Autonomous moving system, autonomous moving body, charging dock, control method, and program

An autonomous moving body includes: a driven body including a carriage capable of moving autonomously; a battery; a first communication unit capable of communicating with a charging dock; and a first arithmetic processing unit for executing first arithmetic processing related to the drive of the driven body among arithmetic processings of the autonomous moving body. A charging dock includes: a charger for charging the battery; a second communication unit capable of communicating with the autonomous moving body; and a second arithmetic processing unit for executing second arithmetic processing other than the first arithmetic processing among the arithmetic processings of the autonomous moving body. The second communication unit is configured to be able to receive arithmetic data used for the second arithmetic processing from the first communication unit, and to transmit a processing result of the second arithmetic processing executed by the second arithmetic processing unit to the first communication unit.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority from Japanese patent application No. 2018-092141, filed on May 11, 2018, the disclosure of which is incorporated herein in its entirety by reference.

BACKGROUND

The present disclosure relates to an autonomous moving system, an autonomous moving body, a charging dock, a control method, and a program.

An autonomous moving body such as an autonomous moving robot that includes a battery and moves autonomously has been known. For example, an autonomous moving robot disclosed in Japanese Patent No. 4418381 charges a battery at a charging station (a charging dock).

An autonomous moving body consumes a battery by moving autonomously and executing various arithmetic processings. Therefore, the autonomous moving body needs to charge the battery in the charging dock every time it consumes the battery. However, the higher the frequency with which the autonomous moving body returns to the charging dock, the lower an operation efficiency of the autonomous moving body becomes.

On the other hand, Japanese Patent No. 5070441 discloses a technique in which when it becomes difficult for a robot (an autonomous moving body) to perform autonomous control, an operation terminal remote-controls the robot through wireless communication. When the period for remote-controlling the autonomous moving robot is set as described in Japanese Patent No. 5070441, processing load of an arithmetic processing unit provided in the autonomous moving body can be reduced, which suppresses a consumption of the battery which the autonomous moving body includes. As a result, it may be possible to prevent the operation efficiency of the autonomous moving body from being reduced. However, when the autonomous moving body is moved by remote control through wireless communication, a real-time moving operation of the autonomous moving body may become awkward depending on a communication amount or a communication speed.

SUMMARY

As described above, in related art regarding an autonomous moving body, there has been a demand for preventing a problem in which a moving operation of an autonomous moving body becomes awkward from occurring while an operation efficiency of an autonomous moving body is prevented from being reduced.

The present disclosure has been made in view of the above-described problem, and provides an autonomous moving system, an autonomous moving body, a charging dock, a control method, and a program capable of preventing a problem in which a moving operation of an autonomous moving body becomes awkward from occurring while an operation efficiency of an autonomous moving body is prevented from being reduced.

A first exemplary aspect is an autonomous moving system, including an autonomous moving body and a charging dock, the autonomous moving body including: a driven body that includes at least a carriage capable of moving autonomously; and a battery, the charging dock including a charger configured to charge the battery,

the autonomous moving body further including: a first communication unit configured to be able to communicate with the charging dock; and a first arithmetic processing unit configured to execute first arithmetic processing related to the drive of the driven body among arithmetic processings of the autonomous moving body,

the charging dock further including: a second communication unit configured to be able to communicate with the autonomous moving body; and a second arithmetic processing unit configured to execute second arithmetic processing other than the first arithmetic processing among the arithmetic processings of the autonomous moving body, in which

the second communication unit is configured to be able to receive arithmetic data used for the second arithmetic processing from the first communication unit, and is configured to be able to transmit a processing result of the second arithmetic processing which has been executed by the second arithmetic processing unit to the first communication unit.

Another exemplary aspect is an autonomous moving body including:

a driven body including at least a carriage capable of moving autonomously; and a battery capable of charging at a charging dock,

the autonomous moving body further including:

a communication unit capable of communicating with the charging dock; and an arithmetic processing unit configured to execute first arithmetic processing related to the drive of the driven body among arithmetic processings of the autonomous moving body, in which

the communication unit is configured to be able to transmit arithmetic data used for second arithmetic processing other than the first arithmetic processing among the arithmetic processings of the autonomous moving body to the charging dock, and is configured to be able to receive a processing result of the second arithmetic processing which has been executed by the charging dock from the charging dock.

