Control device and control method

Abstract

The present technology pertains to a control device and a control method capable of diversifying operations related to charging of an autonomous mobile body. The control device is provided with an operation control unit that controls the operation of the autonomous mobile body during charging, on the basis of the individuality and the remaining charge amount of the autonomous mobile body. The present technology can be applied to, for example, a control device that controls the operation of a pet-type robot.

Description

Control device and control method

[0001] The present technology relates to a control device and a control method, and more particularly to a control device and a control method that enable diversification of operations related to charging of an autonomous moving body.

[0002] 2. Description of the Related Art Conventionally, a robot has been proposed that performs a predetermined action depending on the amount of charge while being charged (see, for example, Patent Document 1).

[0003] International Publication No. 2000 / 038295

[0004] However, the robot described in Patent Document 1 is only able to select actions depending on the amount of charge, and can only select predetermined actions prepared in advance. Therefore, the range of actions that the robot described in Patent Document 1 can perform while charging is limited, making it difficult to differentiate it from other robots.

[0005] The present technology has been made in consideration of such circumstances, and makes it possible to diversify the operations relating to charging of autonomous moving bodies such as pet-type robots.

[0006] A control device according to one aspect of the present technology includes an operation control unit that controls the operation of an autonomous moving body during charging, based on the personality of the autonomous moving body and the remaining charge amount.

[0007] In a control method according to one aspect of the present technology, a control device controls an operation of an autonomous moving object during charging based on the personality of the autonomous moving object and a remaining charge amount.

[0008] In one aspect of the present technology, the operation of an autonomous moving body during charging is controlled based on the personality of the autonomous moving body and the remaining charge amount.

[0009] 1 is a block diagram illustrating an embodiment of an information processing system to which the present technology is applied. FIG. 1 is a diagram illustrating an example of the hardware configuration of an autonomous mobile body. FIG. 2 is a diagram illustrating an example of the configuration of an actuator provided in an autonomous mobile body. FIG. 3 is a diagram for explaining the function of a display provided in an autonomous mobile body. FIG. 4 is a diagram illustrating an example of the operation of an autonomous mobile body. FIG. 5 is a diagram schematically illustrating a state of an autonomous mobile body during charging. FIG. 6 is a block diagram illustrating an example of the functional configuration of an autonomous mobile body and a charging base. FIG. 7 is a block diagram illustrating an example of the functional configuration of a main control unit of an autonomous mobile body. FIG. 8 is a flowchart for explaining charging response processing of an autonomous mobile body. FIG. 9 is a table illustrating an example of motions performed by an autonomous mobile body on a charging base. FIG. 10 is a table illustrating an example of characteristics of motions on a charging base with respect to the remaining charge of an autonomous mobile body and its innate personality. FIG. 11 is a diagram illustrating an example of a method for correcting motions with respect to the innate personality of an autonomous mobile body when the remaining charge is less than 10%. FIG. 12 is a diagram illustrating an example of a method for correcting motions with respect to the innate personality of an autonomous mobile body when the remaining charge is 26% or more. FIG. 13 is a diagram illustrating an example of motions of an autonomous mobile body on a charging base specific to each innate personality. FIG. 14 is a table illustrating an example of characteristics of motions on a charging base with respect to the remaining charge of an autonomous mobile body and its acquired personality. 1 shows an example of a method for correcting motion for an acquired personality of an autonomous mobile body when the remaining charge is less than 10%. FIG. 2 shows an example of a method for correcting motion for an acquired personality of an autonomous mobile body when the remaining charge is 26% or more. FIG. 3 shows examples of motion of an autonomous mobile body on a charging stand that is specific to each acquired personality. FIG. 4 is a flowchart for explaining a first embodiment of a charging stand return process of an autonomous mobile body. FIG. 5 is a flowchart for explaining a first embodiment of another autonomous mobile body assistance process of an autonomous mobile body. FIG. 6 is a flowchart for explaining a second embodiment of another autonomous mobile body assistance process of an autonomous mobile body. FIG. 7 is a diagram schematically showing a wireless power supply unit of an autonomous mobile body. FIG. 8 is a diagram schematically showing an example of a power supply method between autonomous mobile bodies. FIG. 9 is a flowchart for explaining a second embodiment of a charging stand return process of an autonomous mobile body.

[0010] Hereinafter, embodiments of the present technology will be described. The description will be made in the following order: 1. Embodiment 2. Modification 3. Other

[0011] <<1. Embodiment>> An embodiment of the present technology will be described with reference to FIGS. 1 to 24 .

[0012] <Configuration Example of Information Processing System 1> FIG. 1 is a block diagram showing an embodiment of an information processing system 1 to which the present technology is applied.

[0013] 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.

[0014] Hereinafter, when there is no need to distinguish between the autonomous mobile bodies 11-1 to 11-n, they will simply be referred to as the autonomous mobile body 11. Hereinafter, when there is no need to distinguish between the information processing terminals 12-1 to 12-n, they will simply be referred to as the information processing terminals 12.

[0015] Communication is possible between each autonomous mobile body 11 and the information processing server 13, between each information processing terminal 12 and the information processing server 13, between each autonomous mobile body 11 and each information processing terminal 12, between each autonomous mobile body 11, and between each information processing terminal 12 via the network 21. In addition, direct communication is also possible between each autonomous mobile body 11 and each information processing terminal 12, between each autonomous mobile body 11, and between each information processing terminal 12 without going through the network 21.

[0016] The autonomous mobile body 11 is an information processing device that recognizes its own and its surrounding situations based on collected sensor data, etc., and autonomously selects and executes various actions according to the situation. Unlike a robot that simply performs actions according to user instructions, one of the features of the autonomous mobile body 11 is that it autonomously executes appropriate actions according to the situation.

[0017] The autonomous mobile body 11 can, for example, perform user recognition, object recognition, etc. based on captured images, and perform various autonomous actions according to the recognized user, object, etc. The autonomous mobile body 11 can also, for example, perform voice recognition based on the user's speech, and perform actions based on the user's instructions, etc.

[0018] 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 perform pattern recognition learning related to objects, etc., not only by supervised learning based on given learning data, but also by dynamically collecting learning data based on instructions from a user, etc.

[0019] Furthermore, the autonomous moving body 11 can be disciplined by a user. Here, the discipline of the autonomous moving body 11 is broader than, for example, general discipline in which the autonomous moving body 11 is taught rules and prohibited actions and made to memorize them, and refers to changes in the autonomous moving body 11 that the user can sense as a result of the user's interaction with the autonomous moving body 11.

[0020] The shape, capabilities, desires, and other levels of the autonomous mobile body 11 can be designed appropriately according to the purpose and role. For example, the autonomous mobile body 11 is configured by an autonomous mobile robot that autonomously moves within a space and performs various actions. Specifically, for example, the autonomous mobile body 11 is configured by an autonomous mobile robot that has a shape and movement capabilities that mimic those of a human, a dog, or other animal. Furthermore, for example, the autonomous mobile body 11 is configured by a vehicle or other device that has the ability to communicate with a user.

[0021] Furthermore, each autonomous mobile body 11 has its own unique personality. The personality of the autonomous mobile body 11 is, for example, the internal personality of the autonomous mobile body 11, and is expressed by the behavior of the autonomous mobile body 11. That is, the personality of the autonomous mobile body 11 includes characteristics (e.g., personality, disposition) and features expressed by the behavior of the autonomous mobile body 11. Here, the behavior of the autonomous mobile body 11 is expressed not only by the movement of each part of the autonomous mobile body 11, but also by facial expressions, voice, and the like. That is, the behavior of the autonomous mobile body 11 includes visual, auditory, and tactile movements and changes that are manifested externally.

[0022] Furthermore, the personality of the autonomous moving body 11 includes innate personality and acquired personality.

[0023] The innate personality is a personality that is set before the autonomous moving body 11 starts operating, and is represented by, for example, various parameters that are set in advance before shipping the autonomous moving body 11. For example, one of a plurality of types of innate personality is set in each autonomous moving body 11 in advance.

[0024] The acquired personality is a personality acquired through experiences after the autonomous mobile body 11 is put into operation and through interactions with the user, such as training, and is represented, for example, by various parameters that are set or changed after the autonomous mobile body 11 is put into operation. For example, multiple autonomous mobile bodies 11 that have the same innate personality will have different personalities due to the acquired personality.

[0025] The information processing terminal 12 is, for example, a smartphone, a tablet terminal, a PC (personal computer), or the like, and is used by the user of the autonomous mobile body 11. The information processing terminal 12 realizes various functions by executing a predetermined application program (hereinafter simply referred to as an application). For example, the information processing terminal 12 manages and customizes the autonomous mobile body 11 by executing the predetermined application.

[0026] 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, or give instructions to the autonomous mobile body 11.

[0027] The information processing server 13, for example, collects various types of data from each autonomous mobile body 11 and each information processing terminal 12, provides various types of data to each autonomous mobile body 11 and each information processing terminal 12, and controls the operation of each autonomous mobile body 11. Furthermore, for example, the information processing server 13 can perform pattern recognition learning and processing corresponding to user discipline, similar to the autonomous mobile body 11, 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 above-mentioned applications and various types of data related to each autonomous mobile body 11.

