and a whimsical nature. For example, when its remaining battery is high, the adorable autonomous mobile creature 11 begs for play by wagging its neck or tail. On the other hand, for example, when its remaining battery is low, the adorable autonomous mobile creature 11 moves its body slowly but wags its tail extensively. Furthermore, when its remaining battery is low, the adorable autonomous mobile creature 11 lies down with a disgruntled look in its eyes.

[0200] The dependent autonomous mobile body 11 has characteristics such as a strong desire to communicate. For example, when the remaining battery power is high, the dependent autonomous mobile body 11 increases the number of neck movements and actions to find its owner. On the other hand, for example, when the remaining battery power is low, the dependent autonomous mobile body 11 quietly waits to recharge and only moves more when it finds its owner.

[0201] The shy autonomous mobile entity 11 possesses a personality trait characterized by a strong desire to explore and a weak desire to move. For example, when the remaining battery power is high, the shy autonomous mobile entity 11 will look around the room. On the other hand, for example, when the remaining battery power is low, the shy autonomous mobile entity 11 will quietly wait to recharge. Furthermore, when the remaining battery power is low, the shy autonomous mobile entity 11 tends to move slowly and lie down.

[0202] The Wild Autonomous Mobility Unit 11 possesses a personality trait characterized by a strong desire to move. For example, when the remaining battery power is high, the Wild Autonomous Mobility Unit 11 moves its arms and legs, wanting to leave the charging station 101. On the other hand, for example, when the remaining battery power is low, the Wild Autonomous Mobility Unit 11 wants to play but its battery is depleted. Furthermore, when the remaining battery power is low, the Wild Autonomous Mobility Unit 11 tends to adopt a tired posture, but only moves its legs well.

[0203] For example, in order to achieve Figure 15 The characteristics of the operation are used to correct each movement of the autonomous mobile body 11 based on the remaining power and learned personality. Figure 16 and Figure 17 The illustration shows each motion of the autonomous moving body 11 used to achieve... Figure 15 Examples of methods that feature operations within the context.

[0204] Figure 16The illustration shows an example of a method for correcting movement by the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131 and operation control unit 153 of the autonomous mobile body 11 when the remaining battery power is less than 10%.

[0205] In the adorable autonomous mobile body 11, the pupil display control unit 124 controls the display 51 to make the eyes appear unsatisfactory. Additionally, the neck drive control unit 127 and leg drive control unit 129 correct the joint movement speed to 0.9 times the motion data, and the tail drive control unit 131 corrects the joint movement speed to 1.1 times the motion data. Other control values ​​for the motion data are not corrected. Therefore, in each movement, the autonomous mobile body 11 has unsatisfactory eyes, slowed neck and leg movements, and faster tail movements.

[0206] In the dependent autonomous locomotion unit 11, when the owner is nearby, the mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, and tail drive control unit 131 correct the joint movement speed to 1.1 times the motion data. Other control values ​​of the motion data are not corrected. Therefore, when the owner is nearby, the movements of the mouth, neck, legs, and tail are fast in each movement. On the other hand, when the owner is not nearby, the control values ​​of the motion data are not corrected. Therefore, when the owner is not nearby, each movement is performed as is according to the motion data and becomes standard movement.

[0207] In the shy autonomous locomotion unit 11, the mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, and tail drive control unit 131 correct the joint movement speed to 0.9 times the motion data. Additionally, the neck drive control unit 127 controls the neck drive unit 128 to enter a neck-lowered posture between movements. Other control values ​​for the motion data are not corrected. Therefore, during each movement, the movement of the mouth, neck, legs, and tail slows down, and a neck-lowered posture is adopted between two movements.

[0208] In the wild autonomous mobile body 11, the pupil display control unit 124 controls the display 51 to make the eyes appear unfocused. The neck drive control unit 127 controls the neck drive unit 128 to adopt a neck-lowered posture between movements. The leg drive control unit 129 corrects the joint movement speed and target joint angle to 1.1 times the motion data and controls the leg drive unit 130 to make the leg opening angle 1.1 times the normal value between movements. Other control values ​​of the motion data are not corrected. Therefore, in each movement, the movement of each leg is rapid and large, and between movements, the posture causes the neck to be lowered and the legs to open wide.

[0209] Figure 17 The illustration shows an example of a method for correcting movement by the pupil display control unit 124, mouth drive control unit 125, neck drive control unit 127, leg drive control unit 129, tail drive control unit 131, and operation control unit 153 of the autonomous mobile body 11 when the remaining battery power is 26% or more.

