Electronic equipment, power transmission systems, control methods, and programs

Abstract

This system suppresses misalignment of electronic devices to ensure proper power supply. [Solution] The actuator 142 drives the movable part. The magnetic sensor 150 detects that the electronic device 100 is positioned in a power-receiving location by detecting the magnetism emitted by the magnet 250. The control circuit 170 controls the actuator 142 so that a predetermined operation is performed by driving the movable part. If the control circuit 170 does not detect that the electronic device 100 is positioned in a power-receiving location, it controls the actuator 142 so that the first operation is performed. If the control circuit 170 detects that the electronic device 100 is positioned in a power-receiving location, it controls the actuator 142 so that the first operation is not performed.

Description

Technical Field

[0001] The present disclosure relates to an electronic device, a power transmission system, a control method, and a program.

Background Art

[0002] In recent years, robots developed to play a role like a pet capable of communicating with a user are known. Such a robot is described in, for example, Patent Document 1. When charging a secondary battery, the robot described in Patent Document 1 identifies the position of a light source provided in a charging station and moves itself to the charging station.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if a robot performs an operation with a large movement during power supply, the position of the robot may shift, and appropriate power supply may not be able to continue. As a method for solving such a problem, for example, a method of restricting an operation with a large movement during power supply without restricting an operation with a large movement during non-power supply can be considered. However, in this method, for example, when power supply is interrupted due to a temperature rise caused by power supply, an operation with a large movement may be performed during the power supply interruption, and the position shift of the robot may occur,

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide an electronic device, a power transmission system, a control method, and a program that suppress the position shift of an electronic device and realize appropriate power supply.

Means for Solving the Problems

[0006] To achieve the above objective, the electronic device according to this disclosure comprises a drive unit for driving a movable part, a detection unit for detecting whether the electronic device is positioned in a power-receiving position where it can receive power from a power supply device, and a control unit for controlling the drive unit so that a predetermined operation is performed by driving the movable part. The control unit controls the drive unit so that a first operation is performed if the detection unit does not detect that the electronic device is positioned in a power-receiving position, and controls the drive unit so that the first operation is not performed if the detection unit detects that the electronic device is positioned in a power-receiving position. [Effects of the Invention]

[0007] According to this disclosure, it is possible to suppress misalignment of electronic devices and achieve appropriate power supply. [Brief explanation of the drawing]

[0008] [Figure 1] Perspective view of electronic equipment and power supply device according to Embodiment 1 [Figure 2] Perspective view of the main body of the electronic device according to Embodiment 1 [Figure 3] Cross-sectional view of electronic equipment and power supply device according to Embodiment 1 [Figure 4] Configuration diagram of the power transmission system according to Embodiment 1 [Figure 5] Diagram illustrating each operation performed by the electronic device according to Embodiment 1 [Figure 6] This is an explanatory diagram of the breathing action performed by the electronic device according to Embodiment 1, where (A) is an explanatory diagram of the first breathing action and (B) is an explanatory diagram of the second breathing action. [Figure 7] Flowchart showing the device control process executed by the electronic device according to Embodiment 1 [Figure 8] Configuration diagram of the power transmission system according to Embodiment 2 [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described in detail below with reference to the drawings. In the drawings, the same or corresponding parts will be denoted by the same reference numerals. The power transmission system 1000 according to Embodiment 1 shown in Figure 1 is a system in which a power supply device 200 wirelessly supplies power to an electronic device 100. The power supply device 200 wirelessly supplies power to the electronic device 100 when the electronic device 100 is housed in the storage compartment 210 provided by the power supply device 200. Wireless means that there is no cable connection, electrode contact, etc.

[0010] The electronic device 100 is a device that operates using power stored in a built-in battery. The electronic device 100 charges its built-in battery with power supplied from the power supply device 200. In this embodiment, the electronic device 100 is a robot that operates autonomously without direct operation by a user. More specifically, the electronic device 100 is a pet robot that mimics a small animal. The electronic device 100 comprises a main body 110 and an exterior casing 120. The main body 110 is the part that houses various components necessary for the operation of the electronic device 100. As shown in Figure 2, the main body 110 comprises a head 111, a connecting part 112, and a torso 113. The head 111 is the part that corresponds to the head of a small animal. The connecting part 112 is the part that rotatably connects the head 111 and the torso 113. The torso 113 is the part that corresponds to the torso of a small animal. The exterior part 120 is the outer part that covers the main body part 110. The exterior part 120 is equipped with decorative parts that resemble eyes and fluffy fur. The outer surface of the exterior part 120 is formed from an artificial pile fabric that mimics the fur of a small animal, for example, to simulate the feel of a small animal's skin. The lining of the exterior part 120 is formed from, for example, fibers, leather, rubber, etc. Since the exterior part 120 is made of a flexible material, it can follow the movement of the main body part 110.

