JP2005209090A - Self-position recognition service cart - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To securely serve at a predetermined time by eliminating a failure to service and mis-understanding of a menu in a food service cart. <P>SOLUTION: This service cart 1 comprises a tray storage part 5 having an insulation device 2 for warming and cooling, a self-position recognition device 3 for recognizing a self-position, an external alarm device 4 for outputting abnormal/alarm information to the outside, and a central control device 10 for controlling these devices and interfaces between these devices. If the self-position at each place in a destination comes out of a predetermined service route, it is transmitted, by radio, as warning information to a monitoring computer 7 or a portable terminal 8 held by a service person through an external notice device 4, and the cart comprises an autonomous moving and running part for autonomous running. Also, the cart comprises a service indicator and a tray position indicator prompting to start servicing operation when it nears a room to which a service must be made. Thus, the efficiency of the servicing operation can be increased. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a self-position-recognition garage vehicle.

Conventionally, in a facility such as a hospital or a nursing home, a distribution car is used to arrange meals for each hospital room. These catering vehicles have a storage unit that can store a large number of meals placed on a regular tray, and can serve a large number of patients at once. Further, recently, a distribution vehicle that uses a heat retaining function or a cold retaining function in a storage unit and can set an operation start time of the heat retaining / cold retaining function as a timer is used (for example, see Patent Document 1).
JP 2002-119337 A

  However, in a large hospital facility where there are many inpatients in addition to the heat insulation / cooling function, the number of the arrangement vehicles increases, and it is required to efficiently carry each arrangement vehicle to the arrangement area on time. In addition, the meal menu may be different in each hospital room, and in this case, it is necessary to reliably prevent misplacement. In addition, in facilities such as hospitals and nursing homes, it is an environment where people other than the person in charge can easily approach the parked car. HACCP (Hazard Analysis Critical Control Point) measures are required.

  An object of the present invention is to solve the above-described problems, and to provide a distribution vehicle that can eliminate distribution mistakes such as omission of omissions and misplacement of menus and can reliably arrange at a fixed time.

  In order to achieve the above-mentioned object, the invention of claim 1 is directed to a lockable door and a plurality of tray storage portions each provided with a heat retaining device for retaining and cooling the interior, and a self-position that can recognize the self-position. A car with a recognition device and an external notification device for outputting abnormality / warning information to the outside, wherein the self-position recognition device stores map information from a reference position to a room to be served A map information storage unit; a peripheral information detection unit that obtains a peripheral wall position; and a map information comparison unit that compares the peripheral wall position with the map information to determine a current position, from the map information comparison unit Based on the output, when the self-position is deviated from the area where the user originally passes from the reference position to the serving room, the external notification device is operated to issue a warning.

  According to a second aspect of the present invention, in the arrangement vehicle according to the first aspect, the autonomous vehicle further includes an autonomous mobile traveling unit for unmanned traveling from the reference position to the room to be arranged.

  According to a third aspect of the present invention, in the arrangement vehicle according to the first aspect, there is further provided an arrangement indicator that prompts the arrangement work to start when approaching the room to be arranged.

  According to a fourth aspect of the present invention, there is provided a door unlocking device for unlocking a door of a tray storage unit in which a meal tray to be arranged in a room is accommodated when approaching a room to be arranged. In addition.

  The invention of claim 5 further comprises a tray position indicator for indicating the position of a meal tray to be arranged in the room when the player approaches the room to be arranged in the arrangement vehicle according to claim 3.

  According to a sixth aspect of the present invention, in the arrangement vehicle according to the first or second aspect, the tray storage unit includes a tray detection unit that detects that at least one tray has been pulled out in a predetermined time period. Is.

  The invention according to claim 7 further includes arrival notification means for notifying a predetermined device via the external notification device when arriving at a predetermined location in the layout vehicle according to claim 1 or 2. .

  The invention according to claim 8 indicates that the arrangement vehicle according to claim 1 or claim 2 indicates that there is an unreturned tray when all trays in the predetermined area have not been returned within a predetermined time. The apparatus further comprises a return warning indicator and / or a lower arm delay warning means for reporting to a predetermined device via the external reporting device.

  According to a ninth aspect of the present invention, in the arrangement vehicle according to the first or second aspect, the surveillance camera that records the vicinity of the arrangement vehicle, and the surveillance camera when the door of the tray storage unit is open in a predetermined area. And a door-linked recording device for recording the video.