[0210] In the adorable autonomous mobile body 11, the neck drive control unit 127 and the tail drive control unit 131 correct the joint movement speed and target joint angle to 1.1 times the motion data. Other control values ​​of the motion data are not corrected. Therefore, in each movement, the movement of the neck and tail becomes rapid and large.

[0211] In the dependent autonomous mobile body 11, the operation control unit 153 corrects the probability of selecting the action of shaking its neck to find the owner to a factor of 1.2. Other control values ​​of the motion data are not corrected. Therefore, the autonomous mobile body 11 shakes its neck frequently to find the owner.

[0212] For the shy autonomous mobile body 11, the operation control unit 153 corrects the probability of selecting neck movement and movement around to 1.2 times. Other control values ​​of the motion data are not corrected. Therefore, the autonomous mobile body 11 frequently moves its neck to move around.

[0213] In the wild autonomous mobile body 11, the mouth drive control unit 125, neck drive control unit 127, and leg drive control unit 129 correct the joint movement speed and target joint angle to 1.1 times the motion data. Other control values ​​of the motion data are not corrected. Therefore, in each movement, the movement of the mouth, neck, and each leg becomes fast and large.

[0214] In addition, for example, the autonomous mobile body 11 performs movements specific to each learned individual on the charging station 101.

[0215] Figure 18 The illustration shows examples of movements of the autonomous mobile body 11 on the charging station 101, each specific to its learned personality.

[0216] For example, the adorable autonomous mobile body 11 performs movements on the charging station 101, including rhythmically shaking its neck from side to side while moving its ears and tail significantly.

[0217] For example, when the dependent autonomous mobile body 11 finds the owner on the charging station 101, the dependent autonomous mobile body 11 performs a movement that includes summoning the owner by moving one of its front legs up and down.

[0218] For example, on the charging station 101, the shy autonomous mobile body 11 performs movements including extending its front and hind legs in an extended form, lowering its face, and squatting.

[0219] For example, the wild autonomous mobile body 11 moves its front legs and tail rapidly up and down on the charging platform 101 to perform movements including pleading for play.

[0220] Note, for example, that the operation control unit 153 controls the ratio between operations based on inherent personality and operations based on learned personality during the charging of the autonomous mobile body 11. For example, the operation control unit 153 performs weighted corrections based on inherent personality and weighted corrections based on learned personality for the movement and posture of the autonomous mobile body 11 during its operation on the charging station 101, and controls the values ​​of the weights.

[0221] For example, the corrected target joint angle and joint movement speed Mt of each motion of the autonomous mobilizing body 11 are calculated by the following expression (1).

[0222] Mt = Mn × (1 + λ × ΔMc) × {1 + (1 - λ) × ΔMa} ... (1)

[0223] Mn indicates the target joint angles and joint movement velocities of the autonomous mobilizer 11 before correction (normal). ΔMc indicates the intrinsic correction amount for the target joint angles and joint movement velocities of the autonomous mobilizer 11. ΔMa indicates the learned correction amount for the target joint angles and joint movement velocities of the autonomous mobilizer 11. λ is a coefficient (weight) in the range of 0 to 1.

[0224] Furthermore, for example, the target joint angle Pt after posture correction between the movements of the autonomous moving body 11 is calculated by the following expression (2).

[0225] Pt = Pn × (1 + λ × ΔPc) × {1 + (1 - λ) × ΔPa} ... (2)

[0226] Pn indicates the target joint angle of the autonomous mobilizer 11's posture before correction (normal). ΔPc indicates the intrinsic correction amount of the target joint angle of the autonomous mobilizer 11's posture. ΔPa indicates the learned correction amount of the target joint angle of the autonomous mobilizer 11's posture.

[0227] For example, the coefficient λ is set to 1 at the time of shipment and gradually approaches 0 over time from the start of operation of the autonomous mobile body 11. This makes it possible to change the personality of the autonomous mobile body 11, so that the influence of the inherent personality is strong at first, and the influence of the learned personality based on experience and relationship with users (such as owners) becomes stronger as the time spent with the owner increases.

[0228] Furthermore, to make the individual differences of the autonomous mobile body 11 more apparent, for example, the charging requirement level used to determine whether to return to the charging station 101 can be changed based on the learned individuality.

[0229] For example, because the adorable autonomous mobile body 11 has a whimsical personality, the charging requirement level changes randomly each time within a predetermined range (e.g., within ±5%).