Another exemplary aspect is a charging dock including a charger configured to charge a battery of an autonomous moving body, the autonomous moving body including: a driven body that includes at least a carriage capable of moving autonomously; and the battery,

the charging dock further including:

a communication unit capable of communicating with the autonomous moving body; and

an arithmetic processing unit configured to execute second arithmetic processing other than first arithmetic processing related to the drive of the driven body among arithmetic processings of the autonomous moving body, in which

the communication unit is configured to be able to receive arithmetic data used for the second arithmetic processing from the autonomous moving body, and is configured to be able to transmit a processing result of the second arithmetic processing which has been executed by the arithmetic processing unit to the autonomous moving body.

Another exemplary aspect is a method for controlling an autonomous moving body, the autonomous moving body including: a driven body that includes at least a carriage capable of moving autonomously; and a battery capable of being charged at a charging dock, the method including;

configuring the autonomous moving body so as to be capable of executing first arithmetic processing related to the drive of the driven body among arithmetic processings of the autonomous moving body;

configuring the autonomous moving body so as to be capable of transmitting arithmetic data used for second arithmetic processing other than the first arithmetic processing among the arithmetic processings of the autonomous moving body to the charging dock; and

configuring the autonomous moving body so as to be capable of receiving a processing result of the second arithmetic processing which has been executed by the charging dock from the charging dock.

Another exemplary aspect is a method for controlling a charging dock, the charging dock including a charger configured to charge a battery of an autonomous moving body, the autonomous moving body including: a driven body that includes at least a carriage capable of moving autonomously; and the battery, the method including:

configuring the charging dock so as to be capable of receiving arithmetic data used for second arithmetic processing other than first arithmetic processing related to the drive of the driven body among arithmetic processings of the autonomous moving body from the autonomous moving body;

configuring the charging dock so as to be capable of executing the second arithmetic processing; and

configuring the charging dock so as to be capable of transmitting a processing result of the second arithmetic processing to the autonomous moving body.

Another exemplary aspect is a program causing an autonomous moving body to function as

a communication means capable of communicating with the charging dock, and

an arithmetic processing means for executing first arithmetic processing related to the drive of a driven body among arithmetic processings of the autonomous moving body, the autonomous moving body including: the driven body that includes at least a carriage capable of moving autonomously; and a battery capable of charging at a charging dock, in which

the communication means is configured to be able to transmit arithmetic data used for second arithmetic processing other than the first arithmetic processing among the arithmetic processings of the autonomous moving body, and is configured to be able to receive a processing result of the second arithmetic processing which has been executed by the charging dock from the charging dock.

Another exemplary aspect is a program causing a charging dock to function as

a communication means capable of communicating with an autonomous moving body and

an arithmetic processing means for executing second arithmetic processing other than first arithmetic processing related to the drive of a driven body among arithmetic processings of the autonomous moving body, the charging dock including a charger configured to charge a battery of the autonomous moving body, the autonomous moving body including: the driven body that includes at least a carriage capable of moving autonomously; and the battery, in which

the communication means is configured to be able to receive arithmetic data used for the second arithmetic processing from the autonomous moving body, and is configured to be able to transmit a processing result of the second arithmetic processing which has been executed by the arithmetic processing means to the autonomous moving body.

According to the present disclosure, it is possible to provide an autonomous moving system, an autonomous moving body, a charging dock, a control method, and a program capable of preventing a problem in which a moving operation of an autonomous moving body becomes awkward from occurring while an operation efficiency of an autonomous moving body is prevented from being reduced.

DESCRIPTION OF EMBODIMENTS

Embodiments according to the present disclosure are described hereinafter with reference to the drawings. Note that for clarifying the explanation, the following descriptions and the drawings are simplified as appropriate. Further, the same symbols are assigned to the same components throughout the drawings and duplicated explanations are omitted as required. Furthermore, the following embodiments are described as that an autonomous moving body is an autonomous moving robot.

