Power supply system, notification device, notification method, and program

Abstract

To surely perform a notification in accordance with a type of errors in the case where an error is generated.SOLUTION: A power supply device 10 performs a non-contact power supply against a robot 20. A notification part 16 performs a notification in accordance with a state of the non-contact power supply. A control module 100 executes a retry processing restarted after the stop of the non-contact power supply in the case where an error is generated when performing the non-contact power supply by the power supply device 10. The notification part 16 performs a notification in a first aspect in the case where the error is not generated when the non-contact power supply is performed by the power supply device 10. The notification part 16 performs the notification in the first aspect in the case where the error is generated when the non-contact power supply is performed by the power supply device 10, and the case where the error to be generated is corresponded to an error of a first type.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a power supply system, a notification device, a notification method, and a program. [Background technology]

[0002] There are known techniques for notifying a user when an error occurs during operation of a device. For example, Patent Document 1 discloses a technique for a hard disk drive device that displays a message that a retry is in progress during a retry attempt to read or write from or to a hard disk, and displays a warning when the retry time exceeds a predetermined time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Publication No. 03-110609 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology for notifying errors as described above, depending on the type of error, there may be cases where user action is required to resolve the error, or where user action is not required. If an error occurs that does not require immediate user action, notifying the user of the error may end up bothering the user. Under these circumstances, there is a need for accurate notification of the error depending on the type of error when it occurs.

[0005] The present invention is intended to solve the above-mentioned problems, and aims to provide a power supply system, an alarm device, an alarm method, and a program that can accurately notify users of an error depending on the type of error when an error occurs. [Means for solving the problem]

[0006] In order to achieve the above object, a power supply system according to the present invention comprises: a power supply means for wirelessly supplying power to the robot; a notification means for making a notification according to a state of the contactless power supply; a retry processing means for executing a retry process of stopping and then restarting the contactless power supply when an error occurs while the contactless power supply is being performed by the power supply means, The notification means If the error does not occur while the wireless power supply is being performed by the power supply unit, a notification is made in a first manner; If the error occurs while the wireless power supply is being performed by the power supply means, and if the error that has occurred corresponds to a first type error, the retry processing means issues a notification in the first manner while executing the retry processing. It is characterized by: [Effects of the Invention]

[0007] According to the present invention, when an error occurs, it is possible to accurately notify the user in accordance with the type of error. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an outline of the overall configuration of a power supply system according to a first embodiment. [Figure 2] 1 is a cross-sectional side view of a robot according to a first embodiment. [Figure 3] 1 is a diagram showing a housing of a robot according to a first embodiment. [Figure 4] 1 is a diagram showing how power is supplied to a robot from a power supply device according to the first embodiment. FIG. [Figure 5] 1 is a block diagram showing the hardware configuration of a power supply device and a robot according to a first embodiment. [Figure 6] 2 is a block diagram showing the configuration of a control module in the power supply device according to the first embodiment. FIG. [Figure 7] FIG. 4 is a diagram illustrating an example of a notification table according to the first embodiment. [Figure 8] 4 is a flowchart showing the flow of a power supply process executed by the power supply device according to the first embodiment. [Figure 9] 5 is a flowchart showing the flow of a notification process executed by the power supply device according to the first embodiment. [Figure 10] 6 is a flowchart showing the flow of a retry process executed by the power supply device according to the first embodiment. [Figure 11] FIG. 10 is a diagram showing an outline of the overall configuration of a power supply system according to a second embodiment. [Figure 12] FIG. 10 is a block diagram showing the configuration of a notification device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings, in which the same or corresponding parts are designated by the same reference numerals.

[0010] (Embodiment 1) 1 shows a schematic configuration of a power supply system 1 according to the first embodiment. The power supply system 1 includes a power supply device 10 and a robot 20. The power supply system 1 is a system that supplies power from the power supply device 10 to the robot 20 by contactless power supply. Contactless power supply, also known as wireless power supply, is a technology that supplies power from a power supplying device to a power receiving device without using a cable connection, metal electrode contact, or the like.

[0011] The robot 20 is a device that operates autonomously without direct user control. The robot 20 is a pet robot that resembles a small animal. The robot 20 has an exterior 201 that is equipped with decorative parts that resemble eyes and fluffy fur.

[0012] 2 and 3, the robot 20 includes a housing 207. The housing 207 is covered by an exterior 201 and is housed inside the exterior 201. The housing 207 includes a head 204, a connecting portion 205, and a body 206. The connecting portion 205 connects the head 204 and the body 206 together.

[0013] The exterior 201 is an example of an exterior member, and has a bag-like shape that is long in the front-to-rear direction and can house the housing 207 inside. The exterior 201 is formed in a cylindrical shape from the head 204 to the body 206, and integrally covers the body 206 and the head 204. By having the exterior 201 shaped in this way, the robot 20 is formed in a prone position.

[0014] The outer surface of exterior 201 is made of artificial pile fabric that resembles the fur of a small animal, in order to simulate the feel of the skin of a small animal. The lining of exterior 201 is made of synthetic fiber, natural fiber, natural leather, artificial leather, a synthetic resin sheet material, a rubber sheet material, or the like. Because it is made of such a flexible material, exterior 201 follows the movement of casing 207. Specifically, exterior 201 follows the rotation of head 204 relative to body 206.

[0015] The body 206 extends in the front-to-rear direction, and comes into contact with a support surface such as a floor or a table on which the robot 20 is placed, via the exterior 201. The body 206 is provided with a twist motor 221 at its front end. The head 204 is connected to the front end of the body 206 via a connecting unit 205. The connecting unit 205 is provided with a vertical motor 222. Although the twist motor 221 is provided in the body 206 in FIG. 2 , it may be provided in the connecting unit 205. The twist motor 221 and the vertical motor 222 connect the head 204 to the body 206 so as to be rotatable about axes in the left-right and front-to-rear directions of the robot 20.

[0016] As the XYZ coordinate axes, the X-axis and Y-axis are set in a horizontal plane, and the Z-axis is set in the vertical direction. The positive direction of the Z-axis corresponds to the vertically upward direction. For ease of explanation, the following description will be given assuming that the robot 20 is placed on the placement surface with the left-right direction (width direction) of the robot 20 as the X-axis direction and the front-back direction of the robot 20 as the Y-axis direction.

[0017] The connecting portion 205 connects the body portion 206 and the head portion 204 so as to be rotatable about a first rotation axis that passes through the connecting portion 205 and extends in the front-to-rear direction (Y direction) of the body portion 206. The twist motor 221 rotates the head portion 204 clockwise (to the right) within a forward rotation angle range (forward rotation) and counterclockwise (to the left) within a reverse rotation angle range (reverse rotation) relative to the body portion 206.