[0230] For example, if the dependent autonomous mobile body 11 plays with the owner due to its dependent nature, the charging requirement level is reduced to 20%, and the autonomous mobile body 11 continues to play until the limit is reached.

[0231] For example, the charging requirement level of the shy autonomous mobile body 11 increases to 28% due to its conservative nature, and the autonomous mobile body 11 quickly returns to the charging station 101.

[0232] For example, the charging requirement level of Wild Autonomous Mobile 11 is reduced to 20% due to its active nature, and Wild Autonomous Mobile 11 continues to play until the limit is reached.

[0233] As described above, by reflecting the individuality of each autonomous mobile body 11, the operations related to charging of the autonomous mobile body 11 are diversified, and the individuality of the autonomous mobile body 11 is expressed. This makes it possible for each owner to have a genuine feeling that his / her autonomous mobile body 11 is his / her own and different from another body. In addition, by varying the operation of the autonomous mobile body 11 during charging, it is possible to prevent users such as owners from getting bored.

[0234] Methods of cooperation with other autonomous mobile bodies 11

[0235] For example, when returning (moving) to charging station 101, the autonomous mobile body 11 can collaboratively perform operations with other autonomous mobile bodies 11 by sharing charging-related information. (Reference) Figures 19 to 24 The following describes an example of a process in which, for example, autonomous mobile body 11 performs operations in cooperation with other autonomous mobile bodies 11 when returning to charging station 101.

[0236] First embodiment of charging station return processing

[0237] First, refer to Figure 19 The flowchart in the document describes a first embodiment of the charging station return process performed by the autonomous mobile body 11.

[0238] In the following text, the autonomous mobile body 11 that performs the charging station return process is referred to as autonomous mobile body 11A.

[0239] In step S101, with Figure 9 The processing of step S1 in the process similarly performs autonomous operations.

[0240] In step S102, with Figure 9 The process in step S2 is similar, determining whether charging is needed. If it is determined that charging is not needed, the process returns to step S101.

[0241] Subsequently, in step S102, the processes of steps S101 and S102 are repeated until it is determined that charging is required.

[0242] On the other hand, when it is determined in step S102 that charging is required, the process proceeds to step S103.

[0243] In step S103, the autonomous mobile body 11A begins to return to the charging station 101 under the control of the operation control unit 153. That is, the autonomous mobile body 11A begins to move in the direction of the charging station 101.

[0244] In step S104, the identification unit 151 determines whether the autonomous mobile body 11A has returned to the charging station 101 based on sensor data from the input unit 121, etc. If it is determined that the autonomous mobile body 11A has not yet returned to the charging station 101, the process proceeds to step S105.

[0245] In step S105, the operation control unit 153 determines whether the remaining power is sufficient for movement. For example, the operation control unit 153 detects the remaining power of the autonomous mobile body 11A based on the remaining power data from the power supply control unit 136. If the remaining power is greater than or equal to the operable level, the operation control unit 153 determines that the remaining power is sufficient for movement, and the process returns to step S104.

[0246] The operability level can be set to any value. In addition, for example, the operability level can be changed based on the distance to the charging station 101, etc.

[0247] Subsequently, the processes of steps S104 and S105 are repeated until it is determined in step S105 that the charging station 101 has returned or in step S104 that the remaining power is insufficient for movement.

[0248] On the other hand, in step S105, if the remaining power is equal to or greater than the operable level, the operation control unit 153 determines that the remaining power is insufficient for movement, that is, it is determined that it is difficult to return (move) to the charging station 101, and the process proceeds to step S106.

[0249] In step S106, the operation control unit 153 notifies the surrounding autonomous mobile bodies 11 of the low remaining battery power. Specifically, the operation control unit 153 generates information for notifying the surrounding autonomous mobile bodies 11 of the low remaining battery power (hereinafter referred to as low remaining battery power information). The operation control unit 153 transmits the low remaining battery power information to the surrounding autonomous mobile bodies 11 via the wireless communication module 135.

[0250] In step S107, the autonomous mobile body 11A lies down and waits under the control of the operation control unit 153.

[0251] After that, the charging station returned to its original position, and the process was completed.

[0252] On the other hand, if it is determined in step S104 that the charging station 101 has returned, then the processing from step S105 to step S107 is skipped, and the charging station return process ends.

[0253] First embodiment of auxiliary processing for other autonomous mobile bodies

[0254] Next, refer to Figure 20 The flowchart in the diagram describes the actions of the surrounding autonomous mobile body 11 (hereinafter referred to as autonomous mobile body 11B) against... Figure 19 The first embodiment of other autonomous mobile body auxiliary processing performed in the charging station return processing of autonomous mobile body 11A.