First, a schematic configuration of an autonomous moving system1according to this embodiment is described with reference toFIG. 1.FIG. 1shows an example of the schematic configuration of the autonomous moving system1according to this embodiment.

As shown inFIG. 1, the autonomous moving system1according to this embodiment includes an autonomous moving robot10and a charging dock20. Further, the autonomous moving robot10includes a carriage111, a body112, an arm115, and a first sensor116, and a second sensor117. The carriage111and the arm115are examples of driven bodies.

The carriage111is configured to be able to rotate around a rotation axis. Further, wheels are provided in the carriage111, and an arithmetic processing unit130which will be described later controls a rotation of these wheels so that the autonomous moving robot10(the carriage111) moves autonomously.

The body112is attached to the carriage111. The arm115is provided in the body112. The arm115includes a grasping unit113and an arm unit114. The grasping unit113functions as a hand that grasps an object. The grasping unit113is provided in a tip of the arms115(a side opposite to the body112) and is supported by the arm unit114.

The first sensor116is attached to the carriage111and detects an obstacle in a moving environment in which the autonomous moving robot10can move. The first sensor116is a sensor capable of simultaneously detecting distances to a plurality of points, or a sensor capable of simultaneously detecting a distance to a plane and an angle formed by the plane and direction of the sensor, and is for example, a laser range sensor.

The second sensor117is a three-dimensional sensor, such as a stereo camera and a three-dimensional camera, and is provided in the upper part of the body112. For example, the second sensor117photographs an object to be grasped by the autonomous moving robot10(the grasping unit113of the arm115).

Note that the autonomous moving robot10may be include a sensor other than the first and the second sensors116and117(for example, a microphone and a gyro sensor) to recognize a state in the moving environment.

An autonomous moving operation of the autonomous moving robot10are controlled by the arithmetic processing unit130which will be described later. The arithmetic processing unit130acquires information on a distance to an obstacle in the moving environment by the first sensor116, generates a moving path based on the acquired distance information, and makes the autonomous moving robot10(the carriage111) move autonomously along the generated moving path.

The autonomous moving robot10incorporates a battery160which will be described later, and is driven by the battery160. When the autonomous moving robot10determines that it is necessary to charge the battery160since the remaining capacity thereof is lowered, it returns to a charging dock20by moving autonomously.

The charging dock20is installed in the moving environment in which the autonomous moving robot10can move, and includes a charger230which will be described later. When the autonomous moving robot10returns to the charging dock20, the charger230supplies electricity supplied from a commercial power source through an outlet to the battery160of the autonomous moving body10to charge the same.

Next, a schematic functional block configuration of the autonomous moving system1according to this embodiment is described with reference toFIG. 2.FIG. 2is a block diagram showing a schematic functional block configuration of the autonomous moving system1according to the embodiment.

As shown inFIG. 2, the autonomous moving robot10includes a communication unit120, an arithmetic processing unit130, a sensor group140, an actuator group150, the battery160, a communication terminal170, and a charging terminal180. The communication unit120is an example of the first communication unit, and the arithmetic processing unit130is an example of the first arithmetic processing unit.

Further, the charging dock20includes a communication unit210, an arithmetic processing unit220, the charger230, a communication terminal240, and a charging terminal250. The communication unit210is an example of the second communication unit, and the arithmetic processing unit220is an example of the second arithmetic processing unit.

Note that in the autonomous moving robot10, for example, the battery160is incorporated into the carriage111shown inFIG. 1. The communication terminal170and the charging terminal180may be disposed at any position in the carriage111shown inFIG. 1, such as the front surface, the rear surface, the side surfaces, or the bottom surface thereof. Further, the communication unit120and the arithmetic processing unit130may be incorporated into either the carriage111or the body112shown inFIG. 1. Further, in the charging dock20, the communication terminal240and the charging terminal250may be disposed at positions corresponding to the communication terminal170and the charging terminal180of the autonomous moving robot10.