  According to a tenth aspect of the present invention, in the arrangement vehicle according to the ninth aspect, the autonomous traveling interlocking recording apparatus records an image of the monitoring camera when the autonomous vehicle is traveling autonomously in a predetermined area.

  According to the invention of claim 1, when the layout vehicle recognizes its own position by the map information storage unit, the surrounding information detection unit, and the map information comparison unit at the time of the layout, and the layout vehicle deviates from the area through which the layout vehicle originally passes. Since a warning is issued, it is possible to prevent transportation mistakes due to misunderstandings of the staff in charge.

  According to the invention of claim 2, since the layout vehicle can travel autonomously, the person in charge of the layout does not have to spend time on the work of carrying the meal.

  According to the invention of claim 3, when the layout work is performed with a plurality of layout cars, the room in which each layout car is in charge is clarified, and the layout can be prevented from leaking and double layout, and efficient layout can be performed.

  According to the invention of claim 4, it is possible to prevent the wrong tray from being selected when the meal contents are different for each room. In particular, when the person who sets the tray on the layout vehicle is different from the person who arranges the tray, the layout mistake can be reduced. In addition, when the person in charge of the arrangement is away from the arrangement vehicle, it is possible to prevent the storage door from being inadvertently opened by an outsider.

  According to the fifth aspect of the present invention, it is possible to prevent the wrong tray from being selected when the meal contents are different for each room. In particular, when the person who sets the tray on the layout vehicle is different from the person who arranges the tray, the layout mistake can be reduced. In addition, since a tray can be instructed for each tray, there is no need to set up a name tag and the storage space can be reduced. Furthermore, since the tray position is instructed, the time and effort for confirmation can be shortened and efficient arrangement can be achieved.

  According to the invention of claim 6, even when the arrangement car exists in the arrangement charge area and the arrangement person is away from the arrangement car, by reporting to the monitoring terminal or the portable terminal of the arrangement person, This can prevent delays in the catering work.

  According to the invention of claim 7, it is possible to prevent the arrangement work from being delayed without the person in charge of the arrangement noticing the arrival of the arrangement vehicle.

  According to the eighth aspect of the present invention, it is possible to prevent the tray from being completely collected, so that it is not possible to start and the lowering work is delayed. Moreover, the collection | recovery omission of a tray can be prevented.

  According to the ninth aspect of the present invention, in a place where a person other than the person in charge of the arrangement can easily approach the arrangement vehicle, it can be recorded as a video of evidence in case of emergency. Also, by providing a surveillance camera, it is possible to have a deterrent effect such as mischief.

  According to the invention of claim 10, when an accident such as a collision occurs, it is possible to grasp the accident situation even if there is no witness on the spot.

  Hereinafter, a layout vehicle according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a system configuration in which a layout vehicle 1 having a self-position recognition function operates, and FIG. 2 shows an overview of the layout vehicle 1. As shown in FIG. 1, the allocation vehicle 1 includes a tray storage portion 5 configured to have a heat retaining device 2 for keeping the inside warm and cold, a self position recognizing device 3 for recognizing the self position, An external notification device 4 for outputting alarm information to the outside, and a central control device 10 that controls each device and the devices are provided. The central control device 10 manages peripheral additional devices and stores data. The layout vehicle 1 moves, for example, indoors such as a hospital or a communication passage by manual travel by a person in charge of transportation or autonomous travel performed by the layout vehicle 1 while avoiding obstacles.

  Since the layout vehicle 1 can recognize the self-position at each location of the destination using the self-position recognition device 3, it can be recognized when the layout vehicle 1 deviates from a predetermined layout route. At this time, the external notification device 4 automatically selects the wireless access point 6 having a good radio wave condition, and wirelessly transmits warning information to the monitoring computer 7 or the portable terminal 8 held by the person in charge of the arrangement via the antenna 41. A plurality of destinations are pre-registered in the distribution vehicle 1, and when the destination with the highest priority is notified and the other party does not answer the call, the destination is switched to the destination with the next highest priority and warned again. An attempt is made to send information. The wireless access points 6 are installed at a plurality of locations in the moving area of the distribution vehicle 1 and can communicate throughout the building. In the following description, FIG. 1 is referred to as appropriate.