[0255] Note that this process is performed when at least one of autonomous mobile units 11A and 11B does not have the function of sharing power.

[0256] In step S131, with Figure 9 The processing of step S1 in the process similarly performs autonomous operations.

[0257] In step S132, the identification unit 151 determines whether there is an autonomous mobile body 11 with insufficient remaining power around the autonomous mobile body 11. If no such autonomous mobile body 11 has been received... Figure 19 When the remaining power information is sent in step S106, the identification unit 151 determines that there is no autonomous mobile body 11 with insufficient remaining power nearby, and the process returns to step S101.

[0258] Subsequently, the processes of steps S131 and S132 are repeated until it is determined in step S132 that there is an autonomous mobile body 11 with insufficient remaining power around the autonomous mobile body 11.

[0259] On the other hand, in step S132, when the identification unit 151 receives information about insufficient remaining power from the autonomous mobile body 11A via the wireless communication module 135, the identification unit 151 determines that there is an autonomous mobile body 11 (autonomous mobile body 11A) with insufficient remaining power nearby. That is, it determines that there is an autonomous mobile body 11 nearby that is difficult to return (move) to the charging station 101 due to insufficient remaining power, and the process proceeds to step S133.

[0260] In step S133, the identification unit 151 determines whether the owner is nearby based on sensing data from the input unit 121, etc. If the owner is determined to be nearby, the process proceeds to step S134.

[0261] In step S134, the autonomous mobile body 11B moves to the owner's side under the control of the operation control unit 153.

[0262] The process then proceeds to step S135.

[0263] On the other hand, when it is determined in step S133 that the owner is not nearby, the processing in step S134 is skipped, and the process proceeds to step S135.

[0264] In step S135, autonomous mobile body 11B barks at autonomous mobile body 11 (autonomous mobile body 11A) which has low remaining power. This notifies owners or people in the vicinity of autonomous mobile body 11B of the presence of autonomous mobile body 11A with low remaining power.

[0265] After this, the auxiliary processing for other autonomous mobile bodies ends.

[0266] A second embodiment of other autonomous mobile body assisted processing

[0267] Next, refer to Figure 21 The flowchart will describe the actions taken by the surrounding autonomous moving body 11B. Figure 19 The second embodiment of the autonomous mobile body 11A’s charging station return processing performs other autonomous mobile body auxiliary processing.

[0268] This process is executed when both autonomous mobile units 11A and 11B have the capability to share power. For example, as... Figure 22 As illustrated in the diagram, this process is performed when both autonomous mobile bodies 11A and 11B include a wireless power supply unit 302 at the tip of their front legs 301.

[0269] In steps S161 and S162, the following steps are performed: Figure 20 The processing in steps S131 and S132 is similar to that in the previous steps.

[0270] In step S163, the operation control unit 153 determines whether power can be shared based on information from the power supply control unit 136. For example, when the remaining power is less than a predetermined threshold, the operation control unit 153 determines that power cannot be shared, and the process proceeds to step S164.

[0271] In steps S164 to S166, the following steps are performed: Figure 20 The processes in steps S133 to S135 are the same.

[0272] On the other hand, in step S163, when the remaining power is equal to or greater than a predetermined threshold, the operation control unit 153 determines that the power can be shared, and the process proceeds to step S167.

[0273] In step S167, autonomous mobile body 11B goes to autonomous mobile body 11 with insufficient remaining power and shares the power.

[0274] For example, autonomous mobile body 11B moves toward autonomous mobile body 11A under the control of operation control unit 153.

[0275] Next, as Figure 23 As illustrated in the diagram, under the control of the operation control unit 153, the autonomous mobile body 11B overlaps the wireless power supply unit 302B at the tip of its front leg 301B with the wireless power supply unit 302A of the front leg 301A of the autonomous mobile body 11A. Then, the autonomous mobile body 11B wirelessly supplies power from the wireless power supply unit 302B to the wireless power supply unit 302A of the autonomous mobile body 11A. As a result, the autonomous mobile body 11A obtains the necessary power to return to the charging station 101 and can return to the charging station 102 on its own.

[0276] After this, the auxiliary processing for other autonomous mobile bodies ends.

[0277] Second embodiment of charging station return processing

[0278] Next, refer to Figure 24 The flowchart will describe a second embodiment of the charging station return process performed by the autonomous mobile body 11A.

[0279] This process is performed when autonomous mobile body 11A and other autonomous mobile bodies 11 have the function of giving up charging station 101 based on the remaining power.