[0018] Furthermore, connecting portion 205 connects body portion 206 and head portion 204 so as to be rotatable about a second rotation axis that passes through connecting portion 205 and extends in the left-right direction (width direction, X direction) of body portion 206. Up-down motor 222 rotates head portion 204 upward within a forward rotation angle range (forward rotation) and rotates head portion 204 downward within a reverse rotation angle range (reverse rotation).

[0019] 2 and 3, the robot 20 is provided with touch sensors 211 on the head 204 and the body 206. The touch sensors 211 enable the robot 20 to detect when the user strokes or hits the head 204 or the body 206.

[0020] The robot 20 is provided with an acceleration sensor 212, a microphone 213, a gyro sensor 214, an illuminance sensor 215, and a speaker 231 on the body 206. The acceleration sensor 212 and the gyro sensor 214 enable the robot 20 to detect changes in its own posture, and also to detect when the robot 20 is being picked up, turned around, or thrown by a user. The illuminance sensor 215 enables the robot 20 to detect the illuminance around the robot 20. The microphone 213 enables the robot 20 to detect external sounds. The speaker 231 enables the robot 20 to make sounds.

[0021] At least some of the acceleration sensor 212, microphone 213, gyro sensor 214, illuminance sensor 215, and speaker 231 may be provided not only in the torso 206 but also in the head 204, or may be provided in both the torso 206 and the head 204.

[0022] Returning to FIG. 1 , the power supply device 10 is a device for supplying power to the robot 20 by contactless power supply (wireless power supply). The power supply device 10 functions as a charging station for charging the robot 20. The power supply device 10 has an alarm unit 16 on the outside of the side wall. The power supply device 10 receives power from a commercial power source via an AC (Alternate Current) adapter 17.

[0023] The power supply device 10 is installed in an appropriate location so that the robot 20 can autonomously move to the power supply device 10. When the charge level of the battery falls below a lower limit or when a predetermined timing arrives, the robot 20 moves to the power supply device 10 to charge the battery.

[0024] As shown in FIG. 4, the power supply device 10 includes a base 18 that is a mounting portion on which the robot 20 is placed. The power supply device 10 has a bowl-like shape with side walls surrounding the robot 20 when the robot 20 is placed on the base 18.

[0025] A power transmission coil is provided inside the base 18. When the robot 20 is placed on the base 18, the power supply device 10 can wirelessly charge the battery using a known method such as electromagnetic induction, magnetic field resonance, or electric field coupling. The following describes the electromagnetic induction method as an example.

[0026] As shown in FIG. 5, the power supply device 10 includes a transmission module 11, a transmission antenna 12, a current sensor 13, a switch 14, a thermistor 15, a notification unit 16, and a control module 100.

[0027] The transmitting module 11 receives power from the AC adapter 17 and supplies it to the transmitting antenna 12. The transmitting module 11 includes a conversion circuit and the like that converts the power supplied from the AC adapter 17 into power to be supplied to the transmitting antenna 12. The conversion circuit boosts the voltage value of the power supplied from the AC adapter 17 to a predetermined voltage value and converts it into AC current of a predetermined frequency. The transmitting module 11 supplies the AC current converted by the conversion circuit to the transmitting antenna 12.

[0028] The transmitting antenna 12 includes a power transmission coil for transmitting power to the robot 20. The power transmission coil is formed by winding a conductor in a spiral shape inside the base 18. In the transmitting antenna 12, AC power supplied from the transmitting module 11 flows through the power transmission coil, generating an induced magnetic flux. The transmitting antenna 12 transmits power to the robot 20 by the induced magnetic flux generated in the power transmission coil.

[0029] The transmitting module 11 and the transmitting antenna 12 are collectively referred to as a “power supply unit.” The power supply unit is an example of a power supply means that supplies power to the robot 20 in a contactless manner.

[0030] The current sensor 13 is installed between the AC adapter 17 and the transmission module 11, and measures the current flowing between the AC adapter 17 and the transmission module 11. The current sensor 13 supplies the measured current value to the control module 100.

[0031] The switch 14 includes, for example, a field effect transistor (FET). The switch 14 switches between supplying and cutting off (ON and OFF) the power supplied from the AC adapter 17 to the transmission module 11 in accordance with a switching signal transmitted from the control module 100.

[0032] The thermistor 15 is installed in the transmitting antenna 12 and measures the temperature of the transmitting antenna 12. The thermistor 15 supplies the measured temperature to the control module 100.

[0033] The notification unit 16 is an example of a notification means that provides notification according to the state of the power supply device 10. Specifically, the notification unit 16 includes three LEDs (Light Emitting Diodes) in red, green, and blue as indicator lights. The notification unit 16 lights up each of the three color LEDs in various patterns to notify the user of the current state of the power supply device 10. As shown in FIG. 1 , the notification unit 16 is installed on the outside of the side wall of the power supply device 10, which is a position that is easily visible to the user.

[0034] Returning to FIG. 5, the robot 20 includes a receiving antenna 21, a receiving module 22, a charging IC (Integrated Circuit) 23, a battery 24, a voltage sensor 25, and an operation unit 200.

[0035] The receiving antenna 21 receives the power supplied from the power supply device 10. The receiving antenna 21 includes a receiving coil that receives the power transmitted from the transmitting antenna 12. The receiving coil is wound around a position facing the transmitting coil of the transmitting antenna 12 when the robot 20 is positioned on the base 18. An electromotive force is induced in the receiving coil in response to a change in the induced magnetic flux generated in the transmitting coil of the transmitting antenna 12. The receiving antenna 21 supplies the electromotive force induced in the receiving coil to the receiving module 22.

[0036] The receiving module 22 receives power supplied from the receiving antenna 21 and supplies it to the charging IC 23. The receiving module 22 includes a conversion circuit that converts the AC power supplied from the receiving antenna 21 into DC power. The conversion circuit rectifies the electromotive force induced in the receiving coil of the receiving antenna 21 to generate DC power and supplies it to the charging IC 23.

[0037] The receiving antenna 21 and the receiving module 22 are collectively referred to as a “power receiving unit.” The power receiving unit is an example of a power receiving means that receives power supplied from the power supply device 10.

[0038] The charging IC 23 controls charging and discharging of the battery 24. The battery 24 is a rechargeable secondary battery that stores power used in the robot 20. When power is supplied from the receiving module 22, the charging IC 23 charges the battery 24 with the supplied power. Furthermore, when the operating unit 200 requires power, the charging IC 23 discharges the power stored in the battery 24 and supplies it to the operating unit 200.

