JP2001300876A - Service robot and service system using it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a means capable of quickly performing reaction such as reception of an order even in a shortage of workers and providing a service acceptable by customers, in a restaurant for providing a service to customers. SOLUTION: This service robot 1 is provided with a traveling part for movement a condition detecting means for detecting a surrounding condition, a position detecting means for detecting the current position, a control means for driving the traveling part on the basis of signals from the condition detecting means and the position detecting means so that it may reach a target position, and a menu box 10 for providing articles after reaching the target position in a state where the articles such as glasses 16 and a service menu 15 are held. A head part 2 is provided with a display screen 5 for displaying an image on the front surface.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a service robot for performing a service such as a service in a restaurant, and a service system using the service robot.

[0002]

2. Description of the Related Art In a restaurant such as a restaurant, when a customer orders a dish or the like, a staff member (or a waiter) on the floor.
It is common to ask, but there are some restaurants that have no staff to accept orders and save manpower. For example, it is a self-service restaurant in which sushi is placed on a moving conveyor and customers freely take and eat what they like, like a so-called conveyor belt sushi restaurant.

In the automatic restaurant described in Japanese Patent No. 2804933, "A visitor puts coins into an automatic tableware lending machine, borrows tableware, puts food and drink from the food supply device into the table, and carries food and drink to the table. The "doing so" approach is shown.

[0004] However, in a self-service system such as a conveyor belt sushi restaurant or an automatic restaurant, although no labor is required and labor can be saved, it is only necessary to take food and drink mechanically, so that services are provided like a restaurant. It lacks in receiving and eating and drinking. In other words, if you only eat, you can use the self-service method or automatic restaurant as described above, but enjoy the meal, enjoy the atmosphere of the place,
If you enjoy communicating with others,
It is important to receive services from people.

[0005]

However, in a restaurant or the like, when customers are crowded, it may take time for a clerk to receive an order, and in many cases, sufficient services cannot be provided only by hand.

SUMMARY OF THE INVENTION An object of the present invention is to provide a service for a customer, which can promptly respond to an order even with a small number of staffs and provide a service that the customer is pleased with. It is to provide.

[0007]

According to a first aspect of the present invention, there is provided:
A traveling section for movement, a situation detecting means for detecting a surrounding situation, a position detecting means for detecting a current position, and traveling to reach a target position based on signals from the situation detecting means and the position detecting means. A service robot comprising: a control unit that drives a unit; and an article providing unit that performs an operation of providing an article to a person after reaching a target position while holding an article for serving and other services.

According to a second aspect, in the above service robot, the service robot is provided with an operation expressing means for displaying an image related to a running operation by the running section, a providing operation by the article providing means and other operations or generating a sound. And

A third mode is characterized by comprising a motion expressing means forming a head having a display screen for displaying an image on the front.

A fourth aspect is characterized in that the display screen is provided with a motion expression means for displaying a face or various information that changes according to the surrounding situation or motion.

A fifth aspect is characterized in that it comprises an operation expressing means for generating a sound corresponding to the content of the image displayed on the display screen.

A sixth aspect is characterized in that the head of the service robot is provided with head driving means which is driven by the control means to tilt forward, backward, left and right.

In a seventh aspect, in the service robot, the article is a serving menu, and the article providing means includes:
It is characterized by comprising a container for holding the serving menu and a container driving unit for driving the container so as to present the serving menu held in the container.

According to an eighth aspect, in the above service robot, the article is a beverage container containing drinking water to be provided to the customer, and the article providing means includes a table for holding the beverage container. And

Another aspect is a serving system for serving using a service robot.

[0016]

According to the robot of the present invention, goods for serving and other services can be provided to customers. As a result, some or all of the services conventionally performed by humans are performed by the robots, so that in a service business such as a restaurant using the robots, labor and labor can be greatly reduced. For example, in a restaurant, when the number of people is insufficient, the service robot can be used to serve customers such as food and drink menus and water. It is less necessary for the customer to wait and stop the attendant.

In addition, by displaying various information on the display unit, it not only provides a service such as serving, but also has a function as an information providing robot, so that it can respond to various requests of customers visiting the store. become able to.

In addition, by serving using such a robot, the topicality is enhanced, and the effect of increasing the ability to attract customers is also obtained.

Further, by providing the robot with a plurality of detecting means, a robot and a serving system with sufficient consideration for safety can be provided.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the appearance of a robot 1 serving in a restaurant as viewed from the front, and FIG. 2 shows the appearance of the robot 1 as viewed from the back. This robot 1
Are a head 2, a body 3, and front and rear wheels 24F, 2
4B and a traveling unit composed of left and right driving wheels 17L, 17R and the like.

The head 2 includes a display device (hereinafter referred to as a "touch monitor") 5 using a touch panel as a display screen for displaying an image as a motion expressing means, speakers 6L and 6R as a sound output means, and a manual (manual). And an emergency stop button 8 when operating the remote controller with the infrared sensor. The head 2 can be tilted forward, backward, left and right, and is provided with head driving means for performing the tilting operation.

The touch monitor 5 according to the embodiment is constituted by a liquid crystal display device capable of displaying an image of the face of the robot 1 and other images. Examples of such a display device include a CRT display, an EL panel, and a plasma display. Electrical display means can also be used. The touch monitor 5 displays, as an image related to the operation state of the robot 1, for example, a face whose expression changes according to the surrounding situation or operation.
In addition, various information such as "recommended menus" and information on restaurants is displayed. The touch monitor 5 has a display screen formed of a resistive touch panel having a light transmitting property. When a manager, an employee or a customer of a restaurant touches a predetermined position on the touch panel with a finger, a command to the robot 1 is issued. And can communicate with the robot 1.