[0280] In steps S201 to S203, the following steps are performed: Figure 19The processes in steps S101 to S103 are the same.

[0281] In step S204, the identification unit 151 determines whether there is an autonomous mobile body 11 returning to the same charging station 101 based on sensor data from the input unit 121 and information received from other autonomous mobile bodies 11 via the wireless communication module 135. If it is determined that no autonomous mobile body 11 is returning to the same charging station 101, the process proceeds to step S205.

[0282] In step S205, with Figure 19 The process in step S104 is similar, determining whether the autonomous mobile body 11 has returned to the charging station 101. If it is determined that the autonomous mobile body 11 has not yet returned to the charging station 101, the process returns to step S204.

[0283] Subsequently, the processes of steps S204 and S205 are repeated until it is determined in step S205 that no autonomous mobile body 11 is returning to the same charging station 101 or in step S204 that the autonomous mobile body 11 has returned to the charging station 101.

[0284] On the other hand, if it is determined in step S204 that there is an autonomous mobile body 11 that returns to the same charging station 101, the process proceeds to step S206.

[0285] In step S206, autonomous mobile body 11A communicates with other autonomous mobile bodies 11 to share remaining battery power. For example, identification unit 151 communicates via wireless communication module 135 with autonomous mobile bodies 11 (hereinafter referred to as autonomous mobile body 11C) that are returning to the same charging station 101 and shares information about remaining battery power with each other.

[0286] In step S207, the identification unit 151 determines whether the remaining battery power of other autonomous mobile bodies 11 (autonomous mobile body 11C) is less than the remaining battery power of its own autonomous mobile body 11. That is, the identification unit 151 compares the remaining battery power of autonomous mobile body 11A with the remaining battery power of other autonomous mobile bodies 11 (autonomous mobile body 11C), and if it determines that other autonomous mobile bodies 11 have smaller remaining battery power, the process proceeds to step S208.

[0287] In step S208, the autonomous mobile body 11A moves to give way to the charging station 101 under the control of the operation control unit 153.

[0288] In step S209, the identification unit 151 determines whether there is another available charging station 101 based on sensor data from the input unit 121 and information received from other autonomous mobile bodies 11 via the wireless communication module 135. If it is determined that there is no other available charging station 101, the process proceeds to step S210.

[0289] In step S210, the autonomous mobile body 11A lies down and waits under the control of the operation control unit 153.

[0290] Subsequently, the processes of steps S209 and S210 are repeated until it is determined in step S209 that another idle charging station 101 exists.

[0291] On the other hand, in step S210, if it is determined that there is another idle charging station 101, the process returns to step S203. This also includes, for example, a situation where, as the charging of the autonomous mobile body 11C ends, the charging station 101 available to the autonomous mobile body 11C becomes empty.

[0292] After this, the process returns to step S203, where subsequent processing is performed.

[0293] On the other hand, in step S207, if it is determined that the remaining power of other autonomous mobile bodies 11 (autonomous mobile bodies 11C) is greater than the remaining power of its own autonomous mobile body 11, the process proceeds to step S211.

[0294] In step S211, the autonomous mobile body 11A makes a gesture of gratitude because the charging station 101 is given up.

[0295] For example, in this case, the autonomous mobile body 11C makes a movement to give way to the charging station 101 through the same process as step S208 described above.

[0296] In response, under the control of the operation control unit 153, the autonomous mobile body 11A makes a movement to express gratitude because the charging station 101 is given up.

[0297] It should be noted that, for example, when autonomous mobile units 11A and 11C have substantially the same remaining power, another criterion is used to determine which of the autonomous mobile units 11 will yield the charging station 101.

[0298] For example, according to a predetermined priority order, an autonomous mobile body 11 with a lower priority order can give way to an autonomous mobile body 11 with a higher priority order.

[0299] For example, an autonomous mobile body 11 that is farther away from the charging station 101 can give way to an autonomous mobile body 11 that is closer to the charging station 101.

[0300] After this, the process returns to step S205.

[0301] On the other hand, if it is determined in step S205 that the charging station 101 has returned, the charging station return process ends.

[0302] As described above, when the autonomous mobile body 11 returns to the charging station 101, the operation of the autonomous mobile body 11 changes according to the remaining power and the status of other autonomous mobile bodies, which makes it possible to sense the life of the autonomous mobile body 11.

[0303] In addition, when the autonomous mobile body 11 cooperates with or supports other autonomous mobile bodies 11, the autonomous mobile body 11 can sense intelligence.