[0011] The electronic device 100 may be automatically stored in the storage compartment 210, or it may be stored in the storage compartment 210 manually. For example, the electronic device 100 may automatically move into the storage compartment 210 in response to the battery level falling below a certain value. Alternatively, the user may store the electronic device 100 in the storage compartment 210 in accordance with a notification from the electronic device 100. This notification indicates that the battery level is low and is issued by the electronic device 100 in response to the battery level falling below a certain value.

[0012] Figure 3 schematically shows a cross-section of the electronic device 100 and power supply device 200 in their stored state, when cut by a plane extending in the longitudinal and vertical directions of the storage section 210. In Figure 3, for ease of understanding, the exterior part 120 of the electronic device 100 is omitted from the illustration, and only the main body part 110 is shown. Also in Figure 3, hatching on the cross-section is omitted for ease of understanding. A power receiving coil 130 and a magnetic sensor 150 are arranged inside the body part 113. As shown in Figure 3, when the electronic device 100 is stored in the storage section 210, the magnetic sensor 150 and the magnet 250 come into close proximity, enabling the magnetic sensor 150 to detect the magnetism emitted by the magnet 250. Also, when the electronic device 100 is stored in the storage section 210, the power transmitting coil 230 and the power receiving coil 130 come into close proximity and face each other, enabling power to be supplied from the power supply device 200 to the electronic device 100.

[0013] The power supply device 200 functions as a charging station for charging the battery of the electronic device 100. The power supply device 200 receives power from an AC (Alternating Current) adapter equipped with a DC (Direct Current) plug 291. The power supply device 200 includes a storage compartment 210 for housing the electronic device 100. The storage compartment 210 is shaped like a small animal house, and has a bowl-like shape, or more specifically, like an egg divided in two by a plane containing a central axis extending in the longitudinal direction. A bottom plate 211 on which the electronic device 100 is placed is provided at the bottom of the storage compartment 210. A coil cover 231 is embedded in the bottom plate 211 such that the top surface of the bottom plate 211 and the top surface of the coil cover 231 are in the same plane. The electronic device 100 is placed on the bottom plate 211 with the coil cover 231 embedded in it. The coil cover 231 is a component that protects the power transmission coil 230 and has a disc shape.

[0014] Multiple protrusions 212 are provided on the inside of the side wall of the storage compartment 210. The multiple protrusions 212 are members that restrict the horizontal movement of the electronic device 100 when the electronic device 100 is stored in the storage compartment 210 and power can be supplied to the electronic device 100 (hereinafter referred to as "storage state" as appropriate). A protrusion 213 is provided in the center of the bottom plate 211. The protrusion 213 is a member that restricts the longitudinal movement of the storage compartment 210 by the electronic device 100 when the storage state is reached. The protrusion 213 has a shape that extends in the width direction of the storage compartment 210. Preferably, the multiple protrusions 212 and the protrusion 213 are arranged so as not to excessively restrict the movement of the electronic device 100, that is, to allow some movement of the electronic device 100. With such a configuration, for example, the breathing motion simulated by the electronic device 100, which is modeled after a small animal, inside the storage compartment 210, which is modeled after a small animal's house, will not be restricted. A magnet 250 is provided inside the projection 213. When the electronic device 100 is placed in the storage compartment 210 and the magnetic field emitted by the magnet 250 is detected by the electronic device 100, the power supply device 200 starts supplying power to the electronic device 100.

[0015] In this embodiment, the axis extending in the vertical direction is the Z-axis, the axis extending in the direction orthogonal to the Z-axis is the X-axis, and the axis extending in the direction orthogonal to the Z-axis and the X-axis is the Y-axis. Further, in this embodiment, the power supply device 200 is arranged such that the direction extending from the rear end to the front end in the longitudinal direction of the storage unit 所210 is the positive direction of the X-axis. The front end in the longitudinal direction of the storage unit 210 is the sharper end of the both ends in the longitudinal direction of the storage unit 210.

[0016] The power transmission system 1000 shown in FIG. 4 includes an electronic device 100 and a power supply device 200. The electronic device 100 includes a power receiving coil 130, a sensor 141, an actuator 142, a speaker 143, a magnetic sensor 150, a power receiving circuit 160, a charging circuit 162, a control circuit 170, and a battery 180. The power supply device 200 includes a power transmission coil 230, a temperature sensor 240, a magnet 250, a power transmission circuit 260, a control circuit 270, and a power supply circuit 280. The power receiving coil 130 is a coil that couples with the power transmission coil 230 and is a coil for receiving power wirelessly. The power receiving coil 130 induces an electromotive force in response to a change in the magnetic flux induced by the power transmission coil 230. The power receiving coil 130 is a wire wound around an axis extending in the Z-axis direction.