The speakers 6L and 6R output voice messages according to the facial expressions and various information displayed on the touch monitor 5. Details of these will be described later.

The infrared receiving sensor 7 receives the infrared signal transmitted from the manual operation remote controller 55, thereby enabling the manual operation in which the autonomous traveling of the robot 1 is released.

The emergency stop button 8 has a function of immediately stopping the running of the robot 1 when pressed. When the emergency stop button 8 is pressed, the speaker 6
A voice message "Help" is output from L and 6R.

The body 3 is provided with a menu box 10 as a container for holding a food and drink menu 15 at a central position on the front. On the front of the menu box 10, a menu detection sensor for detecting that the food menu 15 is placed is attached. Further, the menu box 10 is attached to a container driving unit that drives the food and beverage menu held in the menu box 10 to be presented to the customer. Details of the container driving unit will be described later.

On the left and right side surfaces of the body 3, two arms 9L and 9R formed along the outer periphery of the body 3 are attached. These arms 9L and 9R are configured to move with the driving of a menu box 10 described later.
That is, by moving the arms 9L and 9R so as to lift them from below, an operation of presenting the restaurant menu 15 to the customer is performed.

On the upper part of the body part 3, a disc-shaped table 1 is provided.
1 is provided to be rotatable left and right. On this table 11, drink containers (cups) containing drinking water to be provided to customers
Several circular recesses (hereinafter, referred to as “beverage container holding portions”) capable of holding 16 (here, five) are formed. On the outer periphery of the table 11, a body contact sensor 12S as collision detection means for detecting a collision of the robot is provided.
A rubber damper (table damper) 12 (FIG. 14) is attached to the outer peripheral surface. Arm 9
An arm contact sensor 13 as a collision detecting means is also attached to the outer periphery of L and 9R. These contact sensors 12
As S and 13, a pressure-sensitive switch for detecting contact with a person or an object is used.

A rubber damper (foot damper) having a foot contact sensor 21S (FIG. 14) for detecting front, rear, left and right collisions at the feet of the robot 1 is mounted on the outer circumference of the lower part of the body part 3. 21 is attached. As the foot contact sensor 21S, a pressure-sensitive switch similar to the body contact sensor 12S and the arm contact sensor 13 is used. The foot damper 21 is attached so as to protrude from the outer peripheral surface of the body 3.

The above-mentioned contact sensors (body contact sensor 12S, arm contact sensor 13, foot contact sensor 21S)
The impact detection sensor 3 is used as a detecting means for detecting an abnormality when an impact that cannot be detected by the front and rear sides and the left and right of the body 3 is applied
3 (FIG. 14) is provided in the body portion 3. An acceleration sensor is used as the shock detection sensor 33. this is,
An abnormality is detected by turning on when the impact acceleration applied when receiving an impact reaches a predetermined value.

Further, in order to detect in advance obstacles that hinder the traveling of the robot 1 and to avoid collision, the collision prevention sensor 14, the infrared sensor 20, and the ultrasonic sensor 19 are used as situation detecting means for detecting the surrounding situation. Is provided.

The anti-collision sensor 14 is provided in front of the lower part of the body 3, and is provided in front of the robot, in a 45 ° left direction, and in a right
Infrared rays are projected in three directions of 5 degrees, and the presence of obstacles is detected by receiving the infrared rays reflected back from the obstacles.

The infrared sensor 20 is a means for detecting a person.
It is provided below. The infrared sensor 20 reacts when a person approaches, and detects that a person is around.

Thirty ultrasonic sensors 19 are arranged above the damper 21 at intervals of 12 degrees along the outer periphery of the body 3. In these ultrasonic sensors 19, an ultrasonic transmitting element and an ultrasonic receiving element that form a pair are arranged side by side up and down, and the ultrasonic wave transmitted from the ultrasonic transmitting element is reflected on an object and the ultrasonic wave is transmitted to the object. The distance to the object can be measured from the time required to return to the receiving element. For example, when an obstacle is present in front of the robot 1, the distance to the obstacle is measured by the ultrasonic sensor 19, and the measured value is input to the CPU 38 (FIG. 14) to generate a trajectory avoiding the obstacle. Is performed. However, if there is an obstacle at a position that cannot be avoided, the robot stops.

Line sensors 46L and 46R as position detecting means for detecting the current position of the robot itself are attached to the floor at the left and right front portions of the body 3 toward the floor. Proximity switches are used for the line sensors 46L and 46R, and a metal plate for position detection is attached to a predetermined position in the restaurant (for example, a position adjacent to each table in the customer seat). The line sensors 46L and 46R are located on the metal plate, so that
L and 46R output a detection signal. Thereby, the robot 1
Can recognize the current position.

In the traveling section of the robot 1, measuring wheels 18L and 18R for measuring the traveling distance are mounted inside the left and right driving wheels 17L and 17R, respectively. In addition, caster-type front wheels 24F and rear wheels 24B are attached to the front and rear of the robot 1. Here, the left and right drive wheels 17
L and 17R are servo motors 43L and 43R, respectively.
(FIG. 14) so as to be independently driven forward and backward.

The rotation of the left and right measurement wheels 18L and 18R
The measurement wheel encoders 45L and 45R (FIG. 5) convert the rotation directions into positive and negative signals, and
38 (FIG. 14). Thereby, the CPU 3
At 8, the travel distance of the robot (movement distance from the origin position) is measured. Further, the CPU 38 controls the servo motor 43
By controlling the rotation of the left and right wheels 43R, the rotation of the left and right drive wheels 17L and 17R is controlled.

