JPS61125781A - Weighter robot device and control method thereof - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is applicable to cola and juice in the service industry, particularly in game corners, and more specifically in coffee shops, hamburger shops, family restaurants, etc.

To provide a waiter robot system which, when selling coffee, hamburgers, etc., moves back and forth from a counter or kitchen to a customer, receives an order, receives money, and delivers the ordered product to the customer.

Traditionally, various types of transportation robots have been put into practical use in the manufacturing industry, but robots have not yet been fully introduced in the service industry, especially in the customer service industry, despite the labor shortage. The reason for this is that when a customer orders something like a coke at a game corner, they request some kind of psychological satisfaction from the seller. The introduction of robots into the customer service industry is delayed because of the lack of technology.

The purpose of this invention is not only to provide a waiter robot that satisfies the psychological needs of customers, but also to solve the labor shortage in the customer service industry by introducing a waiter robot.

The present invention will be explained below based on the drawings.

In Fig. 1, 1 is a floor of a game corner, coffee shop, etc. On this floor 1, there is a first position 2 in the kitchen where a cook waits, and a plurality of seats where customers are seated at a predetermined distance from this first position. A second position 3 is provided. Said first position 2
and a second position 3 are provided. Between the first position 2 and the second position 3, a track 5 as a single-stroke guide member having a cylindrical portion 4 is laid or buried, and this track 5 is formed by a thin iron plate 6 having a predetermined width. It is configured. As shown in FIG. 2, the cylindrical portion 4 is composed of four iron plates 6 that are spaced apart from each other by a predetermined distance and intersect at right angles.

The main control panel 7 is located at a predetermined corner or wall of the first position 2.
A group of switches 8 and lamps 9 corresponding to each second position 3 is installed on the main command panel 7. A set of lamps 11 and switches 12 are installed on the table 10 at the second position 3, which are electrically connected to the - group of switches 8 and lamps 9, respectively.

In FIG. 3, 17 is a waiter robot that can move on a track 5, and this waiter robot 17 has a head 18, a body part 19, and a body part 19 that are integrally formed.
It has a pair of wheels 20 which are provided below the wheel so as to be rotatable in forward and reverse directions. A recess 21 is formed in the head 18 as an order receiving part for placing an ordered cola or the like, and a tray 22 is removably placed in the recess 21. A switch 13 is installed as a detection unit that detects the presence or absence of an ordered item that is pressed and closed by the weight of the ordered item received. The head 18
A pair of eyes 24 are swingably provided on the front surface of the wheel 20 as swinging parts that swing while the pair of wheels 20 are rotating. At the center front of the body part 19, there are provided a panel 25 for displaying a list of ordering menus and a coin insertion part 26 for a customer to insert a predetermined amount of coins in accordance with the ordered item. At the bottom of the panel 75 are selection buttons 27 that light up sequentially for each item name in the displayed menu, and a decision button 28 that finalizes the lighted ordered item.
A coin canceler 29 and a defective coin and change outlet 30 are provided below the coin insertion section 26. 35 as shown in Figure 4.
a central control circuit housed within the body portion 19;
For example, a CPU such as 280 is used. An interface circuit 37 is connected to this central control circuit 35 via a path line 36, and this interface circuit 37 is composed of a large number of I10 elements 8255, etc., and a plurality of balances 38 connected to peripheral devices from these are connected. It is extending.

A melody circuit 3 that generates a music signal that is played as an interlude while the pair of wheels 10 is rotating on one of the balances 38.
9 is connected, and the music signal generated can be appropriately selected depending on the game corner or coffee shop where the waiter robot 17 is installed. The melody circuit 39 is connected via an amplifier 40 to speakers 41 mounted on the left and right inner sides of the body section 19, and the melody circuit 39 has a mixer 42 and generates an audio signal via another pass line 43. The audio board 44 is connected to the audio board 44. This audio board 44 is connected to the pass line 36.
Interface circuit 37. Pass line 38. Central control circuit 3 via melody circuit 39 and pass line 43
5, and the voice board 44 uses a ROM or the like that can select appropriate verbal signals with addresses such as Welcome, Thank you, Thank you, and Thank you for your address. Reference numeral 47 designates an instruction panel connected to the interface circuit 37 by a pass line 38 and provided on the back of the body section 19, and this instruction panel 47 indicates the preset seat number of the second position 3 on the customer side. Switch 48 and light emitting light 49 that displays the designated seat number
and other necessary switches are installed.