[0039] The voltage sensor 25 is installed between the receiving module 22 and the charging IC 23, and measures the output voltage from the receiving module 22 to the charging IC 23. Based on the measurement result of the voltage sensor 25, it can be determined whether the battery 24 is being charged.

[0040] The operation unit 200 is a unit for operating the robot 20. The operation unit 200 includes a sensor unit 210, a drive unit 220, and a control module 230.

[0041] The sensor unit 210 includes the above-mentioned touch sensor 211, acceleration sensor 212, microphone 213, gyro sensor 214, and illuminance sensor 215. The control unit 110 acquires, via a bus line, detection values ​​detected by the various sensors included in the sensor unit 210 as external stimuli.

[0042] The driving unit 220 includes a twist motor 221 and an up-down motor 222, and is driven by the control unit 110. The twist motor 221 is a servo motor for rotating the head 204 in the left-right direction (width direction) relative to the body 206 around the front-to-back direction as an axis. The up-down motor 222 is a servo motor for rotating the head 204 in the up-down direction (height direction) relative to the body 206 around the left-to-right direction as an axis. The robot 20 can express the action of twisting the head 204 sideways by using the twist motor 221, and can express the action of raising and lowering the head 204 by using the up-down motor 222.

[0043] The control module 230 comprehensively controls the entire robot 20. Although not shown, the control module 230 includes a control unit such as a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a flash memory, and a communication unit for communicating with external devices.

[0044] Next, the configuration of the control module 100 of the power supply device 10 will be described with reference to Fig. 6. The control module 100 includes a control unit 110, a storage unit 120, and a communication unit .

[0045] The control unit 110 includes a CPU. The CPU is, for example, a microprocessor, and is a central processing unit that executes various processes and calculations. In the control unit 110, the CPU reads out a control program stored in a ROM and controls the overall operation of the power supply device 10 while using a RAM as a work memory. The control unit 110 may also be called a "processor."

[0046] The storage unit 120 includes a ROM, a RAM, a flash memory, etc. The storage unit 120 stores programs and data used by the control unit 110 to perform various processes, including an OS (Operating System) and application programs. The storage unit 120 also stores data generated or acquired by the control unit 110 performing various processes. For example, the storage unit 120 stores a notification table 121.

[0047] The communication unit 130 includes a communication interface for communicating with devices external to the power supply device 10. For example, the communication unit 130 communicates with external devices such as the robot 20 and a PC (Personal Computer) in accordance with well-known communication standards such as a LAN (Local Area Network) or a USB (Universal Serial Bus). The communication unit 130 may also communicate with the robot 20 via short-range wireless communication such as NFC (Near Field Communication) or Bluetooth (registered trademark).

[0048] Next, a functional configuration of the control unit 110 will be described. As shown in Fig. 6, the control unit 110 functionally includes a power supply control unit 111 which is an example of a power supply control means, an error determination unit 112 which is an example of an error determination means, a retry processing unit 113 which is an example of a retry processing means, and a notification control unit 114 which is an example of a notification control means. In the control unit 110, the CPU reads a program stored in the ROM into the RAM, and executes and controls the program, thereby functioning as each of these units.

[0049] The power supply control unit 111 controls the power supply from the power supply device 10 to the robot 20. The power supply control unit 111 transmits an ON / OFF switching signal to the switch 14 to switch between supplying and cutting off power from the AC adapter 17 to the power supply unit (transmitting module 11 and transmitting antenna 12).

[0050] Specifically, when the power supply control unit 111 detects that the robot 20 has moved onto the pedestal 18, it sends an ON signal to the switch 14 and starts supplying power to the transmission module 11. When the power supply control unit 111 detects that the robot 20 has left the pedestal 18 or when the battery 24 of the robot 20 has reached full charge, it sends an OFF signal to the switch 14 and stops supplying power to the transmission module 11.

[0051] The power supply control unit 111 communicates with the robot 20 via the communication unit 130 to detect whether the robot 20 is located on the pedestal 18 and whether the battery 24 has reached full charge. For example, the power supply control unit 111 communicates with the robot 20 via appropriate wireless communication such as LAN, Bluetooth (registered trademark), or NFC. In the robot 20, when the robot 20 moves onto the pedestal 18, the control module 230 notifies the power supply device 10 via wireless communication that the robot 20 has moved onto the pedestal 18. The same applies when the robot 20 leaves the pedestal 18 and when the battery 24 has reached full charge.

[0052] The error determination unit 112 determines whether an error related to contactless power feeding has occurred while contactless power feeding is being performed by the power feeding unit. An error related to contactless power feeding is an error that may occur during contactless power feeding and that may interfere with normal contactless power feeding. Specifically, examples of errors related to contactless power feeding include (A) a temperature error, which is an example of a first type error, and (B) a power error, which is an example of a second type error.

[0053] (A) Temperature error is an error related to the temperature in the power supply device 10. The temperature error is detected by the thermistor 15 installed in the transmitting antenna 12.

[0054] Specifically, the error determination unit 112 acquires the temperature measured by the thermistor 15 installed in the transmitting antenna 12 and determines whether the acquired temperature is within an appropriate range. If the acquired temperature is not within the appropriate range as a result of the determination, the error determination unit 112 determines that a temperature-related error has occurred.

[0055] Here, the appropriate range is set in advance as a temperature range in which contactless power supply is possible. Specifically, if the temperature of the power supply device 10 becomes too high, it becomes difficult to supply power contactlessly. Therefore, the appropriate range is set to a range below an upper limit temperature (for example, 70°C). Note that, since it becomes difficult to supply power contactlessly not only at high temperatures but also when the temperature of the power supply device 10 becomes too low, it is also possible to set the appropriate range to a range above a lower limit temperature in addition to a range below an upper limit temperature.

[0056] A temperature error may resolve itself over time as the temperature inside the power supply device 10 changes from a high or low temperature to an appropriate temperature. However, depending on the cause of the temperature error, the temperature error may not resolve itself and may require user intervention.

[0057] (B) A power error is an error related to the power transmitted and received between the power supply device 10 and the robot 20. A power error occurs when there is a large difference between the transmitted power transmitted to the robot 20 and the received power received by the robot 20 when contactless power supply is being performed by the power supply unit. A power error is detected based on the difference between the transmitted power and the received power.