The front wheel 24F and the rear wheel 24B are
It rotates with the rotation drive of L and 17R, and can be turned in any direction of 360 degrees on the floor surface.

As shown in FIG. 2, a power supply connector 22 for connecting a power supply cable 151 (FIG. 21) provided at a charging station 150 (FIG. 21), which will be described later, is provided at a lower rear portion of the body 3. Provided. A power switch 25 for turning on / off the robot 1 is provided below the power supply connector 22.

FIG. 3 shows the configuration of the traveling section. The driving force of the servo motors 43L, 43R is controlled by the bevel gears 61L, 61R meshing with the bevel gears 60L, 60R attached to the respective output shafts.
R, a small gear 6 coaxial with each bevel gear 61L, 61R.
Rotate 2L, 62R. Each of the small gears 62L, 62R is
Since the gears are engaged with the internal teeth 63L, 63R formed inside the tires of the left and right driving wheels 17L, 17R, the rotation of the servo motors 43L, 43R is reduced, and the left and right driving wheels 17L, 17R are separated. It is driven to rotate.

The change of direction of the robot 1 from left to right is realized by making the rotation direction or the number of rotations of each of the servomotors 43L, 43R different. When turning right, the rotation speed of the left servo motor 43L is increased, and when turning left, the rotation speed of the right servo motor 43L is increased.

FIG. 4 is a partial sectional view of the right driving wheel portion of FIG. 3 as viewed from the back. The common rotating shaft 64 of the small gear 62 and the bevel gear 61 is housed in a support case 69 which is vertically sandwiched between upper and lower cushioning springs 66a and which can move up and down along a column 70a attached between the upper and lower chassis 67 and 68. It is rotatably supported by the bearing block 65. Also,
In the support case 69, bevel gears 60 and 61 are also stored.

FIG. 5 is an external view of the periphery of the measuring wheel 18L as viewed from the front. The shaft 71 of the measuring wheel 18 has a bearing block 72a which is sandwiched between upper and lower buffer springs 66b and extends downward integrally with a support case 72 which can move up and down along a support 70b attached between the upper and lower chassis 67 and 68. It is supported through. Then, inside the bearing block 72a, the tip of the shaft 71 is connected to the measuring wheel encoder 45,
The encoder 45 outputs a signal corresponding to the rotation of the measurement wheel 18.

FIG. 6 shows how the robot 1 presents a menu. (A) shows a state in which the robot 1 is in a normal posture while traveling or the like, and (B) shows a state in which the robot 1 is in a normal posture.
Indicates the state when presenting a menu.

When the robot 1 arrives at the target table, the upper part of the menu box 10 is tilted forward while moving the menu box 10 containing the menu upward, so that the state shown in FIG. Further, the arm 9L, 9R is configured to interlock with the movement of the menu box 10, whereby the robot 1
By moving L, 9R, it can be made to appear as if a menu is being offered.

FIG. 7 shows the structure of the body 3 viewed from the right side. This includes the structure of the container drive unit 34 (FIG. 8) that operates to present the food and beverage menu 15 held in the menu box 10 to the customer.

A connecting arm 80 is attached to the bottom of the menu box 10. The connecting arm 80 is connected to a connecting portion 81 of a slide block 82 constituting the container driving section 34.
Is rotatably connected to Menu box 10
The arm 9R is rotatably connected to the second connecting portion 83. The arm 9R is rotatably connected to the body 3 by an arm mounting shaft 84.

When the slide block 82 moves up and down,
Accordingly, the connecting arm 80 moves up and down, and further, the menu box 10 and the arm 9R move. 7 indicates the position of the menu box 10 and the movement locus of the arm mounting shaft 84 when the slide block 82 moves to the uppermost position.

FIG. 8 shows the structure of the container driving section 34. The container driving section 34 has a ball screw having a pulley 85 connected to the upper portion attached to a center position, and two linear shafts 9.
It comprises a rectangular parallelepiped box 92 with 0L and 90R attached to the left and right respectively.

The rotation of the second pulley 86 driven by the DC motor 51 is transmitted to the pulley 85 via a belt 87, whereby the ball screw 89 is rotated. The forward / reverse driving of the ball screw 89 causes the sliding portion 91 of the ball screw to move up and down.

The center connecting portion 82a of the slide block 82 is fitted to the sliding portion 91 of the ball screw, and the linear shafts 90L and 90R are inserted through the left and right connecting portions 82b and 82c of the slide block 82. Then, using the linear shafts 90L and 90R as guides, the slide block 82 is used.
Is configured to move as the sliding portion 91 moves up and down.

FIGS. 9 to 11 show the structure of head driving means for driving the head 2 so as to tilt the head 2 back and forth and right and left.

As shown in FIG. 9, the inner bottom 97 of the head 2
The lower drive plate 95 and the upper drive plate 94 of the same shape fixed thereon are tilted back and forth and left and right so that the entire head 2 is tilted back and forth and left and right. It has a structure that can be moved.

As shown in FIG. 10, the lower drive plate 95 has two cutouts 98, 99 cut at right angles in the radial direction.
Having. Ball screws 100, 10 are formed on the grooves having an L-shaped cross section formed in the radial direction of the two cutouts 98, 99.
The bearing blocks 106 and 108 joined at the lower end of
It is slidably installed along the groove with the pins 107 and 109 as fulcrums. Then, as shown in FIGS. 9 and 11, two notches 110 and 11 similar to the lower drive plate 95 are provided.
9 is formed on the bearing block 106, 1
08 is placed on the lower driving plate 95 on which the ball screws 100 and 103 move up and down.
And 95 are configured to move up and down.