The charger230supplies electricity to the battery160to charge the same. The battery160supplies electricity charged by the charger230to components in the autonomous moving robot10. In the charging dock20, the charger230is connected to the charging terminal250, and in the autonomous moving robot10, the battery160is connected to the charging terminal180. When the battery160of the autonomous moving robot10is charged, the autonomous moving robot10moves autonomously so that the charging terminal180of the autonomous moving robot10is connected to the charging terminal250of the charging dock20. When the charging terminal180is connected to the charging terminal250, charging the battery is started.

In this embodiment, when the charging terminal180of the autonomous moving robot10is connected to the charging terminal250of the charging dock20, the communication terminal170of the autonomous moving robot10is also connected to the communication terminal240of the charging dock20. Accordingly, when the battery160of the autonomous moving robot10is charged, a wired communication unit122of the charging dock20and a wired communication unit212of the autonomous moving robot10are electrically connected to each other so that wired communication can be performed.

The communication unit120includes a wireless communication unit121and the wired communication unit122, and the communication unit210includes a wireless communication unit211and the wired communication unit212.

The wireless communication units121and211can communicate with each other through wireless communication. Although the wireless communication system can be wireless LAN (Local Area Network) communication, Bluetooth (registered trademark) communication, or the like, it is not particularly limited thereto.

In the charging dock20, the wired communication unit122is connected to the communication terminal170, and in the autonomous moving robot10, the wired communication unit212is connected to the communication terminal240. As described above, in the case of charging the battery160of the autonomous moving robot10, when the charging terminal180is connected to the charging terminal250, the communication terminal170is also connected to the communication terminal240. Accordingly, the wired communication units122and212are electrically connected to each other through the communication terminals170and240, and thereby they can communicate with each other through wired communication. Although the wired communication system can be wired LAN communication, wired serial communication, or the like, it is not particularly limited thereto.

The sensor group140includes the first sensor116, the second sensor117, and other sensors. The actuator group150includes a motor that drives the carriage111, a motor that drives the arm115, and other actuators.

The arithmetic processing unit130uses sensor information or the like output from the sensor group140to execute various arithmetic processings. However, in this embodiment, a part of the arithmetic processing to be originally executed by the arithmetic processing unit130is executed by the arithmetic processing unit220of the charging dock20. More specifically, arithmetic processing related to the drive of the carriage111and the arm115(hereinafter, it is referred to as the first arithmetic processing) is executed by the arithmetic processing unit130, and arithmetic processing other than first arithmetic processing (hereinafter, it is referred to as the second arithmetic processing) is executed by the arithmetic processing unit220of the charging dock20.

The first arithmetic processing related to the drive of the carriage111executed by the arithmetic processing unit130is processing for moving the carriage111autonomously. The processing of moving the carriage111autonomously includes, for example, generating a moving path based on sensor information (information on a distance to an obstacle) from the first sensor116, and controlling a motor that drives the carriage111so as to autonomously move along the moving path. Further, the first arithmetic processing related to the drive of the arm115executed by the arithmetic processing unit130is processing for making the grasping unit113of the arm115grasp an object. The processing of making the grasping unit113grasp an object includes, for example, controlling a motor that drives the arm115so that the grasping unit113grasps an object.

On the other hand, the second arithmetic processing executed by the arithmetic processing unit220includes, for example, machine-learning an object grasped by the grasping unit113of the arm115(for example, machine-learning the object as a remote controller), and estimating an object grasped by the grasping unit113of the arm115based on a result of machine-learning (a learned model) (for example, estimating that the object is an remote controller). Further, in the case where the autonomous moving robot10includes a voice interaction function, processing related to a voice interaction (for example, voice-recognizing an uttered voice of another party, and generating a response sentence for an uttered voice of another party) is included in the second arithmetic processing.

In this embodiment, the arithmetic processing unit220of the charging dock20executes the second arithmetic processing. Therefore, the communication unit120of the autonomous moving robot10is configured to be able to transmit arithmetic data (for example, sensor information) used for the second arithmetic processing to the communication unit210, and is configured to be able to receive a processing result of the second arithmetic processing which has been executed by the arithmetic processing unit220from the communication unit210. Further, the communication unit210of the charging dock20is configured to be able to receive arithmetic data used for the second arithmetic processing from the communication unit120, and is configured to be able to transmit a processing result of the second arithmetic processing which has been executed by the arithmetic processing unit220to the communication unit120.