[0058] Specifically, the error determination unit 112 acquires the value of the current measured by the current sensor 13, and derives the magnitude of the transmission power transmitted from the power supply device 10 to the robot 20 based on the acquired current value. The error determination unit 112 also acquires the value of the voltage measured by the voltage sensor 25 of the robot 20 by communicating with the robot 20 via the communication unit 130. Then, the error determination unit 112 derives the magnitude of the received power received by the robot 20 based on the acquired voltage value. The error determination unit 112 compares the derived magnitudes of the transmitted power and the received power, and if the difference is greater than a predetermined threshold, determines that an error related to the transmitted / received power has occurred.

[0059] Here, the threshold is set to a value that allows for determining whether there is a significant difference between the magnitude of the transmitted power and the received power compared to when wireless power feeding is performed normally. More specifically, even when wireless power feeding is performed normally, power loss occurs due to leakage magnetic flux generated between the transmitting antenna 12 and the receiving antenna 21. Therefore, a certain degree of difference occurs between the transmitted power and the received power. The threshold is set to a value that allows for determining whether there is a significant difference between the magnitude of the transmitted power and the received power, taking such power loss into account.

[0060] Causes of power errors include (B1) misalignment of the robot 20, (B2) the presence of a foreign object, and (B3) the occurrence of an overcurrent or overvoltage.

[0061] (B1) Positional deviation of the robot 20 means that the robot 20 is deviated from the appropriate power supply position on the base 18 of the power supply device 10. When a positional deviation occurs, the transmitting antenna 12 and the receiving antenna 21 are no longer directly facing each other, resulting in increased power loss.

[0062] For example, in order to enhance the feeling of life, the robot 20 moves the head 204 relative to the body 206 and emits sounds from the speaker 231 even during contactless power supply in the power supply device 10. When the robot 20 moves in this way during contactless power supply, the position of the robot 20 may deviate from the appropriate power supply position.

[0063] If the power error is caused by a misalignment of the robot 20, the power error can be resolved by the user repositioning the robot 20 in the correct power supply position. Also, the misalignment may be resolved spontaneously by the robot 20 moving on the base 18.

[0064] (B2) The presence of a foreign object means that some kind of foreign object exists between the transmitting antenna 12 and the receiving antenna 21. For example, if a foreign object is caught between the robot 20 and the base 18, the position of the robot 20 will be shifted. Furthermore, if a metallic foreign object such as a coin or metal piece exists, it will affect the induced magnetic flux generated in the transmitting antenna 12. These will lead to an increase in power loss between the transmitted power and the received power.

[0065] If the power error is caused by the presence of a foreign object, the power error can be resolved by the user removing the foreign object while contactless power supply is stopped.

[0066] (B3) The occurrence of an overcurrent or overvoltage means that, for some reason, an abnormal current or voltage occurs inside the power supply device 10 or the robot 20. The presence of a foreign object as described above in (B2) may be the cause of the overcurrent or overvoltage. In addition, an overcurrent or overvoltage may also occur for other reasons.

[0067] If the cause of the power error is an overcurrent or an overvoltage, such an error is of high importance, and the user will need to take action such as contacting a support center.

[0068] The retry processing unit 113 executes a retry process when the error determination unit 112 determines that an error related to contactless power feeding has occurred while contactless power feeding is being performed by the power feeding unit. Here, the retry process is a process of temporarily stopping contactless power feeding and attempting to resolve the error.

[0069] Specifically, the retry process includes stopping contactless power supply, waiting for a predetermined waiting time, and then restarting contactless power supply. The waiting time is a time set in advance as the time required to resolve the error, and is, for example, several seconds to several tens of seconds.

[0070] For example, if a temperature error occurs, the internal temperature of the power supply device 10 may return to an appropriate range over time. Alternatively, if a power error occurs due to a positional deviation of the robot 20, the power error may be resolved by the user correcting the positional deviation or by the robot 20 moving spontaneously. Furthermore, if a power error occurs due to the presence of a foreign object, the power error may be resolved by the user removing the foreign object. The waiting time is the time required to resolve such an error.

[0071] As a retry process, the retry processing unit 113 stops the contactless power supply, waits for a predetermined waiting time, resumes the contactless power supply, and determines whether the error has been resolved. If the error is not resolved by such a retry process, the retry processing unit 113 repeatedly executes the retry process a predetermined number of times. The predetermined number is an upper limit number of times for the retry process, and is set in advance to at least one time (for example, three times). If the error is not resolved even after executing the retry process a predetermined number of times, the error is determined to be an error that cannot be easily resolved, and therefore the retry processing unit 113 does not execute the retry process thereafter.

[0072] The notification control unit 114 issues a notification according to the state of the power supply device 10. The notification control unit 114 transmits a control signal to the notification unit 16, and causes the LED of the notification unit 16 to light up in a color and pattern corresponding to the state of the power supply device 10. In this way, the notification control unit 114 enables the user to easily check the current state of the power supply device 10.

[0073] The notification control unit 114 refers to a notification table 121 stored in the storage unit 120. As shown in Fig. 7, the notification table 121 defines the lighting color and lighting pattern of the LED of the notification unit 16 as a notification mode for each state of the power supply device 10. Hereinafter, with reference to Fig. 7, notification modes for five states, namely, (1) "standby", (2) "charging", (3) "fully charged", (4) "temperature error", and (5) "power error", will be described.

[0074] (1) "Standby" in the notification table 121 corresponds to a standby state in which the power supply device 10 is not performing contactless power supply. For example, standby corresponds to a state in which the robot 20 is not located on the pedestal 18, which is the power supply position. When the state of the power supply device 10 corresponds to standby, the notification control unit 114 causes the LED of the notification unit 16 to continuously light up in white.

[0075] (2) "Charging" in the notification table 121 corresponds to a state in which contactless power is being supplied to the robot 20 located on the pedestal 18, which is the power supply position. When the state of the power supply device 10 corresponds to "charging," the notification control unit 114 causes the LED of the notification unit 16 to continuously light up in orange. This notification mode is referred to as the "first mode." In this way, when no error occurs while contactless power is being supplied by the power supply unit, the notification control unit 114 issues a notification in the first mode, which indicates that power supply is normal.

[0076] (3) "Fully charged" in the notification table 121 corresponds to a state in which the battery 24 of the robot 20 is sufficiently charged. For example, fully charged corresponds to a state in which the charge amount of the battery 24 is equal to or greater than a predetermined threshold (for example, 90% of the maximum charge amount of the battery 24). When the state of the power supply device 10 corresponds to fully charged, the notification control unit 114 causes the LED of the notification unit 16 to continuously light up in green.