[0028] The network 21 may be composed of, for example, public networks such as the Internet, telephone networks, and satellite communication networks, various LANs (Local Area Networks) including Ethernet (registered trademark), and WANs (Wide Area Networks). The network 21 may also include dedicated network such as an IP-VPN (Internet Protocol-Virtual Private Network). The network 21 may also include wireless communication networks such as Wi-Fi (registered trademark) and Bluetooth (registered trademark).

[0029] The configuration of the information processing system 1 can be flexibly changed depending on the specifications, operation, etc. For example, the autonomous mobile body 11 may communicate information with various external devices in addition to the information processing terminal 12 and the information processing server 13. The above external devices can include, for example, servers that transmit weather, news, and other service information, and various home appliances owned by the user.

[0030] Furthermore, for example, the autonomous mobile bodies 11 and the information processing terminals 12 do not necessarily have to have a one-to-one relationship, and may have, for example, a many-to-many, many-to-one, or one-to-many relationship. For example, one user can use one information processing terminal 12 to check data related to multiple autonomous mobile bodies 11, or can use multiple information processing terminals to check data related to one autonomous mobile body 11.

[0031] <Example of Hardware Configuration of Autonomous Mobile Body 11> Next, a description will be given of an example of the hardware configuration of the autonomous mobile body 11. Note that the following description will be given taking as an example a case where the autonomous mobile body 11 is a dog-type four-legged walking robot.

[0032] 2 is a diagram showing an example of the hardware configuration of the autonomous moving body 11. The autonomous moving body 11 is a dog-like quadruped walking robot that includes a head, a body, four legs, and a tail.

[0033] The autonomous moving body 11 is provided with two displays, a display 51L and a display 51R, on its head. Hereinafter, when there is no need to distinguish between the display 51L and the display 51R, they will be simply referred to as the display 51.

[0034] The autonomous moving body 11 also includes various sensors, such as a microphone 52, a camera 53, a ToF (Time Of Flight) sensor 54, a human presence sensor 55, a distance measurement sensor 56, a touch sensor 57, an illuminance sensor 58, a sole button 59, and an inertial sensor 60.

[0035] The autonomous mobile body 11 is provided with, for example, four microphones 52 on its head. Each microphone 52 collects surrounding sounds including, for example, the user's speech and surrounding environmental sounds. Furthermore, by providing multiple microphones 52, it is possible to collect surrounding sounds with high sensitivity and to localize the sound source.

[0036] The autonomous mobile body 11 is equipped with two wide-angle cameras 53, for example, at the nose and the waist, which capture images of the surroundings of the autonomous mobile body 11. For example, the camera 53 located at the nose captures images within the forward field of view of the autonomous mobile body 11 (i.e., the dog's field of view). The camera 53 located at the waist captures images of the surroundings centered above the autonomous mobile body 11. The autonomous mobile body 11 can extract feature points of the ceiling, for example, based on images captured by the camera 53 located at the waist, and realize SLAM (Simultaneous Localization and Mapping).

[0037] The ToF sensor 54 is provided, for example, at the tip of the nose and detects the distance to an object present in front of the head. The ToF sensor 54 enables the autonomous mobile body 11 to accurately detect the distance to various objects, and realizes operation according to the relative position of targets including the user, obstacles, etc.

[0038] The human presence sensor 55 is placed, for example, on the chest, and detects the location of the user, a pet kept by the user, etc. By detecting an animal present in front of the autonomous moving body 11 using the human presence sensor 55, the autonomous moving body 11 can perform various actions toward the animal, for example, actions according to emotions such as interest, fear, surprise, etc.

[0039] The distance measurement sensor 56 is placed, for example, on the chest, and detects the situation on the floor surface in front of the autonomous mobile body 11. The distance measurement sensor 56 allows the autonomous mobile body 11 to accurately detect the distance to an object present on the floor surface in front of it, and enables it to perform operations according to the relative position of the object.

[0040] The touch sensors 57 are arranged in areas where the user is likely to touch the autonomous moving body 11, such as the top of the head, under the chin, and on the back, and detect contact (touch) by the user. The touch sensors 57 are configured, for example, by capacitance-type or pressure-sensitive touch sensors. The autonomous moving body 11 can detect contact actions by the user, such as touching, stroking, tapping, and pushing, using the touch sensors 57, and can perform an action in accordance with the contact action. Furthermore, for example, by arranging the touch sensors 57 in a line or a plane at each part, it becomes possible to detect the position touched within each part.

[0041] The illuminance sensor 58 is disposed, for example, at the base of the tail on the back of the head, and detects the illuminance of the space in which the autonomous mobile body 11 is located. The autonomous mobile body 11 can detect the ambient brightness using the illuminance sensor 58 and perform an operation according to the detected brightness.

[0042] The sole buttons 59 are, for example, arranged at the locations corresponding to the pads of each of the four legs, and detect whether or not the bottom surfaces of the legs of the autonomous mobile body 11 are in contact with the floor. The sole buttons 59 enable the autonomous mobile body 11 to detect contact or non-contact with the floor surface, and to know, for example, that it has been picked up by a user.

[0043] The inertial sensors 60 are disposed, for example, in the head and the torso, respectively, and detect physical quantities such as the speed, acceleration, and rotation of the head and the torso. For example, the inertial sensors 60 are configured with a six-axis sensor that detects acceleration and angular velocity along the X-axis, Y-axis, and Z-axis. The autonomous mobile body 11 can accurately detect the movement of the head and the torso using the inertial sensors 60, and realize operation control according to the situation.

[0044] The configuration of the sensors included in the autonomous mobile body 11 can be flexibly changed depending on the specifications, operation, etc. For example, in addition to the above configuration, the autonomous mobile body 11 may further include various communication devices including a temperature sensor, a geomagnetic sensor, and a GNSS (Global Navigation Satellite System) signal receiver.

[0045] Next, a configuration example of the joints of the autonomous mobile body 11 will be described with reference to Fig. 3. Fig. 3 shows a configuration example of an actuator 71 provided in the autonomous mobile body 11. In addition to the rotation points shown in Fig. 3, the autonomous mobile body 11 has two degrees of freedom of rotation each in the ears and tail, and one in the mouth, for a total of 22 degrees of freedom of rotation.

[0046] For example, the autonomous mobile body 11 has three degrees of freedom in its head, allowing it to perform both nodding and tilting its head. In addition, the autonomous mobile body 11 can reproduce swinging movements of its waist using the actuators 71 provided in its waist, allowing it to achieve natural and flexible movements that are closer to those of a real dog.

[0047] The autonomous mobile body 11 may achieve the above-mentioned 22 degrees of rotational freedom by combining, for example, a single-axis actuator and a two-axis actuator. For example, single-axis actuators may be used in the elbows and knees of the legs, and two-axis actuators may be used in the shoulders and thighs.

[0048] Next, the function of the display 51 provided in the autonomous moving body 11 will be described with reference to FIG.

[0049] The autonomous mobile body 11 is equipped with two displays 51R and 51L corresponding to the right and left eyes, respectively. Each display 51 has a function of visually expressing the eye movements and emotions of the autonomous mobile body 11. For example, each display 51 expresses the movements of the eyeballs, pupils, and eyelids according to emotions and actions, thereby producing natural expressions and movements similar to those of real animals such as dogs, and can express the line of sight and emotions of the autonomous mobile body 11 with high precision and flexibility. Furthermore, the user can intuitively grasp the state of the autonomous mobile body 11 from the eyeball movements displayed on the display 51.

[0050] Each display 51 is realized by, for example, two independent OLEDs (Organic Light Emitting Diodes). By using OLEDs, it is possible to reproduce the curved surface of an eyeball. As a result, a more natural appearance can be achieved compared to when a pair of eyeballs are represented by a single flat display or when two eyeballs are respectively represented by two independent flat displays.

[0051] With the above configuration, the autonomous moving body 11 can reproduce movements and emotional expressions that are closer to those of real living creatures by precisely and flexibly controlling the movements of the joints and eyeballs, as shown in Figure 5.

[0052] 6, the autonomous moving body 11 is charged while placed on a platform-shaped charging stand 101. As will be described later, the autonomous moving body 11 performs operations on the charging stand 101 based on its personality and remaining charge.

[0053] 5 and 6, the external structure of the autonomous moving body 11 is shown in a simplified manner.

[0054] <Example of functional configuration of autonomous moving body 11 and charging stand 101> Next, an example of functional configuration of the autonomous moving body 11 and charging stand 101 will be described with reference to Fig. 7. Note that Fig. 7 shows only the configuration necessary for the processing described later, and the description of the configuration not necessary for the processing described later is omitted as appropriate.

[0055] The autonomous moving body 11 includes a display 51, an input unit 121, a main control unit 122, a memory 123, an eye 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.

[0056] The charging stand 101 includes a charging control unit 201 , a charging circuit 202 , and a display unit 203 .