The spherical lower end 96a of the mandrel 96 is rotatably fitted to the center of the sector-shaped upper and lower drive plates 94 and 95, and the upper drive plate 9 is rotatable about the lower end 96a.
4 and the lower drive plate 95 are rotated back and forth and right and left.

FIG. 11 shows a cross section taken along the line II of FIG. The lower end of the ball screw 103 is connected to a spherical ball 118 rotatably housed in a bearing block 108 that can move laterally along a notch groove formed between the upper and lower driving plates 94 and 95. are doing. Thereby, the ball screw 103
The upper drive plate 94 and the lower drive plate 95 can swing together with the vertical movement of.

The upper end of the ball screw 103 is joined to the vertical movement block 113. At the front of the vertical movement block 113, an origin sensor 114 composed of a proximity switch is installed, and by detecting the end face of the vertical movement block 113,
Stop the movement of the ball screw. That is, the origin sensor 114 regulates the movement amount of the ball screw 103 so as not to exceed a predetermined value.

The vertical movement of the ball screw 103 is integrated with the sliding portion 104 of the ball screw 103 via the gear 111 by the driving of the DC motor 47 mounted on the upper fixing plate 93 in the head 2. This is because the gear 105 is rotated.

The mandrel 96 has an upper end attached to the fixing plate 93 via a bearing 115, and a lower end fixed to a mandrel receiving portion 116 provided on the body 3 by a set screw 117 so as not to come off. .

FIG. 12 shows a specific example of the operation of tilting the head 2 forward, backward, left and right. FIG. 12 shows a state where the head 2 is slightly tilted backward in a normal state. FIG. 12 shows the head 2
Indicates a state in which is tilted to the right. This is performed when the robot 1 is in trouble, such as when an obstacle appears in front of the robot 1. FIG. 12 shows a state where the head 2 is tilted forward. This is performed, for example, when the obstacle ahead of the robot 1 is removed and the robot 1 can run normally.

FIG. 13A shows the structure of the table 11. The table 11 has five holes formed therein.
The beverage container holding part 11a capable of holding the cup 16 is formed by stacking the bottom lid 120 on the lower part of the container 1.

FIG. 13B shows a cross section II-II of FIG.
Shown in As shown in FIG.
Is the table lower gear 12 attached to the bottom lid 120.
The table is configured to be rotatable by meshing the gear 122 with the gear 122 of the DC motor.

FIG. 14 shows a control circuit for controlling main operations of the robot 1.

ROM 39 storing a control program
A RAM 40 as readable and writable storage means, and a CP as arithmetic processing means for executing operation control of the robot 1 in accordance with a control program stored in the ROM 39.
U38 is connected to an I / O unit 54 as a relay board. Input signals from various switches or sensors, etc.
The signal is taken into the CPU 38 via the I / O unit 54, and an output signal as a result of the arithmetic processing in the CPU 38 is transmitted to various devices via the I / O unit 54.

Various switches or sensors connected to the I / O unit 54 include an infrared receiving sensor 7 for manual operation, an emergency stop switch 8, a body contact sensor 1
2S, arm contact sensor 13, collision prevention sensor 14, ultrasonic sensor 19, infrared sensor 20, foot contact sensor 21
S, impact detection sensor 33, line sensors 46L, 46
R, cup detection sensor 48, and menu detection sensor 5
There is 0.

When input signals from the various switches or sensors are taken into the CPU 38, arithmetic processing corresponding to the respective input signals is executed, and control commands for various devices are output from the CPU 38.

As for the display on the touch monitor 5, a display command corresponding to the input signal from the various switches or sensors is output from the CPU 38 to the RGB circuit 36,
A display image is generated by the B circuit 36 and a predetermined image is displayed on the touch monitor 5.

For outputting a voice message, a voice message output command corresponding to an input signal from the various switches or sensors is output from the CPU 38 to the sound circuit 37, and the sound circuit 37 generates a voice message and outputs the voice message to the speaker 6L. , 6R output a predetermined voice message.

The head driving means 35 for moving the head 2 back and forth and right and left is controlled by a DC motor 47, and the control command for the operation of the head driving means 35 is also applied to the input signals from the various switches or sensors. Is output accordingly.

The operation of the table 11 is controlled by the DC motor 49, and control commands for the operation of the table 11 are also output in accordance with input signals from the various switches or sensors.

The container drive unit 34 for vertically moving the menu box 10 and the arms 9L and 9R is controlled by a DC motor 51. Control commands for the operation of the container drive unit 34 are also input from the various switches or sensors. Output in response to a signal.

Information from the measuring wheel encoders 45L and 45R and the encoders 44L and 44R is taken into the CPU 38 via the I / O unit 54, and a control command is output to the motor driver 42 based on this information, and the left servo motor The rotation drive of the left drive wheel 17L is controlled by 43L,
The rotational drive of the right drive wheel 17R is controlled by the right servo motor 43R.