[0077] (4) "Temperature error" in the notification table 121 corresponds to a state in which a temperature error occurs when the power supply device 10 is contactlessly supplying power to the robot 20. When the state of the power supply device 10 corresponds to a temperature error, the notification control unit 114 issues a notification in different notification modes "during retry processing" and "when an error is confirmed."

[0078] Here, "during retry processing" refers to the timing when retry processing unit 113 is executing retry processing when an error occurs while contactless power is being fed by the power feeding unit. More specifically, "during retry processing" corresponds to the period from the start of retry processing until the error is resolved, or the period from the start of retry processing until the number of retry processing executions reaches a predetermined number. In contrast, "when an error is confirmed" refers to the case where the temperature error is not resolved even after retry processing unit 113 executes the retry processing. More specifically, "when an error is confirmed" corresponds to the case where the error is not resolved even after the retry processing is repeated a predetermined number of times.

[0079] If an error occurs while contactless power is being fed by the power feeding unit, and if the error that has occurred corresponds to a temperature error, notification control unit 114 issues a notification in a first manner during retry processing, and if the error is confirmed, issues a notification in a second manner different from manner 1. Specifically, if error determination unit 112 determines that a temperature error has occurred, notification control unit 114 causes the LED of notification unit 16 to light up continuously in orange during retry processing, and if the error is confirmed, causes the LED of notification unit 16 to flash alternately between white and orange.

[0080] In this way, during the retry process for the temperature error, the notification control unit 114 issues a notification in the first mode, which is the same notification mode as the above-mentioned (2) "charging." In other words, if a temperature error occurs while the power supply unit is contactlessly supplying power to the robot 20, the notification control unit 114 does not change the notification mode before and after the temperature error occurs during the retry process. In other words, even if a temperature error occurs, the notification control unit 114 does not immediately notify the user of the occurrence of the temperature error.

[0081] The reason for not immediately notifying the user of a temperature error is that the temperature error may resolve naturally over time without requiring any action by the user. Notifying the user in such a case would only cause unnecessary trouble for the user. Therefore, during the retry process, the notification control unit 114 does not change the notification mode before and after the temperature error occurs, and instead notifies the user in the first mode in both cases.

[0082] If the temperature error is resolved by the retry process, the notification control unit 114 continues to provide notification in the first manner from the time of the retry process. On the other hand, if the temperature error is not resolved by the retry process, it is highly likely that user action is required to resolve the temperature error. Therefore, if the temperature error is not resolved by the retry process, the notification control unit 114 switches to providing notification in the second manner, which is a different notification manner from before the temperature error occurred.

[0083] (5) "Power error" in the notification table 121 corresponds to a state in which a power error occurs when the power supply device 10 is contactlessly supplying power to the robot 20. When the state of the power supply device 10 corresponds to a power error, the notification control unit 114 issues a notification in different notification modes "during retry processing" and "when an error is confirmed", similar to the case of the above-mentioned "temperature error".

[0084] If an error occurs while the power supply unit is performing contactless power supply and the error that has occurred corresponds to a power error, the notification control unit 114 issues a notification in the third mode during retry processing, and issues a notification in the fourth mode when the error is confirmed. The third and fourth modes are notification modes different from the first mode, which indicates that power supply is normal. Specifically, when the error determination unit 112 determines that a power error has occurred, the notification control unit 114 causes the LED of the notification unit 16 to flash orange during retry processing, and causes the LED of the notification unit 16 to flash red when the error is confirmed.

[0085] In this way, during the retry process for a power error, the notification control unit 114 issues a notification in a third mode, which is a notification mode different from the above-mentioned (2) "charging." The reason for this is that, as described above, possible causes of a power error include (B1) misalignment of the robot 20, (B2) the presence of a foreign object, or (B3) overcurrent or overvoltage, and it is highly likely that user intervention will be required to resolve these. Therefore, if a power error occurs while the power supply unit is wirelessly supplying power to the robot 20, the notification control unit 114 immediately notifies the user without waiting for the error to be resolved by the retry process.

[0086] When the user receives the notification of the third mode, the user can take measures to resolve the error while the contactless power supply is temporarily stopped in the retry process, such as correcting the positional deviation of the robot 20 if it is out of position, or removing a foreign object if it is present.

[0087] If the temperature error is resolved by the retry process, the notification control unit 114 switches the notification mode from the third mode to the first mode, which indicates normal operation. On the other hand, if the power error is not resolved by the retry process, the notification control unit 114 switches the notification mode to a fourth mode, which is different from any of the first to third modes. In this way, the notification control unit 114 notifies the user by emphasizing that a power error has occurred, and makes the user aware that further action is required to address the power error.

[0088] Next, the flow of the power supply process executed by the power supply device 10 will be described with reference to Fig. 8. The notification process shown in Fig. 8 is executed by the control unit 110 of the control module 100 when power is supplied to the power supply device 10 from the AC adapter 17 and the power supply device 10 is in a state where it can operate normally. The notification process shown in Fig. 8 is an example of a notification method.

[0089] When the power supply process starts, the control unit 110 notifies that the power supply device 10 is in a standby state (step S1). Specifically, the control unit 110 causes the LED of the notification unit 16 to light up continuously in white.

[0090] Next, the control unit 110 determines whether or not the robot 20 is present at the power supply position (step S2). Specifically, when the control unit 110 receives a notification via the communication unit 130 that the robot 20 has moved onto the pedestal 18, the control unit 110 determines that the robot 20 is present at the power supply position.

[0091] If the robot 20 is not at the power supply position (step S2; NO), the control unit 110 remains in step S2 and waits until the robot 20 moves to the power supply position.

[0092] If the robot 20 is present at the power supply position (step S2; YES), the control unit 110 starts supplying power to the robot 20 (step S3). Specifically, the control unit 110 turns on the switch 14 to start supplying power to the power supply unit (transmitting module 11 and transmitting antenna 12). This causes an induced magnetic flux to be generated from the transmitting antenna 12, and wireless power supply is started.

[0093] When power supply to the robot 20 starts, the control unit 110 issues a notification in a first manner indicating that the battery 24 is being charged (step S4). Specifically, the control unit 110 causes the LED of the notification unit 16 to continuously light up in orange.

[0094] While power is being supplied to the robot 20, the control unit 110 determines whether an error has occurred (step S5). Specifically, the control unit 110 acquires sensor values ​​measured by each of the thermistor 15, the current sensor 13, and the voltage sensor 25. Then, based on the acquired sensor values, the control unit 110 determines whether at least one of a temperature error, which is a first type of error, and a power error, which is a second type of error, has occurred.

[0095] If an error occurs (step S5; YES), the control unit 110 executes a notification process (step S6). Details of the notification process in step S6 will be described with reference to FIG.