A drive unit 51 that rotates the pair of wheels 20 in forward and reverse directions is connected to the pass line 38, and the drive unit 51 is connected to a power source 52 such as a battery and the wheels 20 via a gear (not shown) or the like. It has a pair of motors 53 and a control section 54 that starts, stops, and reverses these motors 53. The pair of motors 53 may be rotated in opposite directions, or one may be stopped and only the other may be rotated, based on commands from the control unit 54. As shown in FIG.
, 57, 58 are provided, and 60 is a ball caster that prevents the waiter robot 17 from tilting back and forth when it is placed on the track 5.

These sensors 55, 56, 57, 58 are connected to the drive unit 51
is connected to the interface circuit 37 via
The opposing sensors 55 and 56 detect the lateral position of the track 5 with respect to the iron plate 6, and the other opposing sensors 57 and 58 detect the cylindrical portion 4 of the track 5 and control the central control circuit 3.
Send the signal to 5. Furthermore, interface circuit 3
7 is connected to a buzzer 61, and when all of the four sensors 55, 56, 57, and 58 are removed from the orbit 5, this buzzer 61 is activated to emit an alarm sound according to a command from the central control circuit 35. It is supposed to be done.

A drive unit 71 that swings the pair of eyes 24 is connected to the interface circuit 35, and the drive unit 71 is connected to a motor 7 that is connected to the eyes 24 via a gear (not shown) or the like.
2, which motor 72 is controlled by the central control unit 35 to rotate during operation of the wheel 20.

The interface circuit 37 includes the panel 25 for displaying an order menu, a selection button 27, and a decision button 28.
The panel 25 is connected to the L of the light emitting diode.
ED etc. can be used. On this panel 25, names of ordered products such as cola, coffee, hamburger, etc. and their prices are displayed, which are transmitted from a ROM stored in the central control circuit 35. Further, a detector 75 for detecting a coin inserted from the coin insertion portion 26 is installed on the panel 25.
is connected to the interface circuit 37 via
The amount of coins is displayed on the panel 25. Also connected to the interface circuit 37 is a detection switch 23 which is an embodiment of the detection section for detecting the presence or absence of the ordered item. Note that all the power necessary for the waiter robot 17 can be taken out from the power supply 52 of the drive section 52.

FIG. 4 76 shows light and sound waves on the waiter robot 17 side.

The communication means is based on radio waves, electromagnetic induction, etc. 77 in FIG. 1 is the communication means on the main command number 7 side, and is arranged so that mutual information can be communicated.