[0057] The autonomous moving body 11 and the charging stand 101 are connected via a connector 102 .

[0058] The input unit 121 includes the microphone 52, camera 53, ToF sensor 54, human presence sensor 55, distance measurement sensor 56, touch sensor 57, illuminance sensor 58, sole button 59, and inertial sensor 60, and has a function of collecting various sensor data related to the user and the surrounding situation. The input unit 121 also includes input devices such as switches and buttons. The input unit 121 supplies the collected sensor data and input data input via the input devices to the main control unit 122.

[0059] The main control unit 122 includes, for example, a processor such as a CPU (Central Processing Unit), and performs various types of information processing and controls each part of the autonomous moving body 11 .

[0060] For example, the main control unit 122 recognizes the situation in which the autonomous mobile body 11 is located based on data supplied from each part of the autonomous mobile body 11.

[0061] For example, the main control unit 122 controls the operation of the autonomous mobile body 11 by controlling the pupil display control unit 124, the mouth drive control unit 125, the neck drive control unit 127, the leg drive control unit 129, the tail drive control unit 131, and the voice control unit 133 based on the recognition results of the situation in which the autonomous mobile body 11 is placed.

[0062] For example, the main control unit 122 executes learning processes related to the behavior of the autonomous mobile body 11 and recognition of the surrounding situation, based on data supplied from each unit of the autonomous mobile body 11 .

[0063] For example, the main control unit 122 controls the power supply control unit 136 to control the power supply of the autonomous moving body 11 .

[0064] The memory 123 includes, for example, a non-volatile memory and a volatile memory, and stores various programs and data.

[0065] 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 .

[0066] The mouth drive control unit 125 controls the mouth movement of the autonomous mobile body 11 by controlling the mouth drive unit 126. The mouth drive control unit 125 supplies drive data (hereinafter referred to as mouth drive data) indicating the movement angle, movement speed, etc. of the actuator 71 provided in the mouth drive unit 126 to the main control unit 122.

[0067] The mouth drive unit 126 includes an actuator 71 that drives the mouth of the autonomous moving body 11 .

[0068] The pupil display control unit 124 and the mouth drive control unit 125 control the movements of the eyes and mouth of the autonomous mobile body 11, thereby changing the facial expression of the autonomous mobile body 11.

[0069] The neck drive control unit 127 controls the neck movement of the autonomous mobile body 11 by controlling the neck drive unit 128. The neck drive control unit 127 supplies drive data (hereinafter referred to as neck drive data) indicating the movement angle, movement speed, etc. of the actuator 71 provided in the neck drive unit 128 to the main control unit 122.

[0070] The neck drive unit 128 includes an actuator 71 that drives the neck joint of the autonomous mobile body 11 .

[0071] The leg drive control unit 129 controls the leg drive unit 130 to control the movement of each leg of the autonomous mobile body 11. The leg drive control unit 129 supplies the main control unit 122 with drive data (hereinafter referred to as leg drive data) indicating the movement angle, movement speed, etc. of the actuators 71 provided in the leg drive unit 130.

[0072] The leg driving unit 130 includes an actuator 71 that drives the joints of each leg of the autonomous moving body 11 .

[0073] The tail drive control unit 131 controls the tail drive unit 132 to control the movement of the tail of the autonomous mobile 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 provided in the tail drive unit 132.

[0074] The tail drive unit 132 includes an actuator 71 that drives the tail of the autonomous moving body 11 .

[0075] The voice control unit 133 generates and processes voice data corresponding to the voice output by the autonomous moving body 11, and controls the characteristics and output timing of the voice.

[0076] The sounds output by the autonomous mobile body 11 include, for example, sounds that the autonomous mobile body 11 uses to communicate with a user or to express its state or emotion, operation sounds accompanying the operation of the autonomous mobile body 11, and performance sounds that enhance the performance of the autonomous mobile body 11. The sounds that the autonomous mobile body 11 uses to communicate with a user or to express its state or emotion include, for example, cries, conversation sounds, talking in its sleep, etc. Operation sounds include, for example, cries, footsteps, etc. Performance sounds include, for example, sound effects, music, etc.

[0077] Furthermore, the sounds output by the autonomous mobile body 11 include, for example, sounds that are output or change in response to external stimuli (hereinafter referred to as stimulus-responsive sounds), and sounds that are output or change in accordance with (linked to) the operation of the autonomous mobile body 11. Stimulus-responsive sounds include, for example, cries, conversation sounds, talking in one's sleep, etc. Sounds that are output or change in accordance with the operation of the autonomous mobile body 11 include, for example, operation sounds and performance sounds.

[0078] The characteristics of the sound to be controlled include, for example, the type of sound (e.g., bird calls, conversation sounds, etc.), content, characteristics (e.g., pitch, volume, timbre, etc.), and sound quality. For example, in the case of conversation sounds, the content of the sound includes the content of the conversation.

[0079] The speaker 134 outputs the various sounds described above based on the audio data supplied from the audio control unit 133 .

[0080] The wireless communication module 135 communicates with other autonomous mobile bodies 11, the information processing terminal 12, and the information processing server 13 via the network 21 or without the network 21, and transmits and receives various types of data. The wireless communication module 135 supplies received data to the main control unit 122 and obtains data to be transmitted from the main control unit 122.

[0081] The communication method of the wireless communication module 135 is not particularly limited, and can be flexibly changed according to the specifications and operation.

[0082] The power supply control unit 136 controls the supply of power stored in the rechargeable battery 137 to each unit of the autonomous moving body 11. The power supply control unit 136 detects the remaining charge of the rechargeable battery and supplies remaining charge data indicating the detection result to the main control unit 122.

[0083] The charging control unit 201 controls the charging of the rechargeable battery 137 of the autonomous moving object 11 by the charging circuit 202 .

[0084] The charging circuit 202 charges the rechargeable battery 137 of the autonomous moving object 11 under the control of the charging control unit 201 .

[0085] The display unit 203 includes, for example, an LED (Light Emitting Diode) and displays the charging state of the rechargeable battery 137 of the autonomous moving body 11 .

[0086] <Configuration Example of Main Controller 122> Fig. 8 shows a functional configuration example of the main controller 122 of Fig. 7. The main controller 122 includes a recognition unit 151, a learning unit 152, and an operation control unit 153.

[0087] The recognition unit 151 recognizes the situation in which the autonomous mobile body 11 is placed, based on the sensor data and input data supplied from the input unit 121, the received data supplied from the wireless communication module 135, the mouth drive data supplied from the mouth drive unit 126, the neck drive data supplied from the neck drive control unit 127, the leg drive data supplied from the leg drive control unit 129, and the tail drive data supplied from the tail drive control unit 131.

[0088] The situation in which the autonomous mobile body 11 is placed includes, for example, the situation of itself and its surroundings. The situation of itself includes, for example, the state and movement of the autonomous mobile body 11. The surrounding situation includes, for example, the state, movement, and instructions of surrounding people such as a user, the state and movement of surrounding living things such as pets, the state and movement of surrounding objects, time, place, and the surrounding environment. The surrounding objects include, for example, other autonomous mobile bodies. Furthermore, in order to recognize the situation, the recognition unit 151 performs, for example, person identification, facial expression and gaze recognition, emotion recognition, object recognition, action recognition, spatial region recognition, color recognition, shape recognition, marker recognition, obstacle recognition, step recognition, brightness recognition, temperature recognition, voice recognition, word understanding, position estimation, posture estimation, etc.

[0089] The recognition unit 151 also has a function of estimating and understanding a situation based on various recognized information. For example, the recognition unit 151 recognizes stimuli given to the autonomous mobile body 11 from the outside and the person who gave the stimuli. Stimuli to be recognized include, for example, visual stimuli, auditory stimuli, and tactile stimuli. In this case, the recognition unit 151 may comprehensively estimate the situation using knowledge stored in advance.

[0090] The recognition unit 151 supplies data indicating the recognition 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 recognition unit 151 registers the situation data in the behavior history data stored in the memory 123.

[0091] The behavior history data is data that indicates the history of behavior of the autonomous moving body 11. The behavior history data includes, for example, items such as the date and time when the behavior started, the date and time when the behavior ended, the trigger for performing the behavior, the location where the behavior was instructed (if a location was instructed), the situation when the behavior was performed, and whether the behavior was completed (whether the behavior was performed to the end).

[0092] For example, if an action is triggered by a user instruction, the content of the instruction is registered as the trigger for the execution of the action. Also, for example, if an action is triggered by a specific situation, the content of the situation is registered. Furthermore, for example, if an action is triggered by an object pointed to or recognized by the user, the type of the object is registered.

[0093] The learning unit 152 learns the situation, behavior, and the effect of the behavior on the environment based on one or more of the sensor data and input data supplied from the input unit 121, the received data supplied from the wireless communication module 135, the mouth drive data supplied from the mouth drive unit 126, the neck drive data supplied from the neck drive control unit 127, the leg drive data supplied from the leg drive control unit 129, the tail drive data supplied from the tail drive control unit 131, the situation data supplied from the recognition unit 151, and data related to the behavior of the autonomous mobile body 11 supplied from the operation control unit 153. For example, the learning unit 152 performs the pattern recognition learning described above and learns behavioral patterns corresponding to user discipline. For example, the learning unit 152 changes the personality, particularly acquired personality, of the autonomous mobile body 11 by performing a learning process based on experience and discipline after operation has started.