[0017] The sensor 141 is a sensor for detecting various physical quantities. Examples of the sensor 141 include a touch sensor, an acceleration sensor, an angular velocity sensor, a sound sensor, an illuminance sensor, a temperature sensor, etc. The touch sensor detects, for example, that the user has touched the exterior portion 120. The acceleration sensor detects, for example, the acceleration applied to the whole or a part of the electronic device 100. The angular velocity sensor detects, for example, the angular velocity of the whole or a part of the electronic device 100. The sound sensor detects, for example, the sound emitted by the user. The illuminance sensor detects, for example, the illuminance around the electronic device 100. The temperature sensor detects, for example, the temperature inside or outside the electronic device 100. The sensor 141 supplies an electrical signal indicating the detection result to the control circuit 170.

[0018] Actuator 142 is a mechanism for operating each part of the electronic device 100. Actuator 142 operates according to the control by the control circuit 170. For example, Actuator 142 is a mechanism for advancing the electronic device 100 in the front-rear direction or rotating the head 111 with respect to the body part 113. In the present embodiment, Actuator 142 includes a mechanism for rotating the head 111 about a rotation axis extending in the Y-axis direction and a mechanism for rotating the head 111 about a rotation axis extending in the Z-axis direction. Actuator 142 includes, for example, a stepping motor.

[0019] Speaker 143 emits sound according to the control by the control circuit 170. For example, when the power supply device 200 detects an abnormality, Speaker 143 outputs a voice for notifying that an abnormality has been detected according to the voice signal supplied from the control circuit 170. Examples of the abnormality include a foreign object containing metal, an excessive temperature rise due to misalignment, a decrease in transmission efficiency due to misalignment, and the like.

[0020] Magnetic sensor 150 is a sensor that detects magnetism. Magnetic sensor 150 detects the magnetism emitted by magnet 250 provided at a predetermined part of power supply device 200. Magnetic sensor 150 outputs a voltage signal indicating the detection result of magnetism. For example, when magnetic sensor 150 does not detect magnetism, it outputs a voltage signal having a first voltage, and when it detects magnetism, it outputs a voltage signal having a second voltage. The voltage signal output by magnetic sensor 150 is supplied to control circuit 170. Note that magnetic sensor 150 is installed at a position and angle where it does not detect the magnetism generated by transmission coil 230.

[0021] The power receiving circuit 160 is a circuit for receiving power wirelessly via the power receiving coil 130. The power receiving circuit 160 supplies DC power based on AC power supplied from the power supply device 200 via the power receiving coil 130 to the charging circuit 162. The power receiving circuit 160 operates according to the control of the control circuit 170. The power receiving circuit 160 communicates with the power transmission circuit 260. For example, the power receiving circuit 160 sends a power supply request to the power transmission circuit 260 in order to receive power from the power transmission circuit 260. The power receiving circuit 160 includes a power receiving IC (Integrated Circuit) 161. The power receiving IC 161 converts the AC power generated by the electromotive force induced by the power receiving coil 130 into DC power and supplies the DC power to the charging circuit 162. The charging circuit 162 is a circuit for charging the battery 180. The charging circuit 162 charges the battery 180 with DC power supplied from the power receiving circuit 160. The charging circuit 162 operates according to the control of the control circuit 170. The charging circuit 162 includes a charging IC 163. The charging IC 163 charges the battery 180 with DC power supplied from the power receiving IC 161.

[0022] The control circuit 170 controls the overall operation of the electronic device 100. For example, the control circuit 170 operates the electronic device 100 by operating the actuator 142 based on the detection result from the sensor 141. Also, if it receives notification from the power supply device 200 that an abnormality has been detected, it controls the speaker 143 to notify the user that an abnormality has been detected. The control circuit 170 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), RTC (Real Time Clock), flash memory, etc. The CPU is also called a central processing unit, central computing unit, processor, microprocessor, microcomputer, DSP (Digital Signal Processor), etc., and functions as a central computing unit that executes processing and calculations related to the control of the control circuit 170. In the control circuit 170, the CPU reads programs and data stored in the ROM, flash memory, etc., and uses the RAM as a work area to comprehensively control the control circuit 170. The RTC is, for example, an integrated circuit with a timing function. The CPU can determine the current date and time from the time information read from the Real-Time Clock (RTC).

[0023] Battery 180 is a rechargeable and dischargeable secondary battery. Battery 180 is the power source for the electronic device 100. Specifically, battery 180 supplies power to the sensor 141, actuator 142, magnetic sensor 150, power receiving circuit 160, charging circuit 162, control circuit 170, etc. Battery 180 is also charged by the power supplied from the power receiving circuit 160. Battery 180 is, for example, a lithium-ion battery.

[0024] The transmitting coil 230 is a coil that is coupled to the receiving coil 130 and is a coil for wireless power supply. The transmitting coil 230 induces a magnetic flux of varying magnitude when an alternating current flows through it. The transmitting coil 230 is a conductor wound around an axis extending in the Z-axis direction. In its stored state, the transmitting coil 230 is positioned in a predetermined location within the power supply device 200 so that it faces the receiving coil 130. In the stored state, the central axis of the receiving coil 130 and the central axis of the transmitting coil 230 are close together.