[0096] 9 starts, the control unit 110 determines the type of error that has occurred (step S601). For example, if the temperature measured by thermistor 15 is not within the appropriate temperature range, the control unit 110 determines that the error that has occurred corresponds to a temperature error, which is a first type. Alternatively, if the difference between the transmission power and the reception power derived based on the current sensor 13 and the voltage sensor 25 is equal to or greater than a threshold, the control unit 110 determines that the error that has occurred corresponds to a power error, which is a second type.

[0097] If the error that has occurred corresponds to a temperature error (step S601; temperature error), control unit 110 issues a notification in a first manner (step S602). Specifically, control unit 110 causes the LED of notification unit 16 to continuously light up in orange. In other words, control unit 110 does not change the notification manner from the charging state in step S4, and continues to issue a notification in the same notification manner.

[0098] Next, the control unit 110 executes a retry process (step S603). Details of the retry process in step S603 will be described with reference to FIG.

[0099] 10 starts, the control unit 110 turns the switch 14 OFF to stop power supply to the robot 20 (step S901). Then, the control unit 110 waits for a predetermined waiting time after stopping the power supply (step S902). When the waiting time has elapsed since the power supply was stopped, the control unit 110 turns the switch 14 ON to resume power supply to the robot 20 (step S903).

[0100] When power supply is resumed, the control unit 110 determines whether the error has been resolved (step S904). Specifically, the control unit 110 acquires the sensor values ​​measured by each of the thermistor 15, the current sensor 13, and the voltage sensor 25. Then, based on the acquired sensor values, the control unit 110 determines that the error has been resolved if neither a temperature error, which is a first type of error, nor a power error, which is a second type of error, has occurred.

[0101] If the error is resolved (step S904; YES), the control unit 110 ends the retry process shown in FIG.

[0102] On the other hand, if the error has not been resolved (step S904; NO), control unit 110 determines whether the number of times the processes of steps S901 to S904 have been executed has reached a predetermined number of times (step S905). If the number of times the processes have been executed has not reached the predetermined number of times (step S905; NO), control unit 110 returns the process to step S901 and executes the processes of steps S901 to S904 again. In this way, control unit 110 repeats the processes of steps S901 to S904 a predetermined number of times unless the error is resolved at some point.

[0103] If the number of executions reaches the predetermined number of times (step S905; YES), the control unit 110 ends the retry process shown in FIG.

[0104] 9, when the retry process is executed, the control unit 110 determines whether the error has been resolved by the retry process (step S604). If the error has been resolved, this corresponds to the case where the error has been resolved in step S904 of the retry process. On the other hand, if the error has not been resolved, this corresponds to the case where the number of times steps S901 to S904 have been executed has reached a predetermined number of times in step S905 of the retry process.

[0105] If the error has not been resolved (step S604; NO), the control unit 110 turns the switch 14 OFF to stop power supply to the robot 20 (step S605). Then, the control unit 110 issues a notification in a second manner different from the first manner (step S606). Specifically, the control unit 110 causes the LED of the notification unit 16 to flash alternately between white and orange.

[0106] On the other hand, if the error is resolved (step S604; YES), the control unit 110 issues a notification in the first mode (step S607). Specifically, the control unit 110 causes the LED of the notification unit 16 to continuously light up in orange. In other words, the control unit 110 does not change the notification mode from step S4 and step S602, and continues to issue a notification in the same notification mode.

[0107] In step S601, if the error that has occurred corresponds to a power error (step S601; power error), the control unit 110 issues a notification in the third manner (step S608). Specifically, the control unit 110 causes the LED of the notification unit 16 to flash in orange.

[0108] Next, the control unit 110 executes a retry process (step S609). The retry process in step S609 is the same as the retry process in step S603 described with reference to Fig. 10, and therefore a description thereof will be omitted.

[0109] When the retry process is executed, the control unit 110 determines whether the error has been resolved by the retry process (step S610). If the error has not been resolved (step S610; NO), the control unit 110 stops power supply to the robot 20 (step S611) and issues a notification in the fourth mode (step S612). Specifically, the control unit 110 causes the LED of the notification unit 16 to flash in red.

[0110] On the other hand, if the error is resolved (step S610; YES), the control unit 110 proceeds to step S607 and issues a notification in the first mode. Specifically, the control unit 110 causes the LED of the notification unit 16 to continuously light up in orange, as in the charging mode in step S4. This allows the control unit 110 to notify the user that no error has occurred. This completes the notification process shown in FIG. 9.

[0111] 8, when the notification process is executed, the control unit 110 determines whether the error has been resolved by the notification process of step S6 (step S7). If the error has been resolved, this corresponds to the case where the error has been resolved in step S604 or step S610 of the notification process. On the other hand, if the error has not been resolved, this corresponds to the case where the error has not been resolved in step S604 or step S610 of the notification process.

[0112] If the error is not resolved (step S7; NO), it is determined that it is difficult to continue supplying power to the robot 20. Therefore, in this case, the control unit 110 ends the power supply process shown in FIG.

[0113] On the other hand, if the error is resolved (step S7; YES), and if no error has occurred in step S5 (step S5; NO), the control unit 110 determines whether the battery 24 of the robot 20 has reached full charge (step S8).

[0114] If the robot 20 is not fully charged (step S8; NO), the control unit 110 returns the process to step S5. In this case, the control unit 110 continues to supply power to the robot 20, and if an error occurs during this, the control unit 110 executes the processes of steps S6 and S7.

[0115] Finally, when the robot 20 reaches full charge (step S8; YES), the control unit 110 sends an OFF signal to the switch 14 to stop power supply to the robot 20 (step S9). Then, the control unit 110 causes the LED of the notification unit 16 to light up continuously in green to notify that power supply has been completed (step S10). This completes the power supply process shown in FIG. 8.

[0116] As described above, the power supply device 10 according to the first embodiment executes a retry process of stopping and restarting contactless power supply when an error occurs while contactless power supply is being performed on the robot 20. Then, the power supply device 10 according to the first embodiment issues a notification in the first mode when no error occurs while contactless power supply is being performed, and issues a notification in the first mode while executing the retry process when an error occurs while contactless power supply is being performed and the error corresponds to a first type of error.

[0117] As described above, even if a first type error occurs, the power supply device 10 according to the first embodiment notifies the user in the same manner as when no error occurs during the retry process. When an error occurs that does not require immediate action by the user, the user does not immediately recognize that an error has occurred, and therefore does not have to bother with taking action such as powering off and on the device. Therefore, when an error occurs, the power supply device 10 according to the first embodiment can appropriately notify the user according to the type of error.