The help radio transmitter 26, the EM radio receiver 27, and the wireless LAN transceiver 28 are connected to the I / O unit 54, and are connected to the communication station 200 (FIG. 2).
Communication with 1) is possible. When it is detected that the operation is disabled by the various switches or sensors, the CPU 38 outputs a help signal, and the help wireless transmitter 26 transmits the help signal to the communication station 200 (FIG. 21). EM radio receiver 27
Receives the emergency stop command from the communication station 200 (FIG. 21) and sends the emergency stop command to the CPU 38.
The wireless LAN transceiver 28 is connected to the communication station 200.
A wireless LAN connection with a computer installed in (FIG. 21) is made possible, and it is configured to be able to access the Internet connected to the computer, thereby enabling exchange of various information. The exchange of the various information is displayed on the touch monitor 5.

The robot 1 autonomously runs on the floor in the restaurant based on the information specified in advance, and provides a service and other services. More specifically, a table number as a target position is designated by a restaurant clerk, and the robot 1 autonomously travels to the designated target position to perform serving and other services.

FIGS. 15 and 16 show instruction screens for designating a target position to the robot 1 and instructing the robot 1 to perform an operation. After the robot 1 performs one of the waiting operations, the instruction screen is displayed on the empty menu box 10 in the food and beverage menu.
5, when the switch of the menu detection sensor 50 is turned on, or when the beverage container holder 1 is empty.
When the cup detection sensor 48 is turned on by placing the cup 15 on 1a, it is displayed on the touch monitor 5. In this instruction screen, various designations are made by touching predetermined items with a finger.

There are two types of instruction screens, a "service instruction screen" for instructing the robot to serve, and an "entertainment instruction screen" for instructing the robot to communicate with the customer by playing a game such as a janken game. is there. These screens are displayed on the “Water, menu transport” tab T
1 or the "entertainment" tab T2 by touching it with a finger.

FIG. 15 shows a "service instruction screen". When the customer enters the restaurant, the clerk grasps the number of customers and the number of the seated table, and then designates the table number (No. 1 to 5) of this "waiting instruction screen" by finger, and then specifies In the same way, the number of customers (1 to 5) at the table is designated.

By placing the designated number of cups 16 in the beverage container holding section 11a and designating the robot to leave, the robot 1 outputs a voice message saying "I will move" from the speakers 6L and 6R and moves. To start. At this time, if the number of cups 16 placed by the clerk does not match the specified number of people, a voice message saying "the number of cups does not match" is output from the speakers 6L and 6R, and the number of cups matches the specified number of people. Do not move on to the next operation until they match.

The robot 1 travels with the table of the designated table number as the target position. When the robot 1 arrives at the table of the target position, it drives the container drive unit 34 to present the food / drink menu 15 and “Please take the menu”. Is output from the speakers 6L and 6R. After confirming that the customer took the food and drink menu 15,
A voice message "Please have water" is output from the speakers 6L and 6R so that the customer can take the cup 16.

If the customer takes the cup 16 first, after confirming that all the cups 16 are gone, the container driving unit 34 is driven to present the food / drink menu 15 and a message "Please take the menu" is displayed. Voice message to speaker 6
Output from L, 6R.

If the customer confirms that he / she has taken the food / drink menu 15 and the glass 16, he / she outputs a voice message saying "OK, then slowly" from the speakers 6L and 6R, and returns to the charging station 150 at the origin position. ,
The clerk accepts the order.

It is also possible that the vacant table number is specified in advance by a clerk, and the robot 1 that recognizes the incoming customer guides the customer to the vacant table. In this case, the origin position of the robot is set near the restaurant entrance. Further, the robot 1 itself may receive the order. In this case, a menu may be displayed on the touch panel 5 to accept an order by a customer's operation, or a microphone may be built in the robot 1 so as to recognize the contents to be ordered by a customer's voice and accept the order. . In this case, the received order data is wirelessly transmitted to the kitchen.

FIG. 16 shows an "entertainment instruction screen". On this "entertainment instruction screen", "janken game", "divination game", or "quiz game" can be designated. This is performed as a service to eliminate the boredom of the customer, for example, during the waiting time from the customer ordering until the food comes.

As in the case of the "service instruction screen", after specifying the table number (1st to 5th) and the number of customers (1 to 5), the "Janken game", "divination game", and "quiz game"". One of the “janken game”, the “fortune-telling game”, and the “quiz game” is selected, for example, according to the customer class.

FIGS. 17 and 18 show examples of display on the touch panel 5 when "Janken game" is selected.

FIG. 17 shows a start screen of the “Janken game”. This screen is displayed when the robot 1 arrives at the designated table. In addition to this display, a voice message "Let's play a Janken game with me" is output from the speakers 6L and 6R. If "play" is specified by the customer, the game screen of the "janken game" is subsequently displayed.

FIG. 18 shows a display example of a game screen of the “Janken game”. The three hand images displayed in the lower half display area of the game screen indicate the customer's hand, and the hand image displayed on the upper right indicates the robot's hand. On this game screen, if the customer designates “beginning”, the “janken game” is started. When the game is started, one of the three hands displayed in the lower half display area of the game screen is changed and displayed, and the changed display is stopped when the customer touches the screen. If the stop mode (any of goo, choki, par) is superior to the stop mode of the robot (any of goo, choki, par), the customer wins. As shown in FIG. 18, three hands on the customer side are displayed, so that the customer can play the “Janken game” up to three times. If the customer wins this "janken game", desserts may be served or gifts may be given.

Like the “Janken game”, the “fortune-telling game” and “quiz game” also proceed according to the specification of the customer by touching the touch monitor 5 with a finger.