[0025] The temperature sensor 240 detects the temperature around the power transmission coil 230. For example, the temperature sensor 240 detects the temperature of a heat conductive member (not shown) located below the power transmission coil 230. If a foreign object containing metal is present around the power transmission coil 230, eddy currents flow within this foreign object due to the change in magnetic flux induced by the power transmission coil 230, causing the foreign object to heat up. The temperature sensor 240 is mainly used to detect this heat generation from the foreign object. The temperature sensor 240 supplies temperature information indicating the temperature detection result to the control circuit 270. The temperature sensor 240 is a contact-type temperature sensor such as a resistance thermometer, linear resistor, or thermistor.

[0026] The magnet 250 is an object that emits magnetism. The magnet 250 has two poles, a north pole and a south pole, and is an object that generates a bipolar magnetic field. The magnet 250 is placed on the projection 213 of the power supply device 200 to indicate that the power supply device 200 is a suitable power supply device for supplying power to the electronic device 100. The magnet 250 is installed at a position and angle corresponding to the position and angle of the magnetic sensor 150. In other words, in the stored state, the magnet 250 is positioned at a position and angle that allows the magnetic field emitted by the magnet 250 to be detected by the magnetic sensor 150. In this embodiment, the magnet 250 is a permanent magnet.

[0027] The power transmission circuit 260 is a circuit for supplying power to the electronic device 100. The power transmission circuit 260 is a circuit for wirelessly supplying power via the power transmission coil 230. The power transmission circuit 260 supplies AC power based on DC power supplied from the power supply circuit 280 to the power transmission coil 230. The power transmission circuit 260 operates according to the control of the control circuit 270. The power transmission circuit 260 communicates with the power receiving circuit 160. Specifically, when the power transmission circuit 260 receives a power supply request from the power receiving circuit 160, it starts supplying power to the power receiving circuit 160. The power transmission circuit 260 includes a power transmission IC 261. The power transmission IC 261 converts the DC power generated by the power supply circuit 280 into AC power and supplies the AC power to the power transmission coil 230.

[0028] The control circuit 270 controls the overall operation of the power supply device 200. For example, the control circuit 270 controls the power transmission circuit 260 to supply power to the electronic device 100. The control circuit 270 controls the power supply to the electronic device 100 based on the detection result from the temperature sensor 240. For example, if the control circuit 270 detects a temperature above the interruption temperature, it interrupts the power supply to the electronic device 100, and resumes the power supply to the electronic device 100 when a temperature below the restart temperature is detected. In addition, if the control circuit 270 detects an abnormality, it may notify the electronic device 100 that an abnormality has been detected, causing the electronic device 100 to notify that there is an abnormality. The control circuit 270 includes a CPU, ROM, RAM, RTC, flash memory, etc.

[0029] The power supply circuit 280 generates various power supply voltages used by the power supply device 200. For example, the power supply circuit 280 steps down or steps up the DC voltage supplied from the AC adapter 290 to generate the power supply voltages for each part of the power supply device 200. The AC adapter 290 is a device for converting AC power to DC power. In this embodiment, the AC adapter 290 converts AC power supplied from the commercial power supply to DC power and supplies the DC power to the power supply circuit 280. The AC adapter 290 is equipped with a DC plug 291 that is connected to the power supply circuit 280.

[0030] Next, the characteristic functions of the power transmission system 1000 will be explained, focusing on the functions of the control circuit 170. The power transmission circuit 260 supplies power to the electronic equipment 100. The projection 213 is provided with the characteristic of emitting magnetism. The power transmission circuit 260 is an example of a power supply unit. The projection 213 is an example of a predetermined part. The characteristic of emitting magnetism is an example of a predetermined feature.

[0031] The power receiving circuit 160 receives power from the power supply device. The actuator 142 drives the head 111 according to the control of the control circuit 170. The power receiving circuit 160 is an example of a power receiving unit. The actuator 142 is an example of a drive unit. The head 111 is an example of a movable part.

[0032] The magnetic sensor 150 is a sensor for detecting whether the electronic device 100 is positioned in a power-receiving position, which is a position where it can receive power from the power supply device 200. The magnetic sensor 150 detects whether the electronic device 100 is positioned in a power-receiving position by detecting a predetermined feature attached to a predetermined part of the power supply device 200. In this embodiment, the predetermined feature is the ability to emit magnetism. The magnetic sensor 150 is a magnetic sensor that detects the magnetism emitted by a magnet 250 provided at the predetermined part. The magnetic sensor 150 is an example of a detection unit.