  Further, as shown in FIG. 2, the distribution vehicle 1 is a four-wheel vehicle having a front wheel 11 and a rear wheel 12, and during manual operation, an operation handle 13 provided at the rear (left side in the figure) is operated. It is moved in the traveling direction X. The layout vehicle 1 includes a total of four tray storage units 5 that can be accessed from both the left and right sides, and includes a door 50 with a key. FIG. 2 shows a state in which the double door 50 of the front tray storage unit 5 is opened with respect to the traveling direction X, and a state in which the double door 50 of the rear tray storage unit is closed. Each tray storage unit 5 is partitioned into a thermal storage room 5 a and a cold storage room 5 b, and has a structure in which the individual trays 51 can be kept warm and cold at the same time.

  Next, the self-position recognition device 3 and its role will be described. FIG. 3 shows the configuration of the self-position recognition device, FIG. 4 shows how the surrounding vehicle 1 acquires peripheral information, and FIG. 5 shows map information. As shown in FIG. 3, the self-position recognition device 3 includes a map information storage unit 31 that stores map information from a reference position to a room to be arranged, a peripheral information detection unit 32 that acquires a peripheral wall position, A map information comparison unit 33 that compares the wall position and map information to determine the current position.

  The surrounding information detection unit 32 periodically acquires ranging information from a plurality of ranging sensors F, B, R, and L installed on the front, rear, left, and right of the distribution vehicle main body to detect the position of the wall (described later). The result is sent to the map information comparison unit 33. The map information comparison unit 33 obtains travel distance information from the front wheel encoder E1 and the rear wheel encoder E2 connected to each of the front wheel 11 and the rear wheel 12 as necessary (described later). The wall position, which is distance measurement information from each distance measurement sensor, is compared with the stored map information of the traffic range, and the location where the wall position matches is identified on the map to recognize its own position.

  Then, the map information comparison unit 33 sends a warning when the self-position is out of a predetermined layout route or an elevator request when the necessity of movement between floors occurs via the external notification device 4 to each notification destination. Contact wirelessly. The report destination is the elevator control panel EV when the elevator is requested, and the portable terminal 8 of the person in charge of the arrangement, the portable terminal 81 of the person in charge of transportation, and the monitoring computer 7 at the time of warning.

  The wall detection by the distance measuring sensor described above is performed by the front distance measuring sensor as shown in FIG. The front distance measuring sensor F is, for example, a scan type distance measuring sensor using a laser beam. The distance data is obtained by scanning the entire area (approximately 180 °) in the horizontal plane in front of the traveling vehicle 1 in the traveling direction at a constant angular interval. To be acquired. For the three wall surfaces W1, W2, and W3 existing in the predetermined range area A ahead of the traveling direction from the center of the layout vehicle 1, the direction and arrangement of the wall surfaces are a set of detection points P by the irradiated laser beam LB. It is decided based on. And the direction and arrangement | positioning of detected wall surface W1, W2, W3 are the condition of the wall surface in area | region MA in floor map MP1 (FIG. 5) of the range where the arrangement vehicle previously memorize | stored by the map information storage part 31 passes. It is concluded that they match and self-position recognition is complete.

  Further, in the case where the range of the distribution vehicle 1 is wide and a large floor map is used, in order to shorten the time required for the matching process, the wheel rotation speed data and the wheel diameter from the encoders E1 and E2 attached to the wheels are used. In addition, the movement range of the layout vehicle body is acquired to limit the comparison range of the floor map. As shown in FIG. 3, one encoder is attached to each of the front wheel and the rear wheel in the case of a two-axle wheel arrangement for front and rear wheels. Thus, when each wheel moves independently, it is desirable to attach an encoder to each wheel. Further, when movement between floors occurs, it is possible to cope with a case where the floor map is switched to the current floor information when the elevator is used, thereby efficiently moving in a building of a plurality of floors.

  Next, the case where the layout vehicle 1 has an autonomous running function will be described. FIG. 6 shows a flowchart during autonomous running. The layout vehicle 1 can include an autonomous mobile travel unit for unmanned travel from a reference position to a room to be served. The allocation vehicle 1 having an autonomous mobile travel unit performs autonomous travel when the user designates an arbitrary destination on the floor map. If the designated destination is not on the current floor, the autonomous mobile traveling unit performs processing such as switching the current destination to the elevator platform and resetting the original destination after using the elevator.

  The allocation vehicle 1 detects the position of the wall from the peripheral information detected by the peripheral information detection unit 32 (FIG. 3), and travels at a position separated from the wall by a predetermined distance or more. If an obstacle that is not on the floor map is detected, the vehicle will continue to travel around the obstacle, and if it is a moving obstacle such as a person or stretcher, it will stop and there will be an obstacle. When it is gone, it will resume running.