Position information for each table number is set in advance in the robot 1 so that the robot 1 can travel to the table position of the designated table number. Specifically, a predetermined position in the restaurant is determined as a start point (origin position) of the robot 1, and the position is set as coordinates (0, 0). Then, a route to each table position that avoids an obstacle such as a pillar is determined, and coordinate points are set at equal intervals on the route to set the coordinates of each table position. In this embodiment, the position of the charging station 150 (FIG. 21) is set as a start point.

As described above, the line sensors 46L and 46R are used as means for recognizing the origin position and the target position. Further, the robot 1 calculates and recognizes the position coordinates during traveling based on a preset traveling speed and a distance to a target position.

As described above, the robot 1 travels toward the designated table position while recognizing the coordinate position, and detects an obstacle by various switches or sensors.
The vehicle arrives at the target position by autonomous traveling while avoiding obstacles. Further, the robot 1 moves indoors and assumes various scenes such as static obstacles such as a table, a chair or a pillar, and dynamic obstacles such as a person, and safely and accurately reaches a target position. It is something to do. This is achieved by detecting obstacles with various switches or sensors.

FIG. 19 shows an example of the traveling route of the robot 1.

FIG. 19 shows the case where "No. 3 table" is designated as the target position. If there is a fixed obstacle such as a pillar in the restaurant, a traveling route that avoids these is determined. Here, the origin position (0,
The robot 1 that has started traveling from 0) turns left at a position (6, 0) before a pillar appearing in front of the traveling direction, then turns right at a position (6, 10) before a pillar appearing in front of the traveling direction, and finally turns At the horizontal position (10, 1) of the "No. 3 table" which is the target position.
A route that stops running at 0) is set.

Horizontal position of "3rd table" (10, 10)
, The robot 1 changes its direction to the direction of the table and approaches a predetermined position in front of the table. As shown in FIG. 20, a metal plate 56 for position detection is attached to a predetermined position in front of the table. Line sensors 46L and 46R pass above the metal plate 56, and the metal plate 56
, The robot 1 stops running and starts the serving operation.

During traveling, the robot 1 may not be able to move forward because a dynamic obstacle enters the traveling route. In that case, it is notified and restarted after the obstacle is removed. As a notification method, a troubled face expression is displayed on the touch monitor, and a voice message saying “Please remove obstacles” is given to the speaker 6.
Output from L, 6R. An example of a troubled face expression displayed on the touch monitor is shown in FIG. Also, when a person enters the traveling route and does not proceed forward, that is, when the infrared sensor 20 detects a person in front, a facial expression of a troubled face is displayed on the touch monitor, and "Sorry, Please leave a passage. "Is output from the speakers 6L and 6R.

When it is determined that the restart cannot be performed, specifically, when the obstacle is not removed indefinitely or when the emergency stop button 8 is operated, the help radio is notified to notify the fact. A help signal is transmitted from the transmitter 26 to the communication station 200 (FIG. 21), and a voice message "Help!"
Output from 6R and wait for support (help) on the spot.

FIG. 21 shows how the robot 1 is connected to the power supply cable 151 of the charging station 150 and how it communicates with various communication devices of the communication station 200.

Since the robot 1 is driven by the battery 52 (FIG. 14), a charging station 150 is provided to charge the battery 52 (FIG. 14). The power supply cable 151 of the charging station 150 is connected to the power supply connector 22 on the back of the body 3 of the robot 1 to supply power, and the battery 52 (FIG. 14) is charged.

On the left side of the body 3 of the robot 1, various communication devices (a wireless transmitter for help 26, a wireless receiver for EM 27, a wireless LAN transceiver 28) are provided. Transmission and reception. These are as described above with reference to FIG.

The communication station 200 is provided at a predetermined place in a restaurant, where a clerk stands by. Help radio receiver 20 installed in communication station 200
2 receives the help signal transmitted by the wireless transmitter for help 26 and turns on the help display 204 installed at a position visible to the clerk. In addition, the communication station 20
0 includes an EM wireless transmitter 201 for transmitting an emergency stop command to the robot 1 and a wireless LAN transceiver 203 for enabling wireless LAN connection with the robot 1. The wireless LAN transceiver 203 is connected to the Internet.

Further, as shown in FIG. 21, if the remote controller 55 for manual operation is operated toward the infrared sensor 7 for manual operation of the head 2 of the robot 1, manual operation of the robot 1 becomes possible. .

FIG. 22 shows a remote controller 55 for manual operation.
The appearance of is shown. By pressing the POWER button 55a,
The robot 1 switches to a manual mode in which manual operation can be performed, and outputs a voice message “Enter the manual mode” from the speakers 6L and 6R.
F. Pressing the FWD button 55b switches between forward and reverse. When the PLAY button 55c is pressed, traveling starts, and when the PLAY button 55c is kept pressed, traveling continues. When the PAUSE button 55d is pressed, a left turn is performed, and by continuing to press the PAUSE button 55d, a left turn is continued. When the STOP button 55d is pressed, a right turn is performed, and the STOP button 55e is turned.
By continuing to press, the turning in the right direction is continued.

FIGS. 23 to 25 show specific examples of facial expressions displayed on the touch monitor 5.

FIG. 23A shows a facial expression displayed while the robot 1 is traveling. Here, the expression of the smiling face is displayed.

FIG. 23 (2) shows the charging station 150.
Shows the facial expression displayed during standby. Here, an expression of a face with a closed eyes and a sleeping face is displayed.

FIG. 23 (3) shows facial expressions displayed when a voice message is being output from the speakers 6L and 6R. Here, a facial expression that makes the mouth flutter as if talking is displayed.

FIG. 23D shows a facial expression displayed when the table position of the target position is approaching. Here, a facial expression is displayed that makes the eyes look right and left.