The arithmetic processing unit130controls the actuator group150based on both the processing results of: the second arithmetic processing which has been executed by the arithmetic processing unit220and has been received by the communication unit120; and the first arithmetic processing which the arithmetic processing unit130itself has executed.

Note that between the communication unit120of the autonomous moving robot10and the communication unit210of the charging dock20, all the communication related to the second arithmetic processing can be performed through wireless communication. However, when all the communication related to the second arithmetic processing is performed through wireless communication, problems, such as a wireless communication band is narrowed, occur.

Therefore, in this embodiment, communication related to a part of the second arithmetic processing is performed through wired communication when the battery160of the autonomous moving robot10is being charged, and merely the communication related to the remaining second arithmetic processing is performed when the autonomous moving robot10(the carriage111) is moving autonomously through wireless communication.

Specifically, in regard to the above-described part of the second arithmetic processing, when the battery160of the autonomous moving robot10is being charged, the wired communication units122and212perform at least one of: communication of arithmetic data used for the second arithmetic processing; and communication of a processing result of the second arithmetic processing, through wired communication. Further, in regard to the remaining second arithmetic processing, when the autonomous moving robot10(the carriage111) is moving autonomously, the wireless communication units121and211perform at least one of: communication of arithmetic data used for the second arithmetic processing; and communication of a processing result of the second arithmetic processing, through wireless communication.

For example, since it is necessary for processing of machine-learning an object grasped by the grasping unit113of the arm115among the above-described second arithmetic processings to transmit a large amount of image data for machine learning from the autonomous moving robot10to the charging dock20, a wireless communication band is narrowed when the large amount of image data is continuously transmitted through wireless communication. Further, real-time performance is not required for this processing. Accordingly, this processing for machine learning is the above-described part of the second arithmetic processing, and the communication related to this processing is performed through wired communication when the battery160of the autonomous moving robot10is being charged.

On the other hand, real-time performance is required for processing of estimating an object grasped by the grasping unit113of the arm115based on a result of machine learning and processing related to a voice interaction, among the above-described second arithmetic processings. Accordingly, these processings are the above-described remaining second arithmetic processings, and the communication related to these processings is performed through wireless communication when the autonomous moving robot10(the carriage111) is moving autonomously.

Note that another example of the above-described part of second arithmetic processing will be described later.

Arithmetic processing executed by the autonomous moving system1according to this embodiment is described below. However, the first arithmetic processing, which is executed inside the autonomous moving robot10, is the same as that of a conventional autonomous moving system, and thus merely the second arithmetic processing executed in the charging dock20is described and the explanation of the first arithmetic processing is omitted.

First, the second arithmetic processing (corresponding to the above-described remaining second arithmetic processing) in which communication is performed when the autonomous moving robot10(the carriage111) is moving autonomously is described with reference toFIG. 3.FIG. 3is a sequence diagram showing an example of this second arithmetic processing. Note that the second arithmetic processing shown inFIG. 3is processing for estimating an object grasped by the grasping unit113of the arm115based on a result of machine learning. Here, the arithmetic processing unit220of the charging dock20has already performed machine learning which will be described later and has stored a result of the machine learning (a learned model).

As shown inFIG. 3, first, the wireless communication unit121of the autonomous moving robot10transmits image data photographed by the second sensor117for estimation of an object to be estimated which is grasped by the arm115to the wireless communication unit211of the charging dock20through wireless communication (step S11).

Next, the arithmetic processing unit220of the charging dock20estimates the object to be estimated in the image data for estimation received by the wireless communication unit211based on a result of machine learning (step S12).

Then, the wireless communication unit211of the charging dock20transmits an estimation result of the object to be estimated which has been estimated by the arithmetic processing unit220through wireless communication to the wireless communication unit121of the autonomous moving robot10(step S13).