  The flow of the above-described autonomous traveling will be described. The layout vehicle 1 starts traveling after a predetermined traveling route is inputted, and travels while scanning the peripheral information by the distance measuring sensor as shown in FIG. 6 (S101). The scan result and the map information are compared (S102), and if the destination has been reached (YES in S103), the process is stopped (S106).

  If the vehicle has not arrived at the destination (NO in S103) and no obstacle other than the wall is detected in the traveling direction (NO in S104), the vehicle continues to travel (S107).

  When an obstacle other than a wall is detected in the traveling direction (YES in S104), the state of movement of the obstacle is judged. If the obstacle is moving (YES in S105), it is stopped (S106) and must be moved. If not (NO in S105), the vehicle travels while bypassing the obstacle (S108).

  After the above stop, travel, and detour travel, the process returns to step S101 again, and the above steps are repeated according to the control cycle in the autonomous mobile travel unit.

  Next, the contents of the efficiency improvement support of the layout work in the layout vehicle 1 will be described. 7 and 8 show an overview of the layout vehicle 1, FIG. 9 shows tray information stored in the layout vehicle, and FIG. 10 shows a processing flow in the layout operation. As shown in FIGS. 7 and 8, a part of the layout vehicle 1 is provided with a layout indicator that prompts to start the layout work when approaching the room to be trained. A display screen DP using a liquid crystal screen for displaying instruction contents, tray information, and the like, and a built-in speaker SP for voice notification. The layout vehicle 1 outputs an arrival chime from the built-in speaker SP when approaching the room in charge of the layout. Notification to the person in charge of the layout is also effective, for example, by flashing a guide message for prompting the start of the layout on the display screen DP, and is not limited to the built-in speaker.

  In addition, the distribution car 1 distributes the door as shown in FIG. 8, or a door unlocking device that unlocks the door of the tray storage unit in which the meal tray to be distributed in the room is approached. A tray position indicator 52 for indicating the position of the meal tray is provided. The door of the tray storage unit 5 is locked by a function of the door unlocking device except in the vicinity of the kitchen or the room to be arranged, and can be prevented from being tampered with by a third party.

  The tray position indicator 52 includes a display lamp that indicates each tray 51 of the tray storage unit 5. By displaying the position of the tray to be served (in this example, the second to fifth trays counted from the bottom), it is possible to prevent the wrong meal menu from being served. The tray information as shown in FIG. 9 is registered in the distribution vehicle 1, and it is possible to instruct only the storage position of the tray corresponding to the room that is approached by the setting. The tray information includes a tray storage position T1, a room number T2, a tray presence / absence T3, a tray state T4, and the like.

  A processing flow when the arrangement vehicle 1 as described above approaches a room to be arranged will be described. As in the above-described flow (FIG. 6), the layout vehicle 1 starts traveling after a predetermined traveling route is input, and travels while scanning the surrounding information by the distance measuring sensor as shown in FIG. Then, the scan result is compared with the map information (S202).

  As a result of the above comparison, if there is a room in charge of serving within a predetermined distance (YES in S203) and the tray to be served in that room remains in the storage unit (YES in S204), the meal tray to be served The location is indicated by blinking the lamp (S205), and the door of the tray storage unit is unlocked (S206). Further, if the arrival chime has not been output (NO in S207), the chime is output (S208). If the chime has been output (YES in S207), the chime output is stopped (S211).

  Also, if there is no room in charge of serving within a predetermined distance (NO in S203), or if there is no tray to be arranged in that room in the storage section (NO in S204), the tray storage section lamp is turned off. (S209), the door of the tray storage unit is locked (S210), and the process proceeds to step S211.

  After the above chime output (S208) and chime stop (S211), the process returns to step S201 again and the above steps are repeated according to the control cycle.

  Next, the parking completion indicator provided in the distribution vehicle 1 will be described. FIG. 11 shows an operation flow of the parking completion indicator of the layout vehicle 1. The allocation vehicle 1 includes a parking completion indicator for displaying that the vehicle is parked at a correct position when the vehicle is stopped in a predetermined parking space in a predetermined area. With this parking completion indicator, when a meal tray is set on a plurality of distribution vehicles in the kitchen, it is possible to prevent the trays having different meal contents from being set because the distribution vehicle has stopped at the wrong position.