[0094] For example, the learning unit 152 realizes the above learning using a machine learning algorithm such as deep learning. Note that the learning algorithm employed by the learning unit 152 is not limited to the above example and can be designed as appropriate.

[0095] The learning unit 152 supplies data indicating the learning results (hereinafter referred to as learning result data) to the operation control unit 153 and stores the data in the memory 123 .

[0096] The operation control unit 153 controls the operation of the autonomous mobile body 11 based on the recognized or estimated situation and the learning result data. The operation control unit 153 supplies data related to the behavior of the autonomous mobile body 11 to the learning unit 152 and registers the data in the behavior history data stored in the memory 123.

[0097] The operation control unit 153 controls the internal state of the autonomous mobile body 11 based on the recognized or estimated situation and the learning result data. For example, the operation control unit 153 controls the state transition of the internal state of the autonomous mobile body 11.

[0098] The internal state of the autonomous mobile body 11 is an internal state that does not appear outside the autonomous mobile body 11, and is set based on at least one of the autonomous mobile body 11's behavior, physical condition, emotions, age, remaining charge, etc. The physical condition of the autonomous mobile body 11 includes, for example, a hunger level. The hunger level is set based on, for example, the amount of time that has elapsed since the autonomous mobile body 11 took the action of eating food. The age of the autonomous mobile body 11 is set based on, for example, the date of purchase of the autonomous mobile body 11, or the amount of time that has elapsed since the autonomous mobile body 11 was first turned on, or the total operating time of the autonomous mobile body 11.

[0099] 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 audio control unit 133 based on at least one of the recognized or estimated situation, the learning result data, and the internal state of the autonomous mobile body 11, thereby controlling the operation of the autonomous mobile body 11. For example, the operation control unit 153 controls the rotation of each actuator 71, the display of the display 51, and the audio output from the speaker 134, etc.

[0100] The movements of the autonomous mobile body 11 include, for example, movements that express intentions or emotions, and performances, in addition to movements necessary for the operation of the autonomous mobile body 11. Hereinafter, the latter movements will be referred to as motions.

[0101] Furthermore, the actions that the autonomous mobile body 11 performs for various purposes are referred to as actions. An action may include only actions necessary for the operation of the autonomous mobile body 11, or may include one or more types of motion. The purpose that is the target of an action is not particularly limited. For example, an action may include not only specific purposes such as moving to a target location or carrying a specific object, but also abstract purposes such as expressing intentions or emotions.

[0102] Data for realizing motion (hereinafter referred to as motion data) is created in advance using, for example, an authoring tool and stored in the memory 123 when the autonomous mobile body 11 is manufactured. Alternatively, for example, the motion data is downloaded to the autonomous mobile body 11 from the information processing terminal 12 or the information processing server 13.

[0103] The motion data includes, for example, data continuously describing in chronological order, the eye movement of the display 51, the target joint angle and joint movement speed of each joint of each drive unit (each actuator 71) of the autonomous mobile body 11, and control values ​​such as the type and volume of the sound to be output.

[0104] The movement control unit 153 controls the pupil display control unit 124, the mouth drive control unit 125, the neck drive control unit 127, the leg drive control unit 129, the tail drive control unit 131, and the voice control unit 133 based on the motion data, thereby causing the autonomous mobile body 11 to execute a motion. Furthermore, the movement control unit 153 can cause the autonomous mobile body 11 to take any posture by instructing the mouth drive control unit 125, the neck drive control unit 127, the leg drive control unit 129, and the tail drive control unit 131 on target joint angles of each drive unit between successive motions.

[0105] <Processing of the Autonomous Mobile Body 11> Next, processing of the autonomous mobile body 11 will be described with reference to FIGS. 9 to 23. FIG.

[0106] <Charge Handling Process> First, the charge handling process executed by the autonomous moving body 11 will be described with reference to the flowchart of FIG.

[0107] In step S1, the autonomous mobile body 11 performs an autonomous operation under the control of the operation control unit 153. That is, the autonomous mobile body 11 autonomously performs various operations. The content of the operation is not particularly limited.

[0108] In step S2, the operation control unit 153 determines whether charging is necessary. Specifically, the operation control unit 153 detects the remaining charge of the autonomous moving body 11 based on the remaining charge data from the power supply control unit 136. If the remaining charge is equal to or greater than the required charge level, the operation control unit 153 determines that charging is not necessary, and the process returns to step S1.

[0109] The required charge level can be set to any value, for example, 26%.

[0110] Thereafter, the processes of steps S1 and S2 are repeatedly executed until it is determined in step S2 that charging is necessary.

[0111] On the other hand, in step S2, if the remaining charge amount is less than the required charge level, the operation control unit 153 determines that charging is required, and the process proceeds to step S3.

[0112] In step S3, the autonomous moving object 11 returns to the charging stand 101 under the control of the operation control unit 153. That is, the autonomous moving object 11 moves to the charging stand 101.

[0113] In step S4 , the autonomous moving object 11 starts charging on the charging stand 101 under the control of the operation control unit 153 .

[0114] In step S5, the operation control unit 153 determines whether or not to stop operation on the charging stand 101. Specifically, the operation control unit 153 detects the remaining charge of the autonomous moving object 11 based on the remaining charge data from the power supply control unit 136. If the remaining charge is less than the operation stop level, the operation control unit 153 determines not to stop operation on the charging stand 101, and the process proceeds to step S6.

[0115] The operation stop level can be set to any value within a range greater than the required charge level, and is set to, for example, 40%.

[0116] In step S6, the autonomous moving object 11 stands up on the charging stand 101 under the control of the operation control unit 153, and performs an operation according to the remaining charge amount and the autonomous moving object's personality.

[0117] Thereafter, the processes of steps S5 and S6 are repeatedly executed until it is determined in step S5 that the operation on the charging stand 101 is to be stopped.

[0118] As a result, the autonomous moving body 11 operates (behaves) in accordance with the remaining charge amount and its personality while being charged, until the remaining charge amount reaches or exceeds the operation stop level.

[0119] A specific example of the operation of the autonomous moving body 11 on the charging stand 101 will be described later.

[0120] On the other hand, in step S5, if the remaining charge amount is equal to or greater than the operation stop level, the operation control unit 153 determines to stop operation on the charging stand 101, and the process proceeds to step S7.

[0121] In step S7, the autonomous moving object 11 goes to sleep on the charging stand 101 under the control of the operation control unit 153.

[0122] Thereafter, the charging process ends.

[0123] Here, an example of the operation of the autonomous moving body 11 on the charging stand 101 will be described with reference to FIGS.

[0124] FIG. 10 shows an example of a motion that the autonomous moving body 11 performs on the charging stand 101.

[0125] The motions that the autonomous mobile body 11 performs on the charging stand 101 include, for example, "flapping its legs," "looking around," "yawning," "smelling," "tilting its head," "burping," "sneezing," and "shaking its paw."

[0126] "Flapping legs" is a motion that includes, for example, throwing out the front legs and moving them up and down.

[0127] "Look around" is a motion that includes, for example, turning one's head to look around.

[0128] "Yawning" is, for example, a motion that includes turning the head while opening the mouth.

[0129] "Smelling" is a motion that includes, for example, lifting the head and moving the tip of the nose.

[0130] "Tilt your head" is, for example, a motion that includes moving your head from side to side.

[0131] "Burp" is a motion that includes, for example, opening the mouth to burp and then shaking the head from side to side.

[0132] A "sneezing" is a motion that includes, for example, moving the neck back while bobbing the head up and down, and then moving the neck forward forcefully while opening the mouth.

[0133] "Shake hands" is a motion that includes, for example, raising one front leg high and then lowering it diagonally forward.

[0134] For example, when the autonomous mobile body 11 is charging and the remaining charge is less than the operation stop level, the operation control unit 153 appropriately selects a motion to be executed from the above motions and causes the autonomous mobile body 11 to execute the motions in order. For example, the probability that each motion will be selected is set in advance. Note that, as will be described later, the probability that each motion will be selected during charging is changed based on the personality and remaining charge of the autonomous mobile body 11.

[0135] Furthermore, the characteristics of the operation of the autonomous moving body 11 on the charging stand 101 change depending on, for example, the characteristics of the autonomous moving body 11 and the remaining charge amount.

[0136] 11 shows an example of the characteristics of the autonomous mobile body 11's behavior on the charging stand 101 in relation to the remaining charge and innate personality. In this example, the innate personality is classified into four types: "insensitive," "loyal and sensitive," "intelligent and alert," and "active and sociable."

[0137] For example, an insensitive autonomous moving body 11 is not significantly affected by the remaining charge amount. That is, the operation of an insensitive autonomous moving body 11 on the charging stand 101 does not change significantly whether the remaining charge amount is high or low.