[0118] Furthermore, when the first type error is not resolved even after the retry process is executed, the power supply device 10 according to the first embodiment issues a notification in a second manner different from the first manner. Furthermore, when an error occurs during contactless power supply and the error corresponds to the second type error, the power supply device 10 according to the first embodiment issues a notification in a third manner different from the first manner while the retry process is executed.

[0119] As described above, when an error that does not require immediate user action occurs, the power supply device 10 according to the first embodiment notifies the user in a different manner from that used in normal situations at the timing when the user's action becomes necessary. On the other hand, when an error that requires user action occurs, the power supply device 10 according to the first embodiment immediately notifies the user of the error. Therefore, when an error occurs, the power supply device 10 according to the first embodiment can accurately notify the user at the timing required by the user.

[0120] (Embodiment 2) Next, a description will be given of embodiment 2. Descriptions of the same configurations and functions as embodiment 1 will be omitted where appropriate.

[0121] 11 shows the configuration of a power supply system 2 according to the second embodiment. The power supply system 2 according to the second embodiment includes a power supply device 10, a robot 20, and an alarm device 30. In the first embodiment, the alarm unit 16 and the alarm control unit 114 are provided in the power supply device 10. In contrast, in the second embodiment, the alarm unit 16 and the alarm control unit 114 are provided in the alarm device 30, which is an external device to the power supply device 10.

[0122] The notification device 30 is a device that issues a notification in accordance with the state of the target device, the power supply device 10. The notification device 30 may be a general-purpose information processing device such as a PC, a smartphone, a tablet terminal, or a wearable terminal, or may be a device specialized for a notification function.

[0123] 12, the notification device 30 includes a notification unit 16, a control unit 310, a storage unit 320, and a communication unit 330. The control unit 310 includes a CPU and controls the overall operation of the notification device 30. The storage unit 320 includes a ROM, a RAM, a flash memory, etc. The communication unit 330 includes a communication interface for communicating with the power supply device 10, and communicates with the power supply device 10 via a wired or wireless connection in accordance with an appropriate communication standard. Similarly to the first embodiment, the power supply device 10 also includes a power supply control unit 111, an error determination unit 112, and a retry processing unit 113.

[0124] In the notification device 30, the control unit 310 functionally includes a notification control unit 114. The notification control unit 114 executes notification control processing similar to that of the notification control unit 114 included in the power supply device 10 in the first embodiment. Specifically, the notification control unit 114 causes the LED of the notification unit 16 to emit light in a notification mode defined in a notification table 121 stored in the storage unit 320.

[0125] More specifically, the notification control unit 114 communicates with the power supply device 10 via the communication unit 330 to acquire information indicating the timing of starting and stopping power supply by the power supply control unit 111, the error determination result by the error determination unit 112, and whether or not the retry processing is being performed by the retry processing unit 113. Then, the notification control unit 114 causes the LED of the notification unit 16 to emit light in a notification mode corresponding to the state when contactless power supply, which is a predetermined operation, is being performed in the power supply device 10, which is the target device.

[0126] For example, if no error occurs while contactless power feeding is being performed in the power feeding device 10, the notification control unit 114 makes a notification in a first manner. Furthermore, if a temperature error occurs while contactless power feeding is being performed in the power feeding device 10, the notification control unit 114 makes a notification in a first manner while the power feeding device 10 is performing a retry process, and if the temperature error is not resolved even after the retry process is performed, the notification control unit 114 makes a notification in a second manner. Furthermore, if a power error occurs while contactless power feeding is being performed in the power feeding device 10, the notification control unit 114 makes a notification in a third manner while the power feeding device 10 is performing a retry process, and if the power error is not resolved even after the retry process is performed, the notification control unit 114 makes a notification in a fourth manner.

[0127] In this way, the notification device 30 according to the second embodiment issues a notification according to the state of the target device, the power supply device 10. Since the notification device 30, which is a device independent of the power supply device 10, has a notification function, the user can check the state of the power supply device 10 even if the power supply device 10 itself does not have the notification unit 16 and the notification control unit 114.

[0128] (Variation) Although the embodiments of the present invention have been described above, the above embodiments are merely examples, and the scope of application of the present invention is not limited to these. In other words, the embodiments of the present invention are applicable to various applications, and all embodiments are included in the scope of the present invention.

[0129] For example, in the second embodiment, the notification device 30 is a device separate from the power supply device 10 and the robot 20. However, the notification device 30 may be provided inside the robot 20. In other words, the robot 20 may include the notification unit 16 and the notification control unit 114, and may issue a notification depending on the state of the power supply device 10.

[0130] In the second embodiment, the notification device 30 issues a notification according to the state when the power supply device 10, which is the target device, is performing contactless power supply, which is a predetermined operation. However, the target device that is the target of notification by the notification device 30 is not limited to the power supply device 10. For example, the target device may be a general information processing device or communication device, or may be a drive device having a drive mechanism such as the robot 20. When the target device is a general information processing device or communication device, the predetermined operation may not be contactless power supply, but may be, for example, general information processing or communication processing. Furthermore, when the target device is a drive device, the predetermined operation may be an operation of driving the drive mechanism.

[0131] Furthermore, the notification device 30 is not limited to being a device separate from the target device, but may be provided inside the target device.

[0132] In the above embodiment, the first type error was a temperature error, and the second type error was a power error. However, the first and second type errors are not limited to this. The first type error may be any error that does not require immediate user action, and the second type error may be any error that requires user action. For example, if the target device is a general information processing device or communication device, the first and second type errors may be errors related to general information processing or communication processing. Alternatively, if the target device is a drive device, the first and second type errors may be errors related to the operation of the drive mechanism.

[0133] In the above embodiment, the notification control unit 114 illuminates the LED of the notification unit 16 in the notification mode defined in the notification table 121 shown in Fig. 7. However, the notification mode in the notification table 121 shown in Fig. 7 is merely an example, and the color and pattern in which the LED is lit can be freely set. For example, in the above embodiment, the second to fourth modes were different from each other, but since these are modes that each indicate some kind of error, at least two of the second to fourth modes may be the same mode as long as they are different from the first mode that indicates that the power supply is normal.

[0134] In the above embodiment, the notification unit 16 includes an LED, and the notification control unit 114 notifies the user by causing the LED to emit light in a color and pattern corresponding to the state of the power supply device 10. However, the notification unit 16 is not limited to an LED, and may include a display, a speaker, or the like. For example, the notification control unit 114 may notify the user by displaying an image corresponding to the state of the power supply device 10 on a display. Alternatively, the notification control unit 114 may notify the user by outputting a sound corresponding to the state of the power supply device 10 from a speaker.