  In a case where a plurality of arrangement vehicles are used, such as a large hospital, a hospital room in charge of each arrangement vehicle is fixed in advance. Therefore, in the kitchen, a plurality of service cars are stopped at fixed positions, and a meal menu for each hospital room is set in the service car. For this reason, it is important to stop each arrangement vehicle at the corresponding parking place, and the arrangement vehicle 1 has a parking completion indicator for displaying that it is parked at the correct position in the parking space in the kitchen. It becomes effective.

  While the car 1 is in the kitchen, it always checks whether it is in the parking space assigned to it, and turns on the parking completion indicator when it is in the parking space. The parking completion indicator normally uses a lamp, but the same effect can be obtained by outputting a sound from the built-in speaker of the arrangement car that the vehicle is stopped at the correct position.

  The operation flow of the parking completion indicator will be described. Like the above-described flow (FIGS. 6 and 7), the distribution vehicle 1 starts traveling after a predetermined traveling route is input, and scans the surrounding information by the distance measuring sensor as shown in FIG. Then, the vehicle travels (S301), and the scan result is compared with the map information (S302).

  As a result of the above comparison, if the current position is not the kitchen (NO in S303), the process returns to step S301, and if the current position is the kitchen (YES in S303) and the current position is the predetermined parking position (in S304). YES), the parking completion lamp is turned on (S305). If the current position is not the predetermined parking position (NO in S304), the parking completion lamp is turned off (S306).

  After the lamp is turned on (S305) and the lamp is turned off (S306), the process returns to step S301 again and the above steps are repeated according to the control cycle.

  Next, the layout schedule management in the layout vehicle 1 will be described. FIG. 12 shows the traffic area of the layout car 1, FIG. 13 shows schedule data, and FIG. 14 shows a warning process flow for the layout delay. The layout vehicle 1 is provided with a layout delay warning means for notifying a predetermined device via the external notification device 4 (FIG. 1) when it is detected that it is not within a predetermined area in a predetermined time zone. Thereby, the delay of the layout work can be prevented. Moreover, since the distribution vehicle 1 is not returned to the parking space in the kitchen after the distribution, it is possible to prevent the next meal from being set in the distribution vehicle.

  As shown in FIG. 12, the distribution vehicle 1 stores the floor map held in the map information storage unit 31 (see FIG. 3) by dividing the area to be moved into a plurality of areas for each number of floors. Always know if you are The area division is performed, for example, in the kitchen area on the first basement B1F, the 3F east area on the third floor 3F, the 3F west area, the NS front, the passage in front of the elevator, and the like. Further, as shown in FIG. 13, the layout vehicle 1 has a schedule table indicating an area where the layout vehicle 1 should exist for each time zone, and when the layout vehicle 1 is in an area not along the schedule table, immediately A report is made to the portable terminal 8 or the monitoring computer 7 held by the person in charge of serving via the external reporting device 4. The management items according to the schedule table are time T5, work content T6, and area T7 where there should be a garage. The work content T6 includes tray setting work, transport work, catering / lowering work, cleaning work, and the like.

  In addition, the distribution vehicle 1 includes a sensor that individually detects the presence or absence of the tray 51 in the tray storage unit 5, and individually manages the state of the tray 51 as tray information as shown in FIG. Yes. The state of the tray 51 is updated every time the tray 51 is inserted and removed. For example, when the tray 51 is not pulled out, the tray information is updated such that the state is “unallocated”, when the tray 51 is pulled out, the “layout complete” state, and when the tray is inserted again, the “bottom tray completed” state. If the state of all trays in the tray storage unit 5 remains in the “unallocated” state even after the start time of the distribution, it is determined that the distribution person has forgotten the distribution work for some reason, and the distribution vehicle 1 As shown in FIG. 1, the mobile terminal 8 or the monitoring computer 7 of the person in charge is immediately notified via the external notification device 4.

  A warning processing flow for the catering delay will be described. As in any of the above-described flows, the distribution vehicle 1 starts traveling after a predetermined traveling route is input, and travels while scanning the peripheral information by the distance measuring sensor as shown in FIG. (S401), the scan result and the map information are compared (S402).

  As a result of the above comparison, if the current time is not the catering start time (NO in S403), the process returns to step S401, the current time is the catering start time (YES in S403), and the current position is the predetermined catering area. If so (YES in S404), it is confirmed whether one or more meal trays have been pulled out (S407). If it is confirmed in step S407 that the tray has been pulled out (NO in S407), the process returns to step S401.