[0033] The control circuit 170 controls the actuator 142 so that a predetermined operation is performed by driving the head 111. The control circuit 170 controls the actuator 142 so that a first operation is performed if no magnetism is detected by the magnetic sensor 150, that is, if it is not detected that the electronic device 100 is in a position where it can receive power. The control circuit 170 controls the actuator 142 so that a first operation is not performed if magnetism is detected by the magnetic sensor 150, that is, if it is detected that the electronic device 100 is in a position where it can receive power.

[0034] In this embodiment, the control circuit 170 controls the actuator 142 so that a second operation is executed when it detects that the electronic device 100 is positioned in a power-receiving location. The second operation is a smaller movement than the first operation. In this way, when the electronic device 100 is positioned in a power-receiving location, the control circuit 170 limits the first operation, which is a larger movement than the second operation, to suppress displacement of the electronic device 100. Note that the electronic device 100 being positioned in a power-receiving location corresponds to the electronic device 100 being housed in the housing 210 of the power supply device 200. The various operations performed by the electronic device 100 will be described below with reference to Figure 5. The operations performed by the electronic device 100 include breathing, vertical head movement, and horizontal head movement.

[0035] The breathing motion is an action that represents the respiration of an animal. The breathing motion is performed continuously, for example, while the power to the electronic device 100 is turned on. For example, the breathing motion is an action that slowly rotates the head 111 around a rotation axis parallel to the Y-axis so that the head 111 slowly moves back and forth within a predetermined angular range. In the breathing motion, the movable part is the head 111, the rotation axis is parallel to the Y-axis, and the rotation speed is slow. Note that the rotation angle is different between the first breathing motion, which corresponds to the first action, and the second breathing motion, which corresponds to the second action.

[0036] As shown in Figures 6(A) and 6(B), the breathing motion is the movement of rotating the head 111 around a rotation axis 114 parallel to the Y-axis. As shown in Figure 6(A), in the first breathing motion, the rotation angle when the head 111 is rotated from its lowest position to its highest position is θ1. As shown in Figure 6(B), in the second breathing motion, the rotation angle when the head 111 is rotated from its lowest position to its highest position is θ2, which is smaller than θ1. In this embodiment, θ1 is 30 degrees and θ2 is 15 degrees. Thus, the movement of the movable part is larger in the first breathing motion compared to the second breathing motion.

[0037] The head nodding motion is an action that represents the vertical movement of the head. The head nodding motion is performed, for example, when it is determined that an affirmative response should be given when called upon by the user. For example, the head nodding motion is an action that rapidly rotates the head 111 around a rotation axis parallel to the Y axis so that the head 111 quickly moves back and forth within a predetermined angular range. In the head nodding motion, the movable part is the head 111, the rotation axis is parallel to the Y axis, and the rotation speed is fast. Note that the rotation angle differs between the first head nodding motion, which corresponds to the first action, and the second head nodding motion, which corresponds to the second action. For example, the rotation angle in the first head nodding motion is 40 degrees, and the rotation angle in the second head nodding motion is 20 degrees.

[0038] The neck swaying motion represents a movement of the neck moving from side to side. The neck swaying motion is performed, for example, when a user calls out to the device and it is determined that a negative response should be given. For example, the neck swaying motion is an action that rapidly rotates the head 111 around a rotation axis parallel to the Z-axis so that the head 111 quickly moves back and forth within a predetermined angular range. In the neck swaying motion, the movable part is the head 111, the rotation axis is parallel to the Z-axis, and the rotation speed is fast. Note that the rotation angle differs between the first neck swaying motion, which corresponds to the first action, and the second neck swaying motion, which corresponds to the second action. For example, the rotation angle in the first neck swaying motion is 60 degrees, and the rotation angle in the second neck swaying motion is 30 degrees. The control circuit 170 is an example of a control unit.

[0039] In this embodiment, the electronic device 100 is a robot comprising a head 111 representing the head, a connecting part 112 for connecting the head 111 and the torso 113, and a torso 113 representing the torso. The magnetic sensor 150 is provided on the torso 113, not on the movable head 111. Therefore, the magnetic sensor 150 is less susceptible to the influence of first and second movements, etc., and can perform stable magnetic detection.

[0040] Next, with reference to Figure 7, the device control processing performed by the electronic device 100 will be described. The device control processing starts, for example, after the power to the electronic device 100 is turned on. First, the control circuit 170 of the electronic device 100 starts the second breathing operation (step S101). For example, the control circuit 170 controls the actuator 142 to perform a second breathing operation that mimics a breathing motion with small movements. After completing the processing in step S101, the control circuit 170 obtains the magnetic detection result (step S102). For example, the control circuit 170 receives a voltage signal indicating the magnetic detection result from the magnetic sensor 150 and obtains the magnetic detection result indicated by the voltage signal. After completing the processing in step S102, the control circuit 170 determines whether or not magnetism has been detected (step S103). For example, the control circuit 170 determines that magnetism has been detected if the voltage of the voltage signal is the second voltage. Note that the detection of magnetism means that the device is in a stored state and the electronic device 100 is positioned in a power-receiving position.