Next, a case where a customer at table 10 in the game corner orders a cola will be described. First, the customer presses the switch 12 on his or her own table 10, and the lamp 9 corresponding to the chef's table 10 lights up.In this way, the chef in the kitchen can tell which table, for example, the customer with number 99 is calling. Next, when the cook presses the switch 8 corresponding to the table IO, the lamp 11 on the customer's side lights up, allowing the customer to know that their call has been answered. The main command panel 7 may automatically turn on the lamp 11. At this time, the waiter robot 17 is waiting at the side of the cook, and the cook closes the master switch (not shown) to turn on the waiter robot 17. The Tarobot 17 is put into operation. The cook uses the switch 48 on the instruction panel 47 to specify the destination, in this case the table 10 of the customer numbered 99. Setting the waiter robot 17 in operation and instructing the destination may be automatically performed by the main command panel 7 through the communication means 76 and 77. At this time, this number 99
is displayed on the light emitting section 49, and the central control circuit 37
sent to. The central control circuit 35 searches for the address corresponding to the number 99 from its own memory, changes the direction of the number of cylinder parts 4 from the first position 2 on the orbit 5 to the left or right, and calculates the total number. Read the number of tube openings at which the point should be stopped. When the cook instructs the waiter robot where to go, when the cook presses the start switch on the instruction panel 47, the waiter robot 17 starts running on the iron plate 6 by simultaneous forward rotation of the pair of wheels 20. In response to a command from the central control circuit 35, the melody circuit 39 begins to send a music signal to the speaker 41. If one of the wheels 20 leaves the track 5 for some reason, the sensor 5
5° 56 transmits the separation signal from the iron plate 6 to the central control circuit 35. Since the central control circuit 35 sends a correction signal to the drive unit 51, the drive unit adjusts the left and right rotational speed of the motor 53. And waiter robot 17 is always on orbit 5.
Go straight without straying from the road. ! Upon arrival at the ff unit 4, the sensors 57, 58 send signals to the central control circuit 35. The central control circuit 35 determines whether the cylindrical portion 4 should go straight or turn left or right. For example, if it is stored in advance to turn left, the drive portion 5
Send a left turn signal to 1. At this time, the drive unit 51 reversely rotates the left side of the wheel 20 for a certain period of time and forwardly rotates only the right side of the wheel 20, so that the waiter robot 17 changes direction to the left to approximately 90'', and further moves straight by the required number of cylinders. These routes and running procedures are stored in the central control circuit 35. During this time, the waiter robot 17 is playing background music and repeats predetermined turns and straight ahead until it reaches the destination table 10 with number 99. The waiter robot 17, which faces the customer, activates the voice generation board 44 according to the program in the memory of the central control circuit 35, and generates voice signals such as ``What would you like to do?'' from the speaker 41. The customer selects the ordered item using the selection button 27 according to the menu displayed on the panel 25, and inserts a coin into the coin insertion section 26.The central control circuit 35 determines whether the price of the ordered item matches the amount, The result will be displayed on the panel 25. When the customer presses the OK button 28, the waiter robot 17 will follow the program and say ``Sorry, please wait for a while,'' and the drive unit 51 will move the wheel 2.
The direction is changed by 180° by rotating one of the two while keeping it stopped for a predetermined period of time, or by rotating the other in the opposite direction. Then, it returns to the first position 2 along the same trajectory 5 described above. During the reciprocation, the eyeball 24 of the swinging section is swung by the motor 72 of the drive section 71 which is commanded by the central control circuit 35. Display or communication means 76.77 on the panel 25 of the waiter robot 17 returning to the cook side
The chef will place the order on Obon 22 according to the instructions displayed.
When the switch is turned on, the detection switch 23 closes and a signal is sent to the central control unit 35. waiter robot 17
changes direction 180@ in the manner described above and moves to table 10 with number 99 while playing bank music. In this case, the waiter robot 17 presses the confirmation button (not shown) to confirm the contents.
It may be configured so that the vehicle starts.

If the ordered cola is taken out for some reason during the journey before arriving at the table 10 programmed by the destination light instruction panel 47, the switch 23 is closed and the central control circuit 35 receiving this signal activates the buzzer 61. Let the cook know that something is wrong.

Waiter robot 1 arrives at table 10 with number 99
7 says omachido-sama according to the program. When the customer removes the ordered cola, the detection switch 23 opens and the signal is sent to the central control circuit 35, which utters "Thank you very much." The waiter robot 17 converted by 180' using the method described above is the highlight 2.
4 and returns to the first position while playing Bank Mini Chic. If something waits for the waiter robot 17 on the way, the sensor 55
, 56, 57, and 58 are all detached from the iron plate 6, and the central control circuit section 35 that receives this signal activates the buzzer 61 to emit an alarm sound.