[0304] 2. Modify

[0305] Modifications to the above embodiments of this technology will be described below.

[0306] The classification of the personality of autonomous mobile body 11 can be appropriately modified. For example, the number of individual types of autonomous mobile body 11 can be increased or decreased. For example, levels (e.g., high, medium, and low) can be set for the personality of autonomous mobile body 11, and the correction amount for each movement can vary according to the level. For example, the inherent personality of autonomous mobile body 11 can be common to all individuals, and only the learned personality can be modified for each individual.

[0307] Furthermore, for example, the external characteristics of the autonomous mobile body 11 can also be changed in a similar manner. For instance, the appearance of the autonomous mobile body 11 can be changed based on changes in its internal characteristics.

[0308] The operation of the autonomous mobile body 11 during charging can be appropriately modified. For example, it is possible to increase or decrease the types of movements that the autonomous mobile body 11 will perform during charging. Furthermore, it is possible to appropriately modify the method and amount of correction for each movement based on the characteristics of the autonomous mobile body 11 and its remaining battery power.

[0309] The form and method of charging the autonomous mobile body 11 can be appropriately modified. For example, the charging method of the autonomous mobile body 11 can be wireless or wired.

[0310] For example, a portion of the aforementioned processing of the autonomous mobile body 11 can be performed by the information processing terminal 12 or the information processing server 13. For example, the information processing terminal 12 or the information processing server 13 can perform all or part of the processing of the main control unit 122 of the autonomous mobile body 11 to remotely control the autonomous mobile body 11. Specifically, for example, the information processing terminal 12 or the information processing server 13 can control the operation of the autonomous mobile body 11 during charging based on the autonomous mobile body 11's characteristics and remaining battery power. For example, the information processing terminal 12 or the information processing server 13 can learn the acquired characteristics of the autonomous mobile body 11.

[0311] This technology can be applied not only to the aforementioned dog-type four-legged walking robots, but also to entertainment robots (such as pet robots) that can express the individuality of each person.

[0312] 3. Other

[0313] Computer configuration examples

[0314] The above series of processes can be performed using hardware or software. In the case of performing the series of processes using software, the program constituting the software is installed in the computer. Here, "computer" includes computers contained in dedicated hardware, general-purpose personal computers capable of performing various functions by installing various programs, etc.

[0315] Figure 25 It is a block diagram depicting an example configuration of computer hardware that performs the series of processes described above according to the program.

[0316] In computer 1000, central processing unit (CPU) 1001, read-only memory (ROM) 1002 and random access memory (RAM) 1003 are connected to each other via bus 1004.

[0317] The input / output interface 1005 is also connected to the bus 1004. The input unit 1006, output unit 1007, storage unit 1008, communication unit 1009 and driver 1010 are connected to the input / output interface 1005.

[0318] Input unit 1006 includes input switches, buttons, microphones, imaging elements, etc. Output unit 1007 includes displays, speakers, etc. Storage unit 1008 includes hard disks, non-volatile memory, etc. Communication unit 1009 includes network interfaces, etc. Driver 1010 drives removable media 1011 (such as disks, optical disks, magneto-optical disks, or semiconductor memory).

[0319] In the computer 1000 configured as described above, for example, the CPU 1001 loads the program recorded in the storage unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004 and executes the program, so that the above-mentioned series of processes are performed.

[0320] For example, a program executed by computer 1000 (CPU 1001) can be provided by being recorded in a removable medium 1011, such as a packaging medium. The program can also be provided via wired or wireless transmission media, such as a local area network, the Internet, or digital satellite broadcasting.

[0321] In computer 1000, a program can be installed in storage unit 1008 via input / output interface 1005 by installing removable medium 1011 on drive 1010. The program can also be received by communication unit 1009 via wired or wireless transmission medium and installed in storage unit 1008. In addition to the above methods, the program can be pre-installed in ROM 1002 or storage unit 1008.

[0322] Note that a program executed by a computer may be a program for performing processing sequentially in the order described in this specification, or it may be a program for performing processing in parallel or at necessary time intervals (such as when a call is executed).

[0323] Additionally, in this specification, a system refers to a collection of multiple components (devices, modules (parts), etc.), regardless of whether all components are housed in the same enclosure. Therefore, a system can refer both to multiple devices housed in separate enclosures and connected via a network, and to a single device in which multiple modules are housed in one enclosure.

[0324] Furthermore, embodiments of this technology are not limited to the above embodiments, and various modifications can be made without departing from the essential points of this technology.