  If tray withdrawal is not confirmed in step S407 (YES in S407), or if the current position is not the catering area (NO in S404) in step S404, the process proceeds to step S405, and if it is reported (in S405) (Yes), the process returns to step S401, and if not notified (NO in S405), the person in charge is notified (S406), and the process returns to step S401.

  Next, automatic switching of the heat retaining function in the layout vehicle 1 will be described. FIG. 15 shows a processing flow relating to automatic switching of the heat retaining function. The layout vehicle 1 includes an automatic cool / warm switching device that operates a heat retaining function at a predetermined time within a predetermined area. Thereby, for example, when the distribution vehicle 1 is in the kitchen, it is possible to prevent forgetting to turn on the heat retention switch when it is necessary to keep the storage portion warm before setting the meal tray. Moreover, the layout vehicle 1 is provided with the heat retention automatic stop apparatus which stops a heat retention function, if it detects that there is no tray in a storage part within a predetermined area. As a result, it is possible to prevent the heat retention switch from being forgotten to be turned off when the arrangement vehicle is in the arrangement charge area and the arrangement is completed.

  The distribution vehicle 1 may keep the tray storage portion cold and warm before setting the tray in the kitchen, and if the heat retaining device is not working at a predetermined time, the heat retaining device automatically operates. By doing so, work efficiency and safety and health are supported. In addition, in order to prevent forgetting to turn off the heat insulation device, when the distribution vehicle is in the area in charge of the distribution, the state of the tray in the tray storage unit is checked, and if all trays are in the “distribution complete” state, the distribution operation is completed The thermal insulation device is automatically stopped.

  A processing flow related to automatic switching of the heat retaining function will be described. As in any of the above-described flows, the distribution vehicle 1 starts traveling after a predetermined traveling route is input, and travels while scanning the surrounding information by the distance measuring sensor as shown in FIG. (S501) The scan result is compared with the map information (S502).

  As a result of the above comparison, if the current position is the kitchen (YES in S503) and the current time is a time zone for keeping warm and keeping cold (YES in S504), the temperature is kept and kept cool at a preset temperature (YES in S504). S505), the process returns to step 501. Moreover, if it is not a time zone for heat insulation and cold insulation in step S504 (NO in S504), the process returns to step S501.

  If the current position is not the kitchen in step S503 (NO in S503), the process proceeds to step S506, where the current position is the serving area (YES in S506), and the tray to be served remains in the storage unit. (NO in S507), the heat insulation and the cold insulation are stopped (S508), and the process returns to step S501. If it is determined in step S506 that the current position is not the serving area (NO in S506), or if the tray to be served remains in the storage unit in step S507 (YES in S507), the process returns to step S501.

  Next, arrival notification means for notifying a predetermined device via the external notification device 4 when the distribution vehicle 1 arrives at a predetermined location will be described. FIG. 16 shows a processing flow related to arrival notification. The work to carry meals to the hospital room is (1) the transporting work to transport the trolley 1 with the meal tray set from the kitchen to the designated place on each floor, and (2) the patient from the designated place in front of each ward. The work is divided into two types, and one work is not always in charge of both work. In addition, the former (1) carrying work can be automated by causing the distribution vehicle 1 to travel autonomously. Therefore, when the arrangement vehicle 1 is carried to a predetermined location or arrives at a location designated by autonomous movement, the arrival notification means passes the external notification device 4 to the portable terminal 8 possessed by the arrangement officer. By sending the arrival notification, the handing over to the person in charge of the arrangement is carried out smoothly.

  A processing flow related to arrival notification will be described. As in any of the above-described flows, the distribution vehicle 1 starts traveling after a predetermined traveling route is input, and travels while scanning peripheral information by a distance measuring sensor as shown in FIG. (S601) The scan result is compared with the map information (S602).

  As a result of the above comparison, if the current position is the designated place (YES in S603) and the designated place arrival notification is not completed (NO in S604), the notification destination is set to the person in charge (S605), and the arrival notice is sent. Is transmitted (S606). If the current position is not the designated place (NO in S603) or if the designated place arrival notification has been made (YES in S604), the process returns to step S501.

  If a response is received from the transmission destination after performing notification transmission in step S606 (YES in S607), the process returns to step S601. If no response is received (NO in S607), the notification destination is changed to the monitoring center (S608), the process returns to step S606, and the process is repeated.