The waiter robot 17, which has returned to the chef's side, changes direction by 180'', stops the operation of the melody circuit 37, and turns the wheel 20
And the swinging of the eyeball 24 also stops. The chef is the main command board 7
After pressing the resent switch 8, the waiter robot 17
When the mask switch is opened, the lamp 11 on the slave control panel will light up.
The lights go out and the series of customer service tasks ends. In this case, the communication means 76 and 77 may be used to confirm the completion of arrival and automatically turn off the lamp 11 and open the master switch.

It is also conceivable to turn off the lamp 11 by installing an arrival detector on the table 10 side, detecting it with a main command panel, and monitoring the time until arrival.

Note that the swinging section is not limited to the eyeball, and may swing other parts such as the arm. Holding tray 22 is head 1
For example, you may hold the arm vertically and then hand it horizontally when you reach the customer.

As described above, according to the present invention, it is possible to provide a waiter robot that performs predetermined movements, vocalizations, and plays background music, thereby satisfying the psychological satisfaction of customers ordering at a coffee shop or the like. This has the effect of paving the way for the widespread introduction of transport robots into the customer service industry.

4. The application number of the additional related original invention is Japanese Patent Application No. 58-100556, and the present invention is an improvement of the original invention. In the original invention, when a customer presses a switch on the slave control panel on the table to order from the menu, the light on the slave control panel and the main control panel on the cook's side also displays the message, and the cook waits after seeing this display. The waiter robot instructs the waiter robot where to go, starts the robot, and moves it on the guide member to the customer's table. Next, when the customer inserts a coin into the waiter robot's coin slot and presses the button to confirm the order, the waiter robot returns to the cook's side, and the cook follows the order menu displayed on the waiter robot's panel. Place the ordered item in the tray and place it on the waiter robot's head. When the food is served, the robot moves back to the customer, and when the customer picks up the food, it returns to the cook's side, and when the robot arrives, the cook uses the switch to confirm that the food is finished and hands over the light on the control panel to the waiter. This was to end the robot's operation.

On the other hand, in the above example, light, sound waves, or radio waves are generated between the main command panel and the waiter robot device.

! A two-way communication means using magnetic induction or the like is set up so that the main command board instructs the waiter robot where to go by the means, and the panel display of the order menu is transmitted from the waiter robot to the main command board by the communication means. When the main command board detects the arrival of the waiter robot through communication means and the completion of one task, it is also possible to turn off the lamp on the slave command board and end the waiter robot's operation. This is what I did.