Next, the second arithmetic processing (corresponding to the above-described part of the second arithmetic processing) in which in which communication is performed when the battery160of the autonomous moving robot10is being charged is described with reference toFIG. 4.FIG. 4is a sequence diagram showing an example of this second arithmetic processing. Note that the second arithmetic processing shown inFIG. 4is processing for machine-learning an object grasped by the grasping unit113of the arm115.

As shown inFIG. 4, first, the wireless communication unit122of the autonomous moving robot10transmits image data for machine learning of an object to be learned which is grasped by the arm115, which the second sensor117has photographed, to the wired communication unit212of the charging dock20through wired communication (step S21). At this time, as the image data for machine learning, a large amount of image data in which the object to be learned is photographed at various angles is transmitted.

Next, the arithmetic processing unit220of the charging dock20machine-learns the object to be learned in the image data for machine learning which has been received by the wired communication unit212(step S22).

Then, the arithmetic processing unit220of the charging dock20stores a result of machine learning (step S23).

An example of the second arithmetic processing (corresponding to the above-described part of the second arithmetic processing) in which communication is performed when the battery160of the autonomous moving robot10is being charged among the second arithmetic processings executed by the arithmetic processing unit220of the charging dock20is described below.

(A) First Example

The second arithmetic processing according to this example is processing for machine-learning an object grasped by the grasping unit113of the arm115as described above.

In this example, when the battery160of the autonomous moving robot10is being charged, the wired communication unit212of the charging dock20receives image data for machine learning in which an object to be learned is photographed as arithmetic data for the second arithmetic processing from the wired communication unit122of the autonomous moving robot10through wired communication. The arithmetic processing unit220of the charging dock20machine-learns the object to be learned in the image data for machine learning which has been received by the wired communication unit212.

When the arithmetic processing unit220machine-learns an object to be learned, a large amount of image data for machine learning in which the object is photographed at various angles is necessary. When the large amount of the image data for machine learning is continuously transmitted through wireless communication, a wireless communication band is narrowed.

In this example, image data for machine learning is transmitted through wired communication, and thereby the wireless communication band can be prevented from being narrowed by the transmission of the image data for machine learning.

(B) Second Example

The second arithmetic processing according to this example is processing for downloading and updating firmware of the autonomous moving robot10.

In this example, the arithmetic processing unit220of the charging dock20uses the wireless communication unit211to download firmware to be updated in the autonomous moving robot10through wireless communication from a predetermined server. Note that this downloading may be performed when the battery160of the autonomous moving robot10is being charged or may be performed in advance. When the battery160of the autonomous moving robot10is being charged, the wired communication unit212of the charging dock20sends firmware as a processing result of the second arithmetic processing and an instruction for updating the firmware to the wired communication unit122of the autonomous moving robot10through wired communication.

For example, in the case where a plurality of autonomous moving robots10are operated by one charging dock20, a wireless communication band is narrowed when each one of the plurality of the autonomous moving robots10respectively downloads firmware through wireless communication from a predetermined server. In this example, since merely one charging dock20downloads firmware through wireless communication, the wireless communication band can be prevented from being narrowed by the download of the firmware.

(C) Third Example

The second arithmetic processing according to this example is processing for uploading diagnostic information on the autonomous moving robot10.

In this example, when the battery160of the autonomous moving robot10is being charged, the autonomous moving robot10executes a diagnostic tool. The wired communication unit212of the charging dock20receives diagnostic information indicating failed parts, the number of movements, and the like acquired by the execution of the diagnostic tool as arithmetic data for the second arithmetic processing from the wired communication unit122of the autonomous moving robot10through wired communication. The arithmetic processing unit220of the charging dock20uses the wireless communication unit211to upload the diagnostic information on the autonomous moving robot10to a predetermined server through wireless communication.

For example, in the case where a plurality of autonomous moving robots10are operated by one charging dock20, a wireless communication band is narrowed when each one of the plurality of the autonomous moving robots10respectively uploads the diagnostic information to a predetermined server through wireless communication.

In this example, when the charging dock20collectively uploads the diagnostic information of the plurality of the autonomous moving robot10through wireless communication, the wireless communication band can be prevented from being narrowed by the upload of the diagnostic information.