[0138] Here, whether the remaining charge is high or low is determined based on a predetermined threshold value, which may be variable, and if variable, may be set by the user.

[0139] For example, when the remaining charge of the loyal and sensitive autonomous mobile body 11 is high, the behavior of moving its head to search for its owner increases. On the other hand, when the remaining charge of the loyal and sensitive autonomous mobile body 11 is low, the movement of the loyal and sensitive autonomous mobile body 11 becomes slow and small.

[0140] Here, the owner is, for example, a user who owns the autonomous moving body 11.

[0141] For example, a smart and cautious autonomous moving body 11 behaves cautiously and does not move too much when the remaining charge is high. On the other hand, a smart and cautious autonomous moving body 11 moves slowly and small when the remaining charge is low.

[0142] For example, an active and sociable autonomous mobile body 11 will move quickly and large when it has a large remaining charge. On the other hand, for example, an active and sociable autonomous mobile body 11 will continue to play when it has an owner or other individuals (other autonomous mobile bodies 11) present when it has a low remaining charge.

[0143] In order to realize the operation characteristics of Fig. 11, each motion of the autonomous moving body 11 is corrected based on, for example, the remaining charge and the innate personality. Fig. 12 and Fig. 13 show examples of methods for correcting each motion of the autonomous moving body 11 in order to realize the operation characteristics of Fig. 11.

[0144] FIG. 12 shows an example of a motion correction method performed 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 moving body 11 when the remaining charge is less than 10%.

[0145] In the insensitive autonomous mobile body 11, correction of each control value of the motion data is not performed, and therefore each motion is executed as is according to the motion data, resulting in standard movement.

[0146] In the faithful and responsive autonomous mobile body 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 motion, the movement of the mouth, neck, each leg, and tail slows down.

[0147] In the intelligent and alert autonomous mobile body 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 motion, the movement of the mouth, neck, each leg, and tail slows down.

[0148] In an active and sociable autonomous mobile body 11, when the owner or another 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. The control values ​​of other motions are not corrected. Therefore, when the owner or another individual is nearby, the mouth, neck, and legs move faster and larger in each motion. On the other hand, when the owner or another individual is not nearby, the control values ​​of the motion data are not corrected. Therefore, when the owner or another individual is not nearby, each motion is executed as is according to the motion data, resulting in standard movement.

[0149] FIG. 13 shows an example of a motion correction method performed 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 moving body 11 when the remaining charge is 26% or more.

[0150] In the insensitive autonomous mobile body 11, correction of each control value of the motion data is not performed, and therefore each motion is executed as is according to the motion data, resulting in standard movement.

[0151] In a faithful and sensitive autonomous mobile body 11, the operation control unit 153 corrects the probability of selecting the operation of shaking its head to look for its owner by 1.2 times. Other control values ​​of the motion data are not corrected. Therefore, the autonomous mobile body 11 will increasingly perform the operation of shaking its head to look for its owner.

[0152] In the case of an intelligent and alert autonomous mobile body 11, the operation control unit 153 corrects the probability that the autonomous mobile body 11 will do nothing by 1.2 times. Other control values ​​of the motion data are not corrected. Therefore, the autonomous mobile body 11 spends more time doing nothing.

[0153] In an active and sociable 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 motion, the movement of the mouth, neck, and each leg becomes faster and larger.

[0154] Furthermore, for example, the autonomous moving body 11 performs a motion specific to each innate personality on the charging stand 101 .

[0155] FIG. 14 shows an example of the motion of the autonomous moving body 11 on the charging stand 101 that is specific to each innate personality.

[0156] For example, the insensitive autonomous mobile object 11 performs a motion on the charging stand 101, including slowly moving its head up and down as if dozing off.

[0157] For example, when the loyal and sensitive autonomous mobile object 11 finds its owner on the charging stand 101, it performs a motion that includes raising both hands (front legs) and barking.

[0158] For example, a smart and alert autonomous mobile body 11 performs a motion on the charging stand 101 that includes turning toward the direction of the sound, lowering its head, and assuming a prone position.

[0159] For example, an active and sociable autonomous mobile body 11 performs motions on the charging stand 101, including swinging its head widely from side to side and flapping its front and back legs.

[0160] 15 shows an example of the characteristics of the autonomous moving body 11's behavior on the charging stand 101 in relation to the remaining charge amount and acquired personality. In this example, the acquired personality is classified into four types: "cute," "dependent," "shy," and "wild."

[0161] The cute autonomous mobile body 11 has, for example, a strong desire to express emotions and a whimsical personality. For example, when the cute autonomous mobile body 11 has a high remaining charge, it wags its head or tail to show that it is ready to play. On the other hand, when the cute autonomous mobile body 11 has a low remaining charge, it moves its body slowly but moves its tail a lot. Furthermore, when the cute autonomous mobile body 11 has a low remaining charge, it looks down and looks dissatisfied.

[0162] The clingy autonomous mobile body 11 has, for example, a personality with a strong desire to communicate. For example, when the clingy autonomous mobile body 11 has a large remaining charge, it moves its head more frequently to search for its owner. On the other hand, when the clingy autonomous mobile body 11 has a small remaining charge, it quietly waits to be charged and only moves more rapidly when it finds its owner.

[0163] A shy autonomous mobile body 11 has a personality that is, for example, strong in its desire to explore but weak in its desire to exercise. For example, a shy autonomous mobile body 11 will look around the room when it has a large remaining charge. On the other hand, for example, a shy autonomous mobile body 11 will quietly wait to be charged when it has a small remaining charge. Furthermore, a shy autonomous mobile body 11 will move slowly and tend to lie down when it has a small remaining charge.

[0164] The wild autonomous mobile body 11 has a personality that has a strong desire to exercise, for example. For example, when the remaining charge of the wild autonomous mobile body 11 is high, the wild autonomous mobile body 11 moves its arms and legs and wants to get out of the charging stand 101. On the other hand, when the remaining charge of the wild autonomous mobile body 11 is low, the wild autonomous mobile body 11 wants to play but runs out of energy. Also, when the remaining charge of the wild autonomous mobile body 11 is low, the wild autonomous mobile body 11 may be in a tired position, but still moves its legs vigorously.

[0165] In order to realize the characteristics of the operation of Fig. 15, each motion of the autonomous moving body 11 is corrected based on, for example, the remaining charge and the acquired personality. Fig. 16 and Fig. 17 show examples of methods for correcting each motion of the autonomous moving body 11 in order to realize the characteristics of the operation of Fig. 15.

[0166] FIG. 16 shows an example of a motion correction method performed 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 moving body 11 when the remaining charge is less than 10%.

[0167] In the cute autonomous mobile body 11, the pupil display control unit 124 controls the display 51 so that the eyes appear dissatisfied. Furthermore, 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 ​​of the motion data are not corrected. Therefore, in each motion, the autonomous mobile body 11 has dissatisfied eyes, the movement of the neck and each leg slows down, and the movement of the tail speeds up.

[0168] In the spoiled autonomous mobile body 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 mouth, neck, legs, and tail move faster in each motion. 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 motion is executed as is according to the motion data, resulting in standard movements.

[0169] In a shy autonomous mobile body 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. Furthermore, the neck drive control unit 127 controls the neck drive unit 128 so that the body assumes a head-down posture between motions. Other control values ​​of the motion data are not corrected. Therefore, in each motion, the movement of the mouth, neck, legs, and tail slows down, and the body assumes a head-down posture between motions.

[0170] In the wild autonomous mobile body 11, the pupil display control unit 124 controls the display 51 to display unhappy eyes. The neck drive control unit 127 controls the neck drive unit 128 to assume a posture with the head lowered between motions. 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 increase the angle in the leg opening direction between motions by 1.1 times. Other control values ​​of the motion data are not corrected. Therefore, in each motion, the movement of each leg becomes faster and larger, and the posture with the head lowered and the legs wide open between motions is assumed.

[0171] FIG. 17 shows an example of a motion correction method performed 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 moving body 11 when the remaining charge is 26% or more.

[0172] In the cute 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 motion, the movement of the neck and tail becomes faster and larger.

[0173] In the case of a spoiled autonomous mobile body 11, the operation control unit 153 corrects the probability of selecting the operation of shaking its head to look for its owner by 1.2 times. Other control values ​​of the motion data are not corrected. Therefore, the autonomous mobile body 11 frequently performs the operation of shaking its head to look for its owner.

[0174] In a shy autonomous mobile body 11, the motion control unit 153 corrects the probability of selecting the motion of moving its head to look around by 1.2 times. Other control values ​​of the motion data are not corrected. Therefore, the autonomous mobile body 11 moves its head to look around more often.

[0175] 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 motion, the movement of the mouth, neck, and each leg becomes faster and larger.

[0176] Furthermore, for example, the autonomous moving body 11 performs a motion specific to each acquired personality on the charging stand 101.

[0177] FIG. 18 shows an example of the motion of the autonomous moving body 11 on the charging stand 101 that is specific to each acquired personality.