FIG. 24A shows a facial expression displayed when a signal is input from the infrared sensor 20 or the ultrasonic sensor 19 and a person or an obstacle is found. Here, the expression of an uneasy face is displayed.

FIG. 24B shows a facial expression displayed when a signal is input from various contact sensors or the impact detection sensor 33 and a person or an obstacle is hit. Here, a surprised facial expression is displayed.

FIG. 24 (3) shows a facial expression displayed when an obstacle is not removed forever. Here, a facial expression that looks in trouble is displayed.

FIG. 25A shows a case where an expression of a face that looks apologetic is displayed. When such facial expressions are displayed, for example, a customer and a “janken game”
When the customer loses.

FIG. 25B shows a facial expression displayed when an emergency stop is performed by operating the emergency stop button 8 or the like.

When the robot 1 arrives at the table, the touch monitor 5 displays, in addition to the facial expressions as described above, a display such as the above-mentioned "Janken game" for entertaining customers,
Various displays are provided to provide useful information to customers.
FIG. 26 shows a specific example thereof. FIG. 26 shows a specific example of the display content of the touch monitor 5 and a voice message output from the speakers 6L and 6R in accordance with the display content.

FIG. 26A shows an example of a display when a “recommended menu” of a restaurant is displayed on the touch monitor 5 and an example of a voice message at that time. The "recommended menu" also displays "today's recommendation", a "special menu" for the season, and the like.

FIG. 26B shows a display example when "hotel information" is displayed on the touch monitor 5 and an example of a voice message at that time. For example, event information, discount plans, souvenir information, and the like held at the hotel are displayed.

FIG. 26 (c) shows a display example in the case where "area information" around the restaurant is displayed on the touch monitor 5 and an example of a voice message at that time. The “regional information” includes, for example, a weather forecast (today's weather forecast, weekly weather forecast), a shrine's festival schedule, flower news, ski information, and the like. Here, a case where the weather forecast is displayed is shown.

FIG. 26 (d) shows a display example when displaying "real estate information" around the restaurant on the touch monitor 5 and an example of a voice message at that time. For example, information on a property for sale or a property for rent.

FIG. 26 (e) shows a display example when a search screen is displayed on the Internet, and an example of a voice message at that time. For example, a search key that allows one-touch search for predetermined information on the touch monitor 5 is prepared in advance, or information search can be performed by inputting a keyword from a customer.

In addition, if the robot 1 is equipped with a camera, it is possible to provide a service of taking a commemorative photo of a visitor and passing the photo when returning.

Further, an operation may be performed in cooperation with another robot. In this case, it is also possible to transmit the current position of the user to another robot by wireless communication, and to request a support when the robot cannot move.

Further, if a function for storing the face of a visitor is provided, it is possible to provide a service tailored to the customer at the time of accounting.

As described above, the robot that plays an active role in a restaurant has been described as an embodiment of the present invention. However, the robot of the present invention is not limited to a restaurant, and can be used to provide services such as guiding customers and taking orders for customers. Thus, it can be suitably used.

Further, according to the present invention, by arranging such a robot, a serving system that is rich in topicality and attracts customers is provided.

[Brief description of the drawings]

FIG. 1 is an external perspective view of a robot according to an embodiment of the present invention when viewed from the front.

FIG. 2 is an external perspective view of the robot according to the embodiment of the present invention when viewed from behind.

FIG. 3 is a schematic diagram showing a configuration of a traveling unit.

FIG. 4 is a diagram showing a driving wheel portion of a traveling unit.

FIG. 5 is a diagram showing a measurement wheel portion.

FIG. 6 is a diagram showing a state where the robot presents a menu.

FIG. 7 is a cross-sectional view showing the structure on the right side of the body.

FIG. 8 is an external perspective view of a container driving unit.

FIG. 9 is a schematic diagram showing the structure of a head driving unit.

FIG. 10 is a schematic diagram showing the structure of the head driving means in more detail.

FIG. 11 is a sectional view taken along the line II of FIG. 10;

FIG. 12 is a diagram showing a specific example of an operation of tilting the head forward, backward, left and right.

FIG. 13 is a diagram showing a structure of a table.

FIG. 14 is a diagram showing a control circuit for controlling a main operation of the robot.

FIG. 15 is a view showing a “service instruction screen”.

FIG. 16 is a diagram showing an “entertainment instruction screen”.

FIG. 17 is a view showing a start screen of the “Janken game”.

FIG. 18 is a view showing a display example of a game screen of “Janken game”.

FIG. 19 is a diagram showing an example of a traveling route of a robot.

FIG. 20 is a view showing a mounting position of a metal plate for position detection.

FIG. 21 is a diagram illustrating a state in which the robot is connected to a power supply cable of a charging station and a communication mode with various communication devices of the communication station.

FIG. 22 is an external view of a remote controller for manual operation.

FIG. 23 is a view showing a specific example of a facial expression displayed on a touch monitor.

FIG. 24 is a view showing another specific example of the facial expression displayed on the touch monitor.

FIG. 25 is a view showing still another specific example of the facial expression displayed on the touch monitor.