[0041] If the control circuit 170 determines that no magnetism is detected (step S103: NO), it releases the operation restriction (step S104). For example, the control circuit 170 updates the operation restriction information stored in the flash memory of the control circuit 170 to indicate that the operation is not restricted. If the operation restriction has already been released, the control circuit 170 does not perform any special processing. After completing the processing in step S104, the control circuit 170 changes the breathing operation to the first breathing operation (step S105). For example, if the breathing operation currently being performed is the second breathing operation, the control circuit 170 switches the breathing operation from the second breathing operation to the first breathing operation. If the breathing operation currently being performed is the first breathing operation, the control circuit 170 does not perform any special processing.

[0042] When the control circuit 170 determines that magnetism has been detected (step S103: YES), it starts restricting the operation (step S106). For example, the control circuit 170 updates the operation restriction information stored in the flash memory of the control circuit 170 to indicate that the operation is restricted. If the operation is already restricted, the control circuit 170 does not perform any special processing. After completing the processing in step S106, the control circuit 170 changes the breathing operation to the second breathing operation (step S107). For example, if the breathing operation currently being performed is the first breathing operation, the control circuit 170 switches the breathing operation from the first breathing operation to the second breathing operation and reduces the rotation angle in the breathing operation. If the breathing operation currently being performed is the second breathing operation, the control circuit 170 does not perform any special processing.

[0043] When the control circuit 170 completes the processing in step S105 or step S107, it determines whether or not an event requiring an affirmative response has occurred (step S108). An event requiring an affirmative response is one in which the head should be nodded up or down. For example, the control circuit 170 determines whether or not a user's voice indicating something that can be affirmed has been detected by the sound sensor. For example, suppose that a low charge level of the battery 180 corresponds to hunger, and a high charge level corresponds to fullness. In this case, if the user's voice saying "Are you hungry?" is detected when the battery 180 has a low charge level, it is determined that an event requiring an affirmative response has occurred.

[0044] When the control circuit 170 determines that an event requiring an affirmative response has occurred (step S108: YES), it determines whether or not the operation is restricted (step S109). For example, the control circuit 170 determines whether or not the operation is restricted by referring to the operation restriction information stored in the flash memory. When the control circuit 170 determines that the operation is not restricted (step S109: NO), it executes the first vertical swing motion (step S110). In other words, the control circuit 170 controls the actuator 142 to execute the first vertical swing motion, which simulates a large vertical swing.

[0045] If the control circuit 170 determines that operation is restricted (step S109: YES), it performs a second head-shaking motion (step S111). In other words, the control circuit 170 controls the actuator 142 to perform a second head-shaking motion that mimics a small vertical head shake. If the control circuit 170 determines that no event requiring an affirmative response has occurred (step S108: NO), or if it has completed the processing in step S110 or step S111, it determines whether or not an event requiring a negative response has occurred (step S112). An event requiring a negative response is an event that requires shaking the head horizontally. For example, in the above example, if the battery 180 has a high charge level and the user's voice saying "Are you hungry?" is detected, it is determined that an event requiring a negative response has occurred.

[0046] When the control circuit 170 determines that an event requiring a negative response has occurred (step S112: YES), it determines whether or not the operation is restricted (step S113). When the control circuit 170 determines that the operation is not restricted (step S113: NO), it executes the first lateral head movement (step S114). In other words, the control circuit 170 controls the actuator 142 to execute the first lateral head movement, which simulates a large lateral head swing.

[0047] If the control circuit 170 determines that operation is restricted (step S113: YES), it performs a second lateral head movement (step S115). In other words, the control circuit 170 controls the actuator 142 to perform a second lateral head movement that simulates a small lateral head movement. If the control circuit 170 determines that no event requiring a negative response has occurred (step S112: NO), or if it has completed the processing in step S114 or step S115, it returns to step S102.

[0048] In this embodiment, if it is not detected that the electronic device 100 is located in a power-receiving position, the actuator 142 is controlled to execute the first operation. If it is detected that the electronic device 100 is located in a power-receiving position, the actuator 142 is controlled so that the first operation is not executed. If the first operation, which involves a large movement, is not executed, displacement of the electronic device 100 is less likely to occur. Therefore, according to this embodiment, displacement of the electronic device 100 can be suppressed and appropriate power supply can be achieved. Furthermore, according to this embodiment, even if the electronic device 100 is located in a power-receiving position but is not being supplied with power, the first operation is restricted and displacement of the electronic device 100 is suppressed.

[0049] Furthermore, in this embodiment, when it is detected that the electronic device 100 is positioned in a power-receiving location, the actuator 142 is controlled to execute a second operation in which the movement of the movable part is smaller than that of the first operation. Therefore, according to this embodiment, it is possible to suppress displacement of the electronic device 100 without completely stopping the operation of the electronic device 100.