[0178] For example, the cute autonomous mobile body 11 performs a motion on the charging stand 101, including swinging its ears and tail widely and shaking its head from side to side in rhythm.

[0179] For example, when the spoiled autonomous mobile body 11 finds the owner on the charging stand 101, it executes a motion that includes a beckoning motion by moving one of its front legs up and down.

[0180] For example, a shy autonomous mobile body 11 performs a motion on the charging stand 101 that includes spreading its front and back legs out wide, lowering its head, and lying limp.

[0181] For example, a wild autonomous moving body 11 performs a motion on the charging stand 101, including quickly moving its front legs and tail up and down to show that it wants to play.

[0182] For example, the operation control unit 153 controls the ratio between the operation based on the innate personality and the operation based on the acquired personality during charging of the autonomous mobile body 11. For example, the operation control unit 153 weights the motion and posture during the operation of the autonomous mobile body 11 on the charging stand 101, and performs corrections based on the innate personality and corrections based on the acquired personality, and controls the values ​​of the weights.

[0183] For example, the corrected target joint angle and joint movement velocity Mt for each motion of the autonomous moving body 11 are calculated by the following equation (1).

[0184] Mt=Mn×(1+λ×ΔMc)×{1+(1−λ)×ΔMa} ...(1)

[0185] Mn indicates the target joint angle and joint movement speed of the motion of the autonomous mobile body 11 before correction (normal). ΔMc indicates the correction amount of the target joint angle and joint movement speed of the motion of the autonomous mobile body 11 based on the innate personality. ΔMa indicates the correction amount of the target joint angle and joint movement speed of the motion of the autonomous mobile body 11 based on the acquired personality. λ is a coefficient (weight) ranging from 0 to 1.

[0186] Furthermore, for example, the target joint angle Pt after correcting the posture between motions of the autonomous moving body 11 is calculated by the following equation (2).

[0187] Pt=Pn×(1+λ×ΔPc)×{1+(1−λ)×ΔPa} ...(2)

[0188] Pn indicates the target joint angle of the posture of the autonomous mobile body 11 before correction (normal). ΔPc indicates the correction amount of the target joint angle of the posture of the autonomous mobile body 11 based on the innate personality. ΔPa indicates the correction amount of the target joint angle of the posture of the autonomous mobile body 11 based on the acquired personality.

[0189] For example, the coefficient λ is set to 1 at the time of shipment and approaches 0 as time passes since the autonomous mobile body 11 started operating. This makes it possible to change the personality of the autonomous mobile body 11 so that the influence of innate personality is strong at first, and the influence of acquired personality based on experience and interaction with users such as the owner becomes stronger as the autonomous mobile body 11 lives with the owner longer.

[0190] Furthermore, in order to further highlight the differences in the individuality of the autonomous moving body 11, for example, the required charge level used to determine whether or not to return to the charging stand 101 may be changed based on acquired individuality.

[0191] For example, since the cute autonomous moving body 11 has a capricious personality, the required charging level changes randomly within a predetermined range (for example, within a range of ±5%) each time.

[0192] For example, when a spoiled autonomous moving body 11 is playing with its owner, the required charge level drops to 20% due to its spoiled personality, and the autonomous moving body 11 continues to play until it reaches its limit.

[0193] For example, a shy autonomous moving body 11 has a modest personality, and therefore the required charge level rises to 28%, and the autonomous moving body 11 returns to the charging stand 101 early.

[0194] For example, a wild autonomous moving body 11 has an active personality, so the required charge level drops to 20% and the body continues to play until it reaches its limit.

[0195] As described above, by reflecting the individuality of each autonomous mobile body 11, the actions related to charging of the autonomous mobile body 11 are diversified, and the individuality of the autonomous mobile body 11 is expressed. This allows each owner to feel that their own autonomous mobile body 11 is different from other autonomous mobile bodies and that it is their own. Furthermore, by varying the actions of the autonomous mobile body 11 while charging, it is possible to prevent users such as owners from getting bored.

[0196] <Method of Cooperation with Other Autonomous Mobile Bodies 11> For example, when returning (moving) to the charging stand 101, the autonomous mobile body 11 can share charging-related information with the other autonomous mobile bodies 11, thereby executing an operation in cooperation with the other autonomous mobile bodies 11. Here, with reference to Figs. 19 to 24 , an example of a process in which the autonomous mobile body 11 executes an operation in cooperation with the other autonomous mobile bodies 11 when returning to the charging stand 101, etc. will be described.

[0197] First Embodiment of Charging Base Return Processing First, a first embodiment of charging base return processing executed by the autonomous moving body 11 will be described with reference to the flowchart of FIG.

[0198] In the following description, the autonomous moving body 11 that executes the charging base return process will be referred to as the autonomous moving body 11A.

[0199] In step S101, an autonomous operation is performed in the same manner as in step S1 of FIG.

[0200] In step S102, it is determined whether charging is necessary, similarly to the process in step S2 of Fig. 9. If it is determined that charging is not necessary, the process returns to step S101.

[0201] Thereafter, the processes of steps S101 and S102 are repeatedly executed until it is determined in step S102 that charging is necessary.

[0202] On the other hand, if it is determined in step S102 that charging is necessary, the process proceeds to step S103.

[0203] In step S103, the autonomous moving body 11A starts returning to the charging stand 101 under the control of the operation control unit 153. That is, the autonomous moving body 11A starts moving in the direction of the charging stand 101.

[0204] In step S104, the recognition unit 151 determines whether or not the robot has returned to the charging stand 101 based on the sensor data and the like from the input unit 121. If it is determined that the robot has not returned to the charging stand 101, the process proceeds to step S105.

[0205] In step S105, the operation control unit 153 determines whether or not there is sufficient remaining charge to enable movement. Specifically, the operation control unit 153 detects the remaining charge of the autonomous moving body 11A based on the remaining charge data from the power supply control unit 136. If the remaining charge is equal to or greater than the operable level, the operation control unit 153 determines that there is sufficient remaining charge to enable movement, and the process returns to step S104.

[0206] The operable level can be set to any value. Also, for example, the operable level may be changed based on the distance to the charging stand 101 or the like.

[0207] Thereafter, the processes of steps S104 and S105 are repeatedly executed until it is determined in step S104 that the robot has returned to the charging stand 101, or until it is determined in step S105 that the robot does not have enough charge remaining to move.

[0208] On the other hand, in step S105, if the remaining charge is equal to or greater than the operable level, the operation control unit 153 determines that there is not enough charge left to move, i.e., determines that it is difficult to return (move) to the charging stand 101, and the process proceeds to step S106.

[0209] In step S106, the operation control unit 153 notifies the surrounding autonomous moving bodies 11 of the insufficient remaining charge. Specifically, the operation control unit 153 generates information for notifying the insufficient remaining charge (hereinafter referred to as insufficient remaining charge information). The operation control unit 153 transmits the insufficient remaining charge information to the surrounding autonomous moving bodies 11 via the wireless communication module 135.

[0210] In step S107, under the control of the operation control unit 153, the autonomous moving body 11A lies face down and waits.

[0211] Thereafter, the charging base return process ends.

[0212] On the other hand, if it is determined in step S104 that the mobile phone has returned to the charging base 101, the processes of steps S105 to S107 are skipped and the charging base return process ends.

[0213] <First embodiment of processing to assist other autonomous mobile bodies> Next, with reference to the flowchart in FIG. 20 , a first embodiment of processing to assist other autonomous mobile bodies that is executed by a surrounding autonomous mobile body 11 (hereinafter referred to as the autonomous mobile body 11B) in response to the charging base return processing of the autonomous mobile body 11A in FIG. 19 will be described.

[0214] This process is executed when at least one of the autonomous moving bodies 11A and 11B does not have a function for sharing power.

[0215] In step S131, an autonomous operation is performed in the same manner as in step S1 of FIG.

[0216] In step S132, the recognition unit 151 determines whether or not there is an autonomous moving body 11 with insufficient remaining charge in the vicinity. If the recognition unit 151 has not received the insufficient remaining charge information transmitted in step S106 of Fig. 19 , the recognition unit 151 determines that there is no autonomous moving body 11 with insufficient remaining charge in the vicinity, and the process returns to step S101.

[0217] Thereafter, the processes of steps S131 and S132 are repeatedly executed until it is determined in step S132 that there is an autonomous moving body 11 in the vicinity that has an insufficient remaining charge.

[0218] On the other hand, in step S132, if the recognition unit 151 receives insufficient charge remaining amount information from the autonomous mobile body 11A via the wireless communication module 135, it determines that there is an autonomous mobile body 11 (autonomous mobile body 11A) in the vicinity that has insufficient charge remaining amount, that is, it determines that there is an autonomous mobile body 11 in the vicinity that has difficulty returning (moving) to the charging stand 101 due to insufficient charge remaining amount, and the processing proceeds to step S133.

[0219] In step S133, the recognition unit 151 determines whether or not the owner is nearby based on the sensing data from the input unit 121. If it is determined that the owner is nearby, the process proceeds to step S134.

[0220] In step S134, the autonomous moving body 11B, under the control of the operation control unit 153, moves to the owner's side.