FIG. 26 is a view showing a display example other than the face displayed on the touch monitor.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Robot, 2 ... Head, 3 ... Body part, 5 ... Touch monitor, 6L, 6R ... Speaker, 7 ... Infrared sensor for manual operation, 8 ... Emergency stop button, 9L, 9R ... Arm,
DESCRIPTION OF SYMBOLS 10 ... Menu box, 11 ... Table, 11a ... Beverage container holding part, 12 ... Table damper, 13 ... Arm contact sensor, 14 ... Collision prevention sensor, 15 ... Eating and drinking menu,
16 cup, 17L left drive wheel, 17R right drive wheel
18L: Left measuring wheel, 18R: Right measuring wheel, 19: Ultrasonic sensor, 20: Infrared sensor, 21: Damper for foot, 21
S: foot contact sensor, 22: power supply connector, 24F
... front running wheel, 24B ... rear running wheel, 25 ... power switch,
26 ... wireless transmitter for help, 27 ... wireless receiver for EM,
28: wireless LAN transceiver, 34: arm drive mechanism, 43
L, 43R: servo motor, 44L, 44R: encoder, 45L, 45R: measuring wheel encoder, 46L, 46
R: Line sensor, 47, 49, 51: DC motor, 5
0: Menu detection sensor, 55: Remote controller for manual operation, 56: Metal plate, 60L, 60R: Bevel gear, 61
L, 61R: bevel gear, 62L, 62R: small gear, 63
L, 63R: internal teeth, 64L, 64R: rotary shaft, 65:
Bearing block, 66a, 66b buffer spring, 67 upper chassis, 68 lower chassis, 69 support case, 70
a, 70b: prop, 71: shaft, 80: connecting arm, 81
... Connection part, 82 slide block, 83 second connection part, 84 arm attachment part, 85 pulley, 86 second pulley, 87 belt, 89 ball screw, 90L, 90R
... Linear shaft, 91 sliding part, 92 rectangular parallelepiped box, 93 upper fixing plate, 94 upper driving plate, 95 lower driving plate, 96 mandrel, 96a lower end part, 97 bottom inner part, 9
8, 99, 110, 119 ... notch, 100, 103 ...
Ball screw, 101, 104 ... sliding part, 102, 105
... gears, 106, 108 ... bearing blocks, 107, 10
Reference numeral 9: Pin, 111, 122: Gear, 113: Vertical movement block, 114: Origin sensor, 115: Bearing, 116: Mandrel receiving part, 117: Set screw, 118: Ball, 120: Bottom cover, 121: Table below Gears, T1 ... "Water, menu carrying" tab, T2 ... "Entertainment" tab, 55
a ... POWER button, 55b ... F. FWD button, 5
5c: PLAY button, 55d: PAUSE button.

Continuing from the front page (71) Applicant 395015205 JCE Co., Ltd. 1-10-23, Ichibancho, Aoba-ku, Sendai-shi (72) Inventor Jun Akiyama 2-12-19, Shibuya, Shibuya-ku, Tokyo Yamatake Corporation (72) Inventor Yutaka Harada 2-12-19 Shibuya, Shibuya-ku, Tokyo Yamatakeuchi, Inc. (72) Inventor Naoyuki 2-12-19 Shibuya, Shibuya-ku, Tokyo Yamatakeuchi, Inc. (72) Keiji Yoda Inventor 2-12-19 Shibuya, Shibuya-ku, Tokyo Yamatakenai Co., Ltd. (72) Inventor Kenichi Ada 2-12-19 Shibuya, Shibuya-ku, Tokyo Yamauchinai Co., Ltd. (72) Inventor Eiji Nakano Aramaki, Aoba-ku, Sendai City, Miyagi Prefecture 1 Aoba, Tohoku University (72) Inventor Shuhei Suzuki 1-10-23, Ichibancho, Aoba-ku, Sendai, Miyagi Prefecture JCE E. Co., Ltd. (72) Inventor Kunio Takahashi Akiruno, Tokyo No. 1914-56 F-term in Peace-Eight Co., Ltd. (reference) 3B115 AA00 CB00 3F059 AA00 AA10 BB07 CA05 CA06 DA0 2 DA05 DA09 DB04 DB09 DC08 DD01 DD06 DD08 DD11 DD18 FA03 FA05 FB12 FB13 FB29 FC02 FC03 FC07 FC13 FC14 3F060 AA00 AA10 CA12 GA05 GA13 GB06 GB24 GD12 GD14 GD15 HA02 HA35

Claims (9)

[Claims] 1. A traveling section for movement, a situation detecting means for detecting a surrounding situation, a position detecting means for detecting a current position, and a target based on signals from the situation detecting means and the position detecting means. Control means for driving the traveling unit to reach a position, and article providing means for performing an operation of providing the article to a person after reaching the target position while holding articles for serving and other services. A service robot comprising: 2. The service robot according to claim 1, further comprising an operation expression unit for displaying an image related to a traveling operation by the traveling unit, a providing operation by the article providing unit, and other operations or generating a sound. Service robot characterized by the following. 3. The service robot according to claim 2, wherein the motion expression means forms a head having a display screen for displaying the image on a front surface. 4. The service robot according to claim 3, wherein said motion expression means displays on said display screen a face or various information that changes according to said surrounding situation or said motion. . 5. The service robot according to claim 3, wherein said motion expression means generates a sound corresponding to the content of an image displayed on said display screen. 6. A service robot according to claim 3, wherein said head is provided with head driving means driven by said control means so as to tilt forward, backward, left and right. 7. The service robot according to claim 1, wherein the article is a serving menu, and the article providing means presents a container holding the serving menu and a serving menu held in the container. And a container driving unit for driving the container. 8. The service robot according to claim 1, wherein the article is a beverage container containing drinking water to be provided to a customer, and the article providing means includes a table for holding the beverage container. Service robot characterized by the following. 9. A serving system using the service robot according to any one of claims 1 to 8.