[0135] In the above embodiment, the exterior 201 is formed in a cylindrical shape from the head 204 to the torso 206, and the robot 20 is in a prone position. However, the robot 20 is not limited to being modeled after a prone position creature. For example, the robot 20 may be modeled after a creature with arms and legs, and may be modeled after a creature that walks on four legs or two legs.

[0136] In the above embodiment, the control unit 110 functions as the power supply control unit 111, the error determination unit 112, the retry processing unit 113, and the notification control unit 114 by the CPU executing a program stored in the ROM. Furthermore, the control unit 310 functions as the notification control unit 114 by the CPU executing a program stored in the ROM. However, in the present invention, the control units 110 and 310 may include dedicated hardware, such as an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or various control circuits, instead of a CPU, and the dedicated hardware may function as the power supply control unit 111, the error determination unit 112, the retry processing unit 113, and the notification control unit 114. In this case, the functions of each unit may be realized by individual hardware, or the functions of each unit may be realized together by a single piece of hardware. Furthermore, some of the functions of each unit may be realized by dedicated hardware, and other parts may be realized by software or firmware.

[0137] It is possible to provide a robot that is equipped with a configuration for realizing the functions according to the present invention, and also possible to make an existing information processing device or the like function as the power supply device 10 and the notification device 30 according to the present invention by applying a program. That is, by applying a program for realizing each functional configuration of the power supply device 10 and the notification device 30 exemplified in the above embodiment so that it can be executed by a CPU or the like that controls the existing information processing device or the like, it is possible to make it function as the robot according to the present invention.

[0138] Furthermore, the application method of such a program is arbitrary. The program can be applied by storing it on a computer-readable storage medium such as a flexible disk, a CD (Compact Disc)-ROM, a DVD (Digital Versatile Disc)-ROM, or a memory card. Furthermore, the program can be superimposed on a carrier wave and applied via a communication medium such as the Internet. For example, the program can be distributed by posting it on a bulletin board system (BBS) on a communication network. Then, the program can be started and executed under the control of an operating system (OS) in the same way as other application programs, thereby enabling the above-mentioned processing to be performed.

[0139] The above describes preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the claims. [Explanation of symbols]

[0140] 1, 2... power supply system, 10... power supply device, 11... transmitting module, 12... transmitting antenna, 13... current sensor, 14... switch, 15... thermistor, 16... alarm unit, 17... AC adapter, 18... base, 20... robot, 21... receiving antenna, 22... receiving module, 23... charging IC, 24... battery, 25... voltage sensor, 30... alarm device, 100... control module, 110, 310... control unit, 111... power supply control unit, 112... error determination unit, 113... retry processing unit , 114... Notification control unit, 120, 320... Memory unit, 121... Notification table, 130, 330... Communication unit, 200... Operation unit, 201... Exterior, 204... Head, 205... Connection unit, 206... Body unit, 207... Housing, 210... Sensor unit, 211... Touch sensor, 212... Acceleration sensor, 213... Microphone, 214... Gyro sensor, 215... Illumination sensor, 220... Drive unit, 221... Twist motor, 222... Up and down motor, 230... Control module, 231... Speaker

Claims

1. a power supply means for wirelessly supplying power to the robot; a notification means for making a notification according to a state of the contactless power supply; a retry processing means for executing a retry process of stopping and then restarting the contactless power supply when an error occurs while the contactless power supply is being performed by the power supply means, The notification means If the error does not occur while the wireless power supply is being performed by the power supply unit, a notification is made in a first manner; If the error occurs while the wireless power supply is being performed by the power supply means and the error that has occurred corresponds to a first type error, the retry processing means issues a notification in the first mode while executing the retry processing. A power supply system characterized by:

2. When the first type error is not resolved by the retry process, the notification means issues a notification in a second manner different from the first manner. The power supply system according to claim 1 .

3. When the error occurs while the wireless power supply is being performed by the power supply means and the error that has occurred corresponds to a second type error, the notification means issues a notification in a third manner different from the first manner while the retry processing means is executing the retry processing.

3. The power supply system according to claim 1 or 2.

4. the notification means issues a notification in a fourth manner if the second type error is not resolved by the retry process. The power supply system according to claim 3 .

5. the notifying means issues a notification in the first manner when the error is resolved by the retry process.

3. The power supply system according to claim 1 or 2.

6. the first type of error is an error related to temperature in the power supply means; 3. The power supply system according to claim 1 or 2.

7. the second type error is detected based on a difference between a transmission power transmitted to the robot and a reception power received by the robot when the wireless power supply is being performed by the power supply means; 3. The power supply system according to claim 1 or 2.

8. the power supply system includes a power supply device and the robot, The power supply device includes the power supply means, the notification means, and the retry processing means.

3. The power supply system according to claim 1 or 2.

9. the power supply system includes a power supply device and the robot, the power supply device includes the power supply means and the retry processing means, The robot includes the notification means.

3. The power supply system according to claim 1 or 2.

10. the power supply system includes a power supply device, the robot, and an alarm device; the power supply device includes the power supply means and the retry processing means, The notification device includes the notification means.

3. The power supply system according to claim 1 or 2.

11. a notification means for issuing a notification in accordance with the state of the target device; The notification means If no error occurs while a predetermined operation is being performed in the target device, a notification is made in a first manner; If the error occurs while the predetermined operation is being performed in the target device, and if the error that occurred corresponds to a first type error, the notification is made in the first manner while the target device is performing a retry process of stopping and then restarting the predetermined operation. An alarm device characterized by:

12. The target device is a power supply device that wirelessly supplies power to a robot, The predetermined operation is the contactless power supply.

12. The notification device according to claim 11.

13. A notification method for making a notification depending on the state of a target device, If no error occurs while a predetermined operation is being performed in the target device, a notification is made in a first manner; If the error occurs while the predetermined operation is being performed in the target device, and if the error that occurred corresponds to a first type error, the notification is made in the first manner while the target device is performing a retry process of stopping and then restarting the predetermined operation. A notification method characterized by:

14. Computer, functioning as a notification means for issuing a notification according to the state of the target device; The notification means If no error occurs while a predetermined operation is being performed in the target device, a notification is made in a first manner; If the error occurs while the predetermined operation is being performed in the target device, and if the error that occurred corresponds to a first type error, the notification is made in the first manner while the target device is performing a retry process of stopping and then restarting the predetermined operation. A program to make it work like this.

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