[0221] The process then proceeds to step S135.

[0222] On the other hand, if it is determined in step S133 that the owner is not nearby, the process of step S134 is skipped and the process proceeds to step S135.

[0223] In step S135, the autonomous mobile body 11B turns toward the autonomous mobile body 11 (autonomous mobile body 11A) that is currently running low on charge and barks, thereby notifying the owner or people around the autonomous mobile body 11B of the presence of the autonomous mobile body 11A that is running low on charge.

[0224] Thereafter, the other autonomous moving body assistance process ends.

[0225] <Second embodiment of other autonomous mobile body assistance processing> Next, with reference to the flowchart of FIG. 21 , a second embodiment of other autonomous mobile body assistance processing executed by the surrounding autonomous mobile body 11B in response to the charging base return processing of the autonomous mobile body 11A in FIG. 19 will be described.

[0226] This process is executed when both the autonomous mobile body 11A and the autonomous mobile body 11B have a function for sharing power. For example, as shown in Fig. 22, this process is executed when both the autonomous mobile body 11A and the autonomous mobile body 11B have wireless power feeding units 302 at the tips of their front legs 301.

[0227] In steps S161 and S162, the same processes as in steps S131 and S132 in FIG. 20 are executed.

[0228] In step S163, the operation control unit 153 determines whether or not it is possible to share power, based on information from the power supply control unit 136. For example, if the remaining charge is less than a predetermined threshold, the operation control unit 153 determines that it is not possible to share power, and the process proceeds to step S164.

[0229] In steps S164 to S166, the same processes as in steps S133 to S135 in FIG. 20 are executed.

[0230] On the other hand, in step S163, if the remaining charge amount is equal to or greater than the predetermined threshold, the operation control unit 153 determines that power can be shared, and the process proceeds to step S167.

[0231] In step S167, the autonomous moving body 11B goes to the autonomous moving body 11 that has an insufficient remaining charge and shares its power with the autonomous moving body 11.

[0232] Specifically, the autonomous moving body 11B moves to the location of the autonomous moving body 11A under the control of the operation control unit 153.

[0233] 23 , under the control of the operation control unit 153, the autonomous mobile body 11B places the wireless power supply unit 302B at the tip of the front leg 301B over 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. This allows the autonomous mobile body 11A to obtain the power necessary to return to the charging stand 101, and enables it to return to the charging stand 101 under its own power.

[0234] Thereafter, the other autonomous moving body assistance process ends.

[0235] <Second Embodiment of Charging Base Return Processing> Next, a second embodiment of the charging base return processing executed by the autonomous moving body 11A will be described with reference to the flowchart of FIG.

[0236] This process is executed when the autonomous moving body 11A and the other autonomous moving body 11 have a function of sharing the charge stand 101 with each other depending on the remaining charge amount.

[0237] In steps S201 to S203, the same processes as in steps S101 to S103 in FIG. 19 are executed.

[0238] In step S204, the recognition unit 151 determines whether or not there is another autonomous mobile body 11 returning to the same charging stand 101, based on the sensor data from the input unit 121 and information received from another autonomous mobile body 11 via the wireless communication module 135. If it is determined that there is no other autonomous mobile body 11 returning to the same charging stand 101, the process proceeds to step S205.

[0239] In step S205, similar to the process in step S104 of Fig. 19, it is determined whether or not the mobile phone has returned to the charging stand 101. If it is determined that the mobile phone has not returned to the charging stand 101, the process returns to step S204.

[0240] Thereafter, the processing of steps S204 and S205 is repeatedly executed until it is determined in step S204 that there is no autonomous moving body 11 returning to the same charging stand 101, or until it is determined in step S205 that the autonomous moving body 11 has returned to the charging stand 101.

[0241] On the other hand, if it is determined in step S204 that there is another autonomous moving body 11 returning to the same charging stand 101, the process proceeds to step S206.

[0242] In step S206, the autonomous mobile body 11A communicates with and shares the remaining charge amount with another autonomous mobile body 11. Specifically, the recognition unit 151 communicates with an autonomous mobile body 11 (hereinafter referred to as the autonomous mobile body 11C) returning to the same charging stand 101 via the wireless communication module 135, and the two bodies share information regarding the remaining charge amount.

[0243] In step S207, the recognition unit 151 determines whether the other autonomous mobile body 11 (autonomous mobile body 11C) has a lower remaining charge than the autonomous mobile body 11. That is, the recognition unit 151 compares the remaining charge of the autonomous mobile body 11A with that of the other autonomous mobile body 11 (autonomous mobile body 11C), and if the recognition unit 151 determines that the other autonomous mobile body 11 has a lower remaining charge, the processing proceeds to step S208.

[0244] In step S208, under the control of the operation control unit 153, the autonomous moving body 11A makes a motion as if to yield the charging stand 101.

[0245] In step S209, the recognition unit 151 determines whether there are any other available charging stands 101 based on the sensor data from the input unit 121 and information received from other autonomous moving bodies 11 via the wireless communication module 135. If it is determined that there are no other available charging stands 101, the process proceeds to step S210.

[0246] In step S210, under the control of the operation control unit 153, the autonomous moving body 11A lies face down and waits.

[0247] Thereafter, the processes of steps S209 and S210 are repeatedly executed until it is determined in step S209 that there is another available charging stand 101.

[0248] On the other hand, if it is determined in step S210 that there is another available charging stand 101, the process returns to step S203. This also includes, for example, a case where the charging stand 101 that was given to the autonomous moving body 11C becomes available as a result of the charging of the autonomous moving body 11C being completed.

[0249] Thereafter, the process returns to step S203, and the processes from step S203 onwards are executed.

[0250] On the other hand, if it is determined in step S207 that the other autonomous moving body 11 (autonomous moving body 11C) has a greater remaining charge amount than the autonomous moving body 11 itself, the processing proceeds to step S211.

[0251] In step S211, the autonomous moving body 11A performs a motion of gratitude for being given the charging stand 101.

[0252] For example, in this case, the autonomous moving body 11C makes a motion as if to yield the charging stand 101 by performing the same process as in step S208 described above.

[0253] In response to this, the autonomous moving body 11A, under the control of the operation control unit 153, makes a motion expressing gratitude for the transfer of the charging stand 101.

[0254] For example, if the autonomous moving body 11A and the autonomous moving body 11C have approximately the same remaining charge amount, the autonomous moving body 11 that will yield to the charging stand 101 is determined based on other criteria.

[0255] For example, according to a predetermined priority order, an autonomous moving body 11 with a low priority may yield the charging stand 101 to an autonomous moving body 11 with a high priority order.

[0256] For example, an autonomous moving body 11 that is farther from the charging stand 101 may yield the charging stand 101 to an autonomous moving body 11 that is closer to the charging stand 101 .

[0257] Thereafter, the process returns to step S205.

[0258] On the other hand, if it is determined in step S205 that the mobile phone has returned to the charging base 101, the charging base return process ends.

[0259] As described above, the operation of the autonomous mobile body 11 changes in response to the remaining charge and the state of other autonomous mobile bodies 11 when returning to the charging base 101, giving the autonomous mobile body 11 a sense of life.

[0260] Furthermore, when the autonomous mobile body 11 cooperates with other autonomous mobile bodies 11 or supports other autonomous mobile bodies 11, the autonomous mobile body 11 becomes perceived as intelligent.

[0261] <<2. Modifications>> Modifications of the above-described embodiments of the present technology will now be described.

[0262] The classification of the personality of the autonomous mobile body 11 can be changed as appropriate. For example, the types of personality of the autonomous mobile body 11 can be increased or decreased. For example, a level (e.g., high, medium, low, etc.) can be set for each personality of the autonomous mobile body 11, and the correction amount for each motion can be varied depending on the level. For example, the innate personality of the autonomous mobile body 11 can be made common to all individuals, and only the acquired personality can be changed for each individual.

[0263] In addition, for example, the external personality of the autonomous moving body 11 may also be changed in a similar manner. For example, the appearance of the autonomous moving body 11 may be changed in accordance with a change in the internal personality.

[0264] The behavior of the autonomous moving body 11 while charging can be changed as needed. For example, the types of motions that the autonomous moving body 11 performs while charging can be increased or decreased. Furthermore, the method and amount of correction for each motion can be changed as needed based on the characteristics of the autonomous moving body 11 and the remaining charge.

[0265] It is possible to appropriately change the form and charging method of the charging device that charges the autonomous moving body 11. For example, the charging method for the autonomous moving body 11 may be either wireless or wired.

[0266] For example, part of the processing of the autonomous mobile body 11 described above may be executed 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 may execute all or part of the processing of the main control unit 122 of the autonomous mobile body 11 and remotely control the autonomous mobile body 11. Specifically, for example, the information processing terminal 12 or the information processing server 13 may control the operation of the autonomous mobile body 11 during charging based on the personality and remaining charge of the autonomous mobile body 11. For example, the information processing terminal 12 or the information processing server 13 may learn the a posteriori personality of the autonomous mobile body 11.