  Next, the non-return warning indicator and the lower iron delay warning means in the layout vehicle 1 will be described. FIG. 17 shows a processing flow related to the lower eyelid delay warning. The layout vehicle 1 may perform not only the layout work but also the collection of the trays arranged. Therefore, the distribution vehicle 1 has an unreturned warning indicator and / or an external notification device 4 that displays that there is an unreturned tray when all trays in the predetermined area have not been returned within a predetermined time. And further includes a lower arm delay warning means for reporting to a predetermined device. The distribution vehicle 1 manages the state of the tray with the tray information as shown in FIG. 9 described above, and can determine whether or not the tray has been returned after the meal is completed. Even if it is time to return the car to the kitchen to set the next meal, if there is an uncollected tray, a notification of uncollected tray is sent to the mobile terminal 8 of the person in charge of the serving person via the external reporting device 4 By doing so, it is possible to prevent the tray from being leaked.

  In addition, when all trays have been returned to the distribution vehicle 1, in order to contact the person in charge of transporting the distribution vehicle 1 to the kitchen, work is performed on the portable terminal 81 of the person in charge of transportation via the external reporting device 4. Notify delay warning. Further, when the layout vehicle 1 is set to the autonomous mobile operation mode, the layout vehicle 1 starts automatic traveling toward the kitchen after confirming the return of all trays. By these means, the ladle work is prevented from being delayed.

  A processing flow related to the lower arm delay warning will be described. As in any of the above-described flows, the distribution vehicle 1 starts traveling after a predetermined traveling route is input, and travels while scanning the peripheral information by the distance measuring sensor as shown in FIG. (S701), the scan result and the map information are compared (S702).

  As a result of the above comparison, if the current position is the lower arm charge area (YES in S703) and the current time is not the lower arm start time (NO in S704), the process proceeds to the next step. If the current position is not the lower arm charge area (NO in S703) or if the current time is the lower arm start time (YES in S704), the process returns to step S701.

  If all trays have not been returned in step S705 (NO in S705), a notification destination is set to the person in charge (S706), a warning is sent with an unreturned tray (S707), and a response is received from the transmission destination. (YES in S708), the processing flow relating to the lower eyelid delay warning is terminated. If no response is received (NO in S708), the notification destination is changed to the monitoring center (S709), the process returns to step S707, and the process is repeated.

  If all trays have been returned in step 705 (YES in S705) and the current operation mode is the autonomous mobile travel mode (YES in S710), the autonomous mobile travel is started to the kitchen (S715), and the lower arm delay warning The processing flow related to is terminated.

  If the current driving mode is not the autonomous mobile travel mode (NO in S710), the notification destination is set to the person in charge (S711), a warning operation delay warning is transmitted (S712), and a response is received from the transmission destination. If it is YES (YES in S713), the processing flow relating to the lower eyelid delay warning is terminated. If no response is received (NO in S713), the notification destination is changed to the monitoring center (S714), the process returns to step S712, and the process is repeated.

  Next, the monitoring camera, door-linked recording device, and autonomous running-linked recording device of the distribution vehicle 1 will be described. FIG. 18 shows the arrangement of the monitoring camera and the door switch, FIG. 19 shows the block configuration of the recording apparatus, and FIG. 20 shows the recording operation flow by the monitoring camera. As shown in FIGS. 18 (a), 18 (b), and 19, the monitoring vehicle 1 is attached with monitoring cameras CM that image the periphery of the allocation vehicle at a plurality of positions (four directions in the present embodiment). The camera CM is connected to a door-linked recording device VR that records video. This recording device VR is interlocked with the door 50 of the tray storage unit 5 and operates so as to record only in the area excluding the kitchen while the door switch 53 detects that the door 50 is open. . Thereby, the person who touched the tray storage part 5 will be recorded, and even if it is mischievous by a distribution vehicle, the situation of mischief can be left as an image.

  Further, if the layout vehicle 1 is in autonomous movement operation, as shown in FIG. 19, recording is always performed on the recording device VR in conjunction with autonomous traveling. The recorded data is stored for a predetermined period so that the accident situation can be investigated later in case of a collision accident.

  A recording process flow by the surveillance camera will be described. As in any of the above-described flows, the distribution vehicle 1 starts traveling after a predetermined traveling route is input, and travels while scanning the surrounding information by the distance measuring sensor as shown in FIG. (S801), the scan result is compared with the map information (S802).