[0050] Furthermore, in this embodiment, the electronic device 100 is a robot, the first action is a first breathing action that represents breathing, and the second action is a second breathing action that represents breathing smaller than the first breathing action. According to this embodiment, it is possible to suppress displacement of the electronic device 100 without completely stopping the breathing action of the robot electronic device 100.

[0051] Furthermore, in this embodiment, the movable part is the head 111, and the magnetic sensor 150 is provided on the torso 113. According to this embodiment, the influence of the movement of the movable part on the magnetic sensor 150 can be reduced.

[0052] Furthermore, in this embodiment, the presence of the electronic device 100 in a power-receiving position is detected by detecting predetermined characteristics assigned to predetermined parts of the power supply device 200. According to this embodiment, it is possible to easily detect that the electronic device 100 is in a power-receiving position.

[0053] Furthermore, in this embodiment, the predetermined feature assigned to a predetermined location is that it emits magnetism, and the magnetic sensor 150 detects the magnetism emitted by the magnet 250 provided at the predetermined location. According to this embodiment, it is possible to easily detect that the electronic device 100 is positioned in a location where it can receive power by detecting the magnetism.

[0054] Embodiment 1 described an example in which a predetermined feature applied to a predetermined part is that it emits magnetism. Embodiment 2 describes an example in which a predetermined feature applied to a predetermined part is that it has a predetermined color. Note that the same configurations and functions as in Embodiment 1 will be omitted or simplified as appropriate.

[0055] The power transmission system 1000A shown in Figure 8 comprises electronic equipment 100A and a power supply device 200A. Electronic equipment 100A comprises a power receiving coil 130, a sensor 141, an actuator 142, a speaker 143, a color sensor 150A, a power receiving circuit 160, a charging circuit 162, a control circuit 170, and a battery 180. Power supply device 200A comprises a power transmitting coil 230, a temperature sensor 240, a color application unit 250A, a power transmission circuit 260, a control circuit 270, and a power supply circuit 280.

[0056] The color sensor 150A is a sensor that detects the color of the color-applying unit 250A, which is a predetermined part of the power supply device 200A. The color sensor 150A comprises a light-emitting unit that emits light toward the color-applying unit 250A and a light-receiving unit that receives the light reflected by the color-applying unit 250A. The light-emitting unit comprises a light-emitting diode that emits white light. The light-receiving unit comprises a photodiode that receives red light, a photodiode that receives blue light, and a photodiode that receives green light. The color sensor 150A outputs a signal indicating the detected color. For example, the color sensor 150A outputs a voltage signal indicating the intensity of red light, a voltage signal indicating the intensity of blue light, and a voltage signal indicating the intensity of green light.

[0057] The control circuit 170 identifies the color detected by the color sensor 150A based on the voltage signal indicating the intensity of each color of light output by the color sensor 150A. The control circuit 170 determines whether the color detected by the color sensor 150A matches a predetermined color. The predetermined color information, which indicates the predetermined color, is stored, for example, in the flash memory of the control circuit 170. If the control circuit 170 determines that the color detected by the color sensor 150A matches a predetermined color, it restricts the first operation and executes a second operation that is less invasive than the first operation. If the control circuit 170 determines that the color detected by the color sensor 150A does not match a predetermined color, it does not restrict the first operation and executes the first operation. The matching of the color detected by the color sensor 150A with a predetermined color corresponds to the electronic device 100A being positioned in a location where it can receive power.

[0058] The color-applying section 250A is a predetermined part of the power supply device 200A, and is a part to which a predetermined color has been applied. The predetermined color is a color that indicates that the power supply device 200A is a suitable power supply device suitable for supplying power to the electronic device 100A. The predetermined color may be any color. The color-applying section 250A is a part to which the color sensor 150A can detect color when it is in its stowed state. For example, if the color sensor 150A is located in the same position as the magnetic sensor 150 in Embodiment 1, the color-applying section 250A may be a projection 213. The electronic device 100A and the power supply device 200A are formed so that no obstacles are placed between the color sensor 150A and the color-applying section 250A. In this embodiment, the predetermined feature applied to the predetermined part is that it has a predetermined color, and the color sensor 150A detects the color of the predetermined part. According to this embodiment, it is possible to easily detect that the electronic device 100A is located in a power-receiving position by detecting the color.

[0059] Although embodiments have been described above, various forms of modification and application are possible. It is arbitrary which parts of the configuration, function, and operation described in the above embodiments are adopted. Furthermore, additional configurations, functions, and operations may be adopted in addition to those described above. Also, the configurations, functions, and operations described in the above embodiments can be freely combined. In the embodiments, an example was described in which the movable part is the head 111. The movable part may be something other than the head 111. For example, the movable part may be the head 111 and the connecting part 112, or the torso part 113.