[0267] The present technology can be applied not only to the dog-type quadruped walking robot described above, but also to entertainment robots such as pet-type robots that can express the individuality of each individual robot.

[0268] <<3. Others>> <Example of Computer Configuration> The above-described series of processes can be executed by hardware or software. When the series of processes is executed by software, the programs that make up the software are installed on a computer. Here, the computer includes a computer built into dedicated hardware, and a general-purpose personal computer, for example, that can execute various functions by installing various programs.

[0269] FIG. 25 is a block diagram showing an example of the hardware configuration of a computer that executes the above-described series of processes by a program.

[0270] In the computer 1000 , a CPU (Central Processing Unit) 1001 , a ROM (Read Only Memory) 1002 , and a RAM (Random Access Memory) 1003 are interconnected by a bus 1004 .

[0271] An input / output interface 1005 is further connected to the bus 1004. An input unit 1006, an output unit 1007, a storage unit 1008, a communication unit 1009, and a drive 1010 are connected to the input / output interface 1005.

[0272] The input unit 1006 includes input switches, buttons, a microphone, an image sensor, etc. The output unit 1007 includes a display, a speaker, etc. The storage unit 1008 includes a hard disk, a non-volatile memory, etc. The communication unit 1009 includes a network interface, etc. The drive 1010 drives removable media 1011 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory.

[0273] In the computer 1000 configured as described above, the CPU 1001 performs the above-described series of processes by, for example, loading a program recorded in the memory unit 1008 into the RAM 1003 via the input / output interface 1005 and the bus 1004 and executing it.

[0274] The program executed by the computer 1000 (CPU 1001) can be provided by being recorded on a removable medium 1011 such as a package medium, for example. The program can also be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

[0275] In the computer 1000, the program can be installed in the storage unit 1008 via the input / output interface 1005 by inserting the removable medium 1011 into the drive 1010. The program can also be received by the communication unit 1009 via a wired or wireless transmission medium and installed in the storage unit 1008. Alternatively, the program can be installed in the ROM 1002 or the storage unit 1008 in advance.

[0276] The program executed by the computer may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0277] In this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all of the components are housed in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device housed in a single housing with multiple modules, are both systems.

[0278] Furthermore, the embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present technology.

[0279] For example, the present technology can be configured as a cloud computing system in which a single function is shared and processed collaboratively by a plurality of devices via a network.

[0280] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by a plurality of devices.

[0281] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices.

[0282] <Examples of Combinations of Configurations> The present technology can also have the following configurations.

[0283] (1) A control device comprising an operation control unit that controls the operation of the autonomous mobile body during charging based on the personality and remaining charge of the autonomous mobile body. (2) The control device according to (1), further comprising a learning unit that changes the personality of the autonomous mobile body based on the experience of the autonomous mobile body and its interaction with a user. (3) The control device according to (2), wherein the personality of the autonomous mobile body includes an innate personality and an acquired personality, and the learning unit changes the acquired personality based on the experience of the autonomous mobile body and its interaction with a user. (4) The control device according to (3), wherein the operation control unit controls a ratio of the operation based on the innate personality to the operation based on the acquired personality during charging of the autonomous mobile body. (5) The control device according to (4), wherein the operation control unit increases the ratio of the operation based on the acquired personality as time passes from the start of operation of the autonomous mobile body. (6) The control device according to any of (1) to (5), wherein the operation control unit changes at least one of the motion and posture performed by the autonomous mobile body during charging based on the personality and remaining charge of the autonomous mobile body. (7) The control device according to (6), wherein the operation control unit changes at least one of the speed and magnitude of the motion performed by the autonomous mobile body while charging, based on the personality and remaining charge of the autonomous mobile body. (8) The control device according to (6) or (7), wherein the operation control unit changes a probability that the autonomous mobile body will select the motion to be performed while charging from among the plurality of motions, based on the personality and remaining charge of the autonomous mobile body. (9) The control device according to any of (6) to (8), wherein the operation control unit changes the posture between the motions, based on the personality and remaining charge of the autonomous mobile body. (10) The control device according to any of (6) to (9), wherein the operation control unit changes the facial expression of the autonomous mobile body during the motion, based on the personality and remaining charge of the autonomous mobile body. (11) The control device according to any of (6) to (10), wherein the operation control unit causes the autonomous mobile body to perform the motion specific to the personality of the autonomous mobile body while charging.(12) The control device according to any of (1) to (11), wherein the operation control unit controls the operation of the autonomous mobile body during charging based further on whether at least one of the owner and another autonomous mobile body is present in the vicinity. (13) The control device according to any of (1) to (12), wherein the operation control unit further controls the operation of the autonomous mobile body when moving to a charging device for charging. (14) The control device according to (13), wherein, when it is difficult for the autonomous mobile body to move to the charging device due to a low remaining charge, the operation control unit notifies the other autonomous mobile body of the low remaining charge and controls the operation of the autonomous mobile body to wait. (15) The control device according to (13) or (14), wherein, when another autonomous mobile body is moving toward the same charging device, the operation control unit controls the operation of the autonomous mobile body based on a result of comparing the remaining charge of the autonomous mobile body with the remaining charge of the other autonomous mobile body. (16) The control device according to any of (1) to (15), wherein, when there is another autonomous moving body that has difficulty moving to a charging device due to insufficient remaining charge, the operation control unit controls the operation of the autonomous moving body to assist the other autonomous moving body. (17) The control device according to (16), wherein the operation control unit controls the operation of the autonomous moving body to share power with the other autonomous moving body. (18) The control device according to (16) or (17), wherein the operation control unit controls the operation of the autonomous moving body to notify surrounding areas of the presence of the other autonomous moving body. (19) The control device according to any of (1) to (18), wherein the autonomous moving body is a pet-type robot. (20) A control method, wherein the control device controls the operation of the autonomous moving body during charging based on the personality and remaining charge of the autonomous moving body.

[0284] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0285] 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 stand, 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 having an operation control unit that controls the operation of an autonomous moving body during charging based on the personality and remaining charge of the autonomous moving body.

2. The control device according to claim 1, further comprising a learning unit that changes the personality of the autonomous mobile body based on the experience of the autonomous mobile body and interaction with a user.

3. The control device according to claim 2, wherein the personality of the autonomous moving body includes an innate personality and an acquired personality, and the learning unit changes the acquired personality based on the experience of the autonomous moving body and its interaction with a user.

4. The control device according to claim 3, wherein the operation control unit controls a ratio of the operation based on the innate personality and the operation based on the acquired personality during charging of the autonomous mobile body.

5. The control device according to claim 4, wherein the operation control unit increases a ratio of the operation based on the acquired personality as time passes from the start of operation of the autonomous moving body.

6. The control device according to claim 1, wherein the operation control unit changes at least one of the motion and posture performed by the autonomous moving body during charging based on the personality and remaining charge of the autonomous moving body.

7. The control device according to claim 6, wherein the operation control unit changes at least one of the speed and magnitude of the motion performed by the autonomous moving body while charging, based on the personality of the autonomous moving body and the remaining charge.

8. The control device according to claim 6, wherein the operation control unit changes a probability that the autonomous mobile unit will select the motion to be executed while charging from among the plurality of motions based on the personality of the autonomous mobile unit and the remaining charge.

9. The control device according to claim 6, wherein the operation control unit changes the posture between the motions based on the personality and remaining charge of the autonomous moving body.

10. The control device according to claim 6, wherein the operation control unit changes the facial expression of the autonomous moving body in the motion based on the personality and remaining charge of the autonomous moving body.

11. The control device according to claim 6, wherein the operation control unit executes the motion specific to the personality of the autonomous mobile unit during charging.

12. The control device according to claim 1, wherein the operation control unit controls the operation of the autonomous moving body during charging based further on whether or not at least one of the owner and another autonomous moving body is present in the vicinity.

13. The control device according to claim 1, wherein the operation control unit further controls the operation of the autonomous moving body when it moves to a charging device for charging.

14. The control device according to claim 13, wherein the operation control unit, when it is difficult for the autonomous moving body to move to the charging device due to insufficient remaining charge, notifies other autonomous moving bodies of the insufficient remaining charge and controls the operation of the autonomous moving body to wait.

15. The control device according to claim 13, wherein the operation control unit controls the operation of the autonomous mobile body based on a result of comparing the remaining charge of the autonomous mobile body with that of the other autonomous mobile body when the other autonomous mobile body is moving toward the same charging device.

16. The control device according to claim 1, wherein, when there is another autonomous moving body that has difficulty moving to a charging device due to a lack of remaining charge, the operation control unit controls the operation of the autonomous moving body so as to assist the other autonomous moving body.

17. The control device according to claim 16, wherein the operation control unit controls the operation of the autonomous moving body so as to share power with the other autonomous moving body.

18. The control device according to claim 16, wherein the operation control unit controls the operation of the autonomous moving body so as to notify surrounding areas of the presence of the other autonomous moving body.

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

20. A control method in which a control device controls the operation of an autonomous moving object during charging based on the personality and remaining charge of the autonomous moving object.

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