[0325] For example, this technology can have a cloud computing configuration in which a function is shared and processed collaboratively by multiple devices via a network.

[0326] Furthermore, each step described in the flowchart above can be performed by a single device, or it can be shared and performed by multiple devices.

[0327] Furthermore, when a single step includes multiple processes, the multiple processes included in that single step can be executed by a single device, or they can be shared and executed by multiple devices.

[0328] Configuration combination examples

[0329] This technology can also be configured as follows. (1)

[0331] A control device, comprising:

[0332] The operation control unit is configured to control the operation of the autonomous mobile body during charging based on the autonomous mobile body's individual characteristics and remaining battery power. (2)

[0334] The control device according to (1) further includes:

[0335] The learning unit is configured to modify the personality of the autonomous mobile entity based on its experience and relationship with the user. (3)

[0337] According to the control device described in (2), wherein

[0338] The personality of the autonomous mobile entity includes inherent personality and learned personality, and

[0339] The learning unit is configured to modify the learned personality based on the autonomous mobile body's experience and relationship with the user. (4)

[0341] According to the control device described in (3), wherein

[0342] The operation control unit is configured to control the ratio of operations based on the inherent personality and operations based on the learned personality during the charging of the autonomous mobile body. (5)

[0344] According to the control device described in (4), wherein

[0345] The operation control unit is configured to increase the rate of operations based on the learned personality over time, starting from the start of operation of the autonomous mobile body. (6)

[0347] The control device according to any one of (1) to (5), wherein

[0348] The operation control unit is configured to change at least one of the movements and postures performed by the autonomous mobile body during charging, based on the individual characteristics and remaining battery power of the autonomous mobile body. (7)

[0350] According to the control device described in (6), wherein

[0351] The operation control unit is configured to change at least one of the speed and amplitude of the movement performed by the autonomous mobile body during charging, based on the individual characteristics and remaining battery power of the autonomous mobile body. (8)

[0353] According to the control device described in (6) or (7), wherein

[0354] The operation control unit is configured to change the probability that the autonomous mobile body will select from multiple movements to perform the movement during charging, based on the autonomous mobile body's individual characteristics and remaining battery power. (9)

[0356] The control device according to any one of (6) to (8), wherein

[0357] The operation control unit is configured to change the posture between movements based on the individual characteristics and remaining battery power of the autonomous mobile body. (10)

[0359] The control device according to any one of (6) to (9), wherein

[0360] The operation control unit is configured to change the autonomous mobile body's facial expressions during the movement based on the autonomous mobile body's personality and remaining battery power. (11)

[0362] The control device according to any one of (6) to (10), wherein

[0363] The operation control unit is configured to cause the autonomous mobile body to perform movements specific to the autonomous mobile body's characteristics during charging. (12)

[0365] The control device according to any one of (1) to (11), wherein

[0366] The operation control unit is configured to further control the operation of the autonomous mobile body during charging based on the presence of at least one of the owner and another autonomous mobile body around the autonomous mobile body. (13)

[0368] The control device according to any one of (1) to (12), wherein

[0369] The operation control unit is also configured to control the operation of the autonomous mobile body when the autonomous mobile body moves to the charging device for charging. (14)

[0371] According to the control device described in (13), wherein

[0372] When the autonomous mobile body is unable to move to the charging device due to insufficient remaining power, the operation control unit is configured to notify another autonomous mobile body of insufficient remaining power and control the operation of the autonomous mobile body to wait. (15)

[0374] According to the control device described in (13) or (14), wherein

[0375] When another autonomous mobile body moves toward the same charging device, the operation control unit is configured to control the operation of the autonomous mobile body based on a comparison of the remaining power of the autonomous mobile body and the other autonomous mobile body. (16)

[0377] The control device according to any one of (1) to (15), wherein

[0378] When there is another autonomous mobile body that is unable to move to the charging device due to insufficient remaining power, the operation control unit is configured to control the operation of the autonomous mobile body to assist the other autonomous mobile body. (17)

[0380] According to the control device described in (16), wherein

[0381] The operation control unit is configured to control the operation of the autonomous mobile body, such that power is distributed to the other autonomous mobile body. (18)

[0383] According to the control device described in (16) or (17), wherein

[0384] The operation control unit is configured to control the operation of the autonomous mobile body, thereby notifying the surrounding area of ​​the presence of another autonomous mobile body. (19)

[0386] The control device according to any one of (1) to (18), wherein

[0387] The autonomous mobile body is a pet-type robot. (20)

[0389] A control method, comprising:

[0390] Control equipment,

[0391] The operation of the autonomous mobile body during charging is controlled based on its individual characteristics and remaining battery power.