  As a result of the above comparison, if the current position is the kitchen (YES in S803), the process returns to step S801. Recording is stopped if the current position is not the kitchen (NO in S803), the current operation mode is not the autonomous movement mode (NO in S804), and the tray storage unit door is not open (NO in S805). (S806), the process returns to step S801.

  If the current mode is the autonomous movement mode in step S804 (YES in S804) or if the door is open in step S805 (YES in S805), the video from the monitoring camera CM is recorded on the recording device VR. (S807), it returns to step S801. The present invention is not limited to the above-described configuration, and various modifications can be made.

1 is a system configuration diagram in which a distribution vehicle according to an embodiment of the present invention operates. Side view of the same car as above. The block block diagram explaining the self-position recognition apparatus of a distribution vehicle same as the above. The top view explaining the periphery information acquisition operation | movement performed while a distribution vehicle same as the above moves. The map information figure which the same distribution vehicle holds. The processing flow figure at the time of the autonomous movement driving | running | working same as the above-mentioned allocation vehicle. The front view of a distribution vehicle same as the above. Side view of the same car as above. Explanatory drawing of the tray information which the same distribution vehicle holds. The processing flow figure when a distribution vehicle approaches the room in charge of the distribution. The operation | movement flowchart of the parking completion indicator of a distribution vehicle same as the above. Explanatory drawing of the traffic area information which the same distribution vehicle holds. Explanatory drawing of the schedule data which the same distribution vehicle holds. The processing flow figure of the allocation delay warning of a distribution vehicle same as the above. The automatic switching processing flow diagram of heat insulation and cold insulation of the same car as above. The processing flow figure of the arrival notification of a distribution vehicle same as the above. The processing flow figure of the lower car start of the distribution vehicle same as the above. (A) is a top view of the other wheeled vehicle which concerns on one Embodiment of this invention, (b) is a side view of the same wheeled vehicle. The block block diagram of the recording device of a distribution vehicle same as the above. The recording operation | movement flowchart by the surveillance camera of a distribution vehicle same as the above.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Wheel arrangement 2 Heat retention apparatus 3 Self-position recognition apparatus 4 External notification apparatus 5 Tray storage part 9 Autonomous mobile traveling part 31 Map information storage part 32 Peripheral information detection part 33 Map information comparison part 50 Door 51 Tray 52 Tray position indicator CM monitoring Camera DP display screen (layout indicator)
SP speaker (layout indicator)
VR recording device

Claims (10)

A lockable door and a plurality of tray storage units that are equipped with a heat insulation device for heat insulation / cooling inside, a self-position recognition device that can recognize the self-position, and for outputting abnormality / alarm information to the outside A distribution car equipped with an external reporting device,
The self-position recognition device compares a map information storage unit that stores map information from a reference position to a serving room, a peripheral information detection unit that acquires a peripheral wall position, and the peripheral wall position and map information. A map information comparison unit for determining a current position, and when the self-location is deviated from an area through which the user normally passes from a reference position to a room to be arranged based on an output from the map information comparison unit, A chariot that is activated to issue a warning.   2. The car according to claim 1, further comprising an autonomous mobile travel unit for unmanned travel from the reference position to a room to be served.   2. The distribution vehicle according to claim 1, further comprising a distribution indicator that prompts to start a distribution operation when approaching a room to be distributed.   4. The distribution car according to claim 3, further comprising a door unlocking device for unlocking a door of a tray storage unit in which a meal tray to be distributed in the room is approached when approaching the room to be arranged.   4. The distribution vehicle according to claim 3, further comprising a tray position indicator for indicating a position of a meal tray to be distributed in the room when approaching the room to be distributed.   3. The distribution vehicle according to claim 1, wherein the tray storage unit includes a tray detection unit that detects that at least one tray has been pulled out in a predetermined time period.   3. The distribution vehicle according to claim 1, further comprising arrival notification means for notifying a predetermined device via the external notification device when the vehicle arrives at a predetermined location.   If all trays in the specified area have not been returned within the specified time, an unreturned warning indicator that displays that there is an unreturned tray and / or notification to the specified device via the external reporting device 3. The distribution vehicle according to claim 1, further comprising lower arm delay warning means.   A monitoring camera that records the vicinity of the distribution vehicle, and a door-linked recording device that records an image of the monitoring camera when the door of the tray storage unit is open in a predetermined area. Claims 1 or 2 according to claim 2.   10. The distribution vehicle according to claim 9, further comprising an autonomous traveling interlocking recording device that records a video of a monitoring camera when autonomously traveling in a predetermined area.

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