[0060] In Embodiment 1, an example was described in which the first action, second action, etc., are breathing, head up-and-down shaking, head down-and-back shaking, etc. The first action, second action, etc., may be other actions. For example, the first action may be a large vibration action and the second action may be a small vibration action. Also, the first action may be a vibration action and the second action may not be performed.

[0061] In Embodiment 1, an example was described in which the operation is achieved by the rotation of a movable part, and the magnitude of the movement of the movable part corresponds to the rotation angle. Alternatively, the operation may be achieved by the movement of a movable part, and the magnitude of the movement of the movable part may correspond to the amount of movement.

[0062] In Embodiment 1, an example was described in which, when magnetism is detected, the first operation is restricted and the second operation is performed. When magnetism is detected, not only the first operation but also the second operation may be restricted. In this case, the displacement of the electronic device 100 can be further suppressed.

[0063] Embodiment 1 described an example in which the electronic device 100 is a robot modeled after a small animal. The electronic device 100 may be any other robot or any device other than a robot. For example, the electronic device 100 may be a smartphone, an electronic dictionary, a game device, or the like.

[0064] Embodiment 1 described an example in which the electronic device 100 is a device that is powered via a non-contact method. However, the electronic device 100 is not limited to a device that is powered via a non-contact method. For example, the electronic device 100 may be a device that is powered via electrodes. In this case, the operation of the electronic device 100 can be restricted to prevent the electrodes of the electronic device 100 from shifting from the power-receiving position. This disclosure allows for various embodiments and modifications without departing from the broad spirit and scope of this disclosure. Furthermore, the embodiments described above are for illustrative purposes only and do not limit the scope of this disclosure. That is, the scope of this disclosure is indicated by the claims, not by the embodiments. Various modifications made within the scope of the claims and the equivalent significance of the disclosure are considered to be within the scope of this disclosure. [Explanation of Symbols]

[0065] 100, 100A Electronic equipment, 111 Head, 142 Actuator, 150 Magnetic sensor, 150A Color sensor, 170 Control circuit, 200, 200A Power supply unit, 213 Protrusion, 250A Color application unit

Claims

1. A drive unit that drives the movable part, A detection unit that detects whether an electronic device is positioned in a power-receiving position where it can receive power from a power supply device, The system comprises a control unit that controls the drive unit so that a predetermined operation is performed by driving the movable part, The control unit controls the drive unit so that the first operation is executed if the detection unit does not detect that the electronic device is located in the power-receiving position, and controls the drive unit so that the first operation is not executed if the detection unit detects that the electronic device is located in the power-receiving position. electronic equipment.

2. When the control unit detects that the electronic device is positioned in the power-receiving position, it controls the drive unit so that a second operation is performed in which the movement of the movable part is smaller than that of the first operation. The electronic device according to claim 1.

3. The aforementioned electronic device is a robot, A head that represents a head, The torso part represents the body, It comprises a connecting part for connecting the head and the torso, The movable part is the head, The detection unit is provided in the torso, The electronic device according to claim 1 or 2.

4. The detection unit detects that the electronic device is located in the power-receiving position by detecting predetermined characteristics assigned to predetermined parts of the power supply device. The electronic device according to claim 1 or 2.

5. The aforementioned predetermined characteristic is the characteristic of emitting magnetism, The detection unit detects the magnetic field emitted by the magnet provided at the predetermined location. The electronic device according to claim 4.

6. A power transmission system comprising a power supply device and electronic equipment, The power supply device includes a power supply unit that supplies power to the electronic device, The aforementioned electronic device is A power receiving unit that receives power from the aforementioned power supply device, A drive unit that drives the movable part, A detection unit that detects whether the electronic device is positioned in a power-receiving position where it can receive power from the power supply device, The system comprises a control unit that controls the drive unit so that a predetermined operation is performed by driving the movable part, The control unit controls the drive unit so that the first operation is executed if the detection unit does not detect that the electronic device is located in the power-receiving position, and controls the drive unit so that the first operation is not executed if the detection unit detects that the electronic device is located in the power-receiving position. Power transmission system.

7. The system detects that an electronic device equipped with a drive unit that drives a movable part is positioned in a power-receiving position where it can receive power from a power supply device. The drive unit is controlled so that a predetermined operation is performed by driving the movable part. If it is not detected that the electronic device is located in the power-receiving position, the drive unit is controlled to execute the first operation; if it is detected that the electronic device is located in the power-receiving position, the drive unit is controlled so that the first operation is not executed. Control method.

8. The computer of the electronic device comprises a drive unit for driving a movable part and a detection unit for detecting whether the electronic device is positioned in a power-receiving position where it can receive power from a power supply device. A program that functions as a control unit that controls the drive unit so that a predetermined operation is performed by driving the movable part, The control unit controls the drive unit so that the first operation is executed if the detection unit does not detect that the electronic device is located in the power-receiving position, and controls the drive unit so that the first operation is not executed if the detection unit detects that the electronic device is located in the power-receiving position. program.

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