[0392] It should be noted that the effects described in this article are illustrative rather than limiting, and other effects may be provided.

[0393] Reference Symbol List

[0394] 1. Information processing system; 11-1 to 11-n Autonomous mobile body; 12-1 to 12-n Information processing terminal; 13. Information processing server; 51L, 51R Display; 71. Actuator; 101. Charging station; 121. Input unit; 122. Main control unit; 124. Pupil display control unit; 125. Mouth drive control unit; 126. Mouth drive unit; 127. Neck drive control unit; 128. Neck drive unit; 129. Leg drive control unit; 130. Leg drive unit; 131. Tail drive control unit; 132. Tail drive unit; 133. Voice control unit; 134. Speaker; 135. Wireless communication module; 151. Recognition unit; 152. Learning unit; 153. Operation control unit.

Claims

1. A control device, comprising: The operation control unit is configured to control the operation of the autonomous mobile body during charging based on the autonomous mobile body's individual characteristics and remaining battery power.

2. The control device according to claim 1, further comprising: The learning unit is configured to modify the personality of the autonomous mobile entity based on its experience and relationship with the user.

3. The control device according to claim 2, wherein... The personality of the autonomous mobile entity includes inherent personality and learned personality, and The learning unit is configured to modify the learned personality based on the autonomous mobile body's experience and relationship with the user.

4. The control device according to claim 3, wherein The operation control unit is configured to control the ratio of operations based on the inherent personality and operations based on the learned personality during the charging of the autonomous mobile body.

5. The control device according to claim 4, wherein... The operation control unit is configured to increase the rate of operations based on the learned personality over time, starting from the start of operation of the autonomous mobile body.

6. The control device according to claim 1, wherein... The operation control unit is configured to change at least one of the movements and postures performed by the autonomous mobile body during charging, based on the individual characteristics and remaining battery power of the autonomous mobile body.

7. The control device according to claim 6, wherein The operation control unit is configured to change at least one of the speed and amplitude of the movement performed by the autonomous mobile body during charging, based on the individual characteristics and remaining battery power of the autonomous mobile body.

8. The control device according to claim 6, wherein The operation control unit is configured to change the probability that the autonomous mobile body will select from multiple movements to perform the movement during charging, based on the autonomous mobile body's individual characteristics and remaining battery power.

9. The control device according to claim 6, wherein... The operation control unit is configured to change the posture between movements based on the individual characteristics and remaining battery power of the autonomous mobile body.

10. The control device according to claim 6, wherein The operation control unit is configured to change the autonomous mobile body's facial expressions during the movement based on the autonomous mobile body's personality and remaining battery power.

11. The control device according to claim 6, wherein The operation control unit is configured to cause the autonomous mobile body to perform movements specific to the autonomous mobile body's characteristics during charging.

12. The control device according to claim 1, wherein The operation control unit is configured to further control the operation of the autonomous mobile body during charging based on the presence of at least one of the owner and another autonomous mobile body around the autonomous mobile body.

13. The control device according to claim 1, wherein... The operation control unit is also configured to control the operation of the autonomous mobile body when the autonomous mobile body moves to the charging device for charging.

14. The control device according to claim 13, wherein When the autonomous mobile body is unable to move to the charging device due to insufficient remaining power, the operation control unit is configured to notify another autonomous mobile body of insufficient remaining power and control the operation of the autonomous mobile body to wait.

15. The control device according to claim 13, wherein When another autonomous mobile body moves toward the same charging device, the operation control unit is configured to control the operation of the autonomous mobile body based on a comparison of the remaining power of the autonomous mobile body and the other autonomous mobile body.

16. The control device according to claim 1, wherein When there is another autonomous mobile body that is unable to move to the charging device due to insufficient remaining power, the operation control unit is configured to control the operation of the autonomous mobile body to assist the other autonomous mobile body.

17. The control device according to claim 16, wherein The operation control unit is configured to control the operation of the autonomous mobile body, such that power is distributed to the other autonomous mobile body.

18. The control device according to claim 16, wherein The operation control unit is configured to control the operation of the autonomous mobile body, thereby notifying the surrounding area of ​​the presence of another autonomous mobile body.

19. The control device according to claim 1, wherein The autonomous mobile body is a pet-type robot.

20. A control method, comprising: Control equipment, The operation of the autonomous mobile body during charging is controlled based on its individual characteristics and remaining battery power.

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