(D) Fourth Example

The second arithmetic processing according to this example is processing for sharing map data and image data in a plurality of autonomous moving robots10.

In this example, the arithmetic processing unit220of the charging dock20stores map data (for example, map data of the moving environment of the autonomous moving robot10) and image data (image data which have been used for machine learning), which are shared by a plurality of autonomous moving robots10. When the battery160of the autonomous moving robot10is being charged, the wired communication unit212of the charging dock20sends the map data and the image data to be shared as a processing result of the second arithmetic processing to the wired communication unit122of the autonomous moving robot10through wired communication.

In this example, when a plurality of the autonomous moving robots10are operated by one charging dock20or when the autonomous robot10is replaced, the autonomous moving robot10can share the map data and the image data merely by being connected to the charging dock20in order to charge the battery160, and thereby the data can be transferred to the autonomous moving robot10.

Further, in this example, by transmitting the map data and the image data through wired communication, a wireless communication band can be prevented from being narrowed by the transmission of the map data and the image data.

According to this embodiment as described above, the autonomous moving robot10executes the first arithmetic processing related to the drive of the carriage111and the arm115, and the charging dock20executes the second arithmetic processing other than the first arithmetic processing. Further, the charging dock20is configured to be able to receive arithmetic data used for the second arithmetic processing from the autonomous moving robot10, and is configured to be able to transmit a processing result of the second arithmetic processing which the charging dock20itself has executed to the autonomous moving robot10.

According to this embodiment as described above, a part of the arithmetic processing of the autonomous moving robot10(the second arithmetic processing) is executed in the charging dock20. This reduces a processing load of the arithmetic processing unit130and thereby prevents the battery160from being consumed. Accordingly, the autonomous moving robot10can improve an operation efficiency. Further, the autonomous moving robot10executes this first arithmetic processing related to the drive of the carriage111, and communication related to this first arithmetic processing is not performed between the autonomous moving robot10and the charging dock20. This prevents a real-time moving operation of the carriage111from being awkward due to a communication amount and a communication speed between the autonomous moving robot10and the charging dock20. Accordingly, a problem in which a moving operation of an autonomous moving robot10becomes awkward can be prevented from occurring while an operation efficiency of the autonomous moving robot10is prevented from being reduced.

Further, according to this embodiment, since the autonomous moving robot10also executes the first arithmetic processing related to the drive of the arm115, a real-time grasping operation of the arm115is prevented from being awkward.

Further, according to this embodiment, in regard to a part of the second arithmetic processing, the charging dock20receives arithmetic data and transmits a processing result, through wired communication, when the battery160of the autonomous moving robot10is being charged, and merely in regard to the remaining second arithmetic processing, the charging dock20receives arithmetic data and transmits a processing result, through wireless communication, when the carriage111of the autonomous moving robot10is moving autonomously.

According to this embodiment as described above, communication according to the part of the second arithmetic processing is performed through wired communication when the charging dock20is charging the battery160. Thus, it is possible to, for example, prevent a wireless communication band from being narrowed by the communication related to the second arithmetic processing, which is an advantage.

Note that the present disclosure is not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit of the present disclosure.

For example, in the above-described embodiments, although the autonomous moving body includes the carriage and the arm as a driven body, the present disclosure is not limited thereto. The autonomous moving body may include at least the carriage, and there is no limitation on whether or not the arm is included. Further, an autonomous moving body may include a driven body other than the arm in addition to the carriage.

Further, in the above-described embodiments, a configuration in which in the case of charging a battery of the autonomous moving body, when charging terminals are connected to each other, communication terminals are also connected to each other, and thus wired communication can be performed has been described, but the present disclosure is not limited to this configuration. The communication terminals may be, for example, manually connected to each other by a user through a cable or the like.

Further, in the above-described embodiments, the autonomous moving body and the charging dock according to the present disclosure have been described as a hardware configuration, but the present disclose is not limited thereto. In the present disclosure, any processing of the autonomous moving body and the charging dock can be achieved by a processor, such as a CPU (Central Processing Unit), loading and executing a computer program stored in a memory.