Therefore, compared to the original invention, the present invention requires far fewer operations by the cook, and since the customer's order menu is displayed on the main control panel, the cook does not have to go to the robot to see it, making it possible to further automate the process. It is something.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the overall view of this invention, Fig. 2 is an enlarged plan view showing the main part of the trajectory of this invention, Fig. 3 is a plan view of the waiter robot, and Fig. 4 is a plan view of the waiter robot. FIG. 5 is a block diagram showing a control circuit, and FIG. 5 is a perspective view showing a bottom view of the waiter robot. 1... Floor 2... First position 3...
・Second position 4... Joint part 5... Guidance member (track) 6... Iron plate 7... Main command panel
11...Lamp 12...Switch 17
...Waiter robot 18...Head 1
9...Body part 20...Vehicle transport 21...
Receiving part (rich) 23... Detection part (detection switch) 24... Swinging part (eyeball) 25... Panel 26.
...Coin insertion section 27...Selection button 2nd day...
Decision button 35... Central control circuit 39... Melody circuit 41... Speaker 44... Audio board 47... Instruction panel 48... Switch
49... Light emitting section 51... Drive section 5
3...Motor 54...Control section 55.56
,57.58...Sensor 61...Buzzer
71... Drive unit 72... Motor 75.
...Detector 76.77...Communication Means Fang 2 Figure 3 Figure 2 υ Figure 5 Procedures (Hoshosho (spontaneous) November 1, 1985 (Patent Office Examiner Punishment) 1. Indication of the incident Showa 1959 Patent Application No. 2455115
No. 2. Name of the invention Waiter robot device and its control method 3. Relationship with the amended person's case Patent author's address name Kuito Co., Ltd. 4, agent address 2-chome Higashikanda, Chiyoda-ku, 101 East*Miyako @ti No. 5, subject of amendment fi+ Claims column 6 of the specification, contents of amendment (1) The claims column of the specification is amended as shown in the attached sheet. (2) The column for detailed explanation of the invention in the specification is amended as follows. a) On page 8, line 4, correct the phrase "-gumi natte" to "-gumi natte". b) The phrase “display” on page 9, line 4 is “display”
Correct. 1) On page 9, line 12, the phrase "35 ba as shown in the group" is corrected to "35 wa as shown in detail." (English) Correct the phrase "to one of these balances 38" on line 19120 to "to one of these pass lines 38." E) Correct the phrase "Terawareta," on line 11914 to "Terawareta." ) On page 13, line 10, change the phrase “Part 52’s” to “Part 51
Correct to ``no''. g) On page 13, line 19, correct the phrase "lights on like this" to "lits like this." (i) Correct the phrase "the lamp" on page 14, line 4 to "the lamp." f) On page 14, line 16, the word "corresponds to" is corrected to "corresponds to". e) On page 15, line 16, change the phrase “for example to judge” to “
Correct to ``judge 0, for example''. S) On page 16, line 17, correct the phrase ``When you worship'' to ``When you press.'' n) Page 16, line 18, “For a long time, change the word J to ``for a while.''
Correct to. S) Correct the phrase "Kadenagara" on page 17, 12 Shuguchi to "Kadenakara." C) Correct the word "closed" on page 17, line 20 to "open". (g) Correct the word "what" on page 18, line 11 to "what person." ri) Change the phrase “central control circuit” on page 18, line 14 to “
Corrected to "central control door circuit". h) Change the phrase “35 da” on page 18, line 15 to “35 ga”
Correct to. d) Correct the word "matade" in line 9 of page 19 to "mata". (3) The column relating to additional information in the description shall be amended as follows. a) The phrase "extinguished, etc." in item 7j of page 21 is corrected to "extinguished, etc.". Attachment Scope of Claims tll Installed between the first position on the chef's side and the second position on the customer's side, If there are multiple second positions on the customer's side, there is a branch point leading to each second position, and a track in which the induction member is buried, and a track provided at the second position on the chef's side to guide the arrival of the customers. A control panel with switches for reporting to
A display for displaying notifications from the slave control panel and the i! A master command board which has switches for displaying on the subordinate command board the fact that the cook has recognized the i-report and has a means of communication with the waiter robot, and A drive mechanism, a plurality of sensors that detect the guide member buried along the track, a dish selection display panel that displays a plurality of dish menus, a coin or banknote fee transfer device, and a dish selection display panel. A selection switch for selecting the displayed menu, a means of communication with the main command panel, an order receiving section on which ordered dishes can be placed, accessory peripheral equipment provided as necessary, and the above-mentioned mechanisms and devices. Equipped with a microcomputer that organically performs operations such as
The microcomputer stores at least a route between each of the second positions and the first position using branch points on the trajectory, and selects one of the routes based on the chef's designation. and a waiter robot that includes a built-in program that issues a command to control the drive mechanism, thereby reciprocating on the orbit along the specified path. (2) The waiter robot device according to claim 1, wherein the guide member embedded in the track includes an iron plate. (3) The scope of the claim characterized in that the front winding guiding member has a cylindrical portion at the branch point on the track, and the cylindrical portion is constituted by four iron plates spaced apart and intersecting each other at right angles. Waiter robot device according to item 1. (4) The waiter robot device according to claim 1, wherein the accessory peripheral device is a music and sound generating device. (5) An alarm f that emits an alarm sound on the robot body when the plurality of sensors mentioned above are detached or lifted from the guide member.
Waiter robot (W) according to claim 1, characterized in that it is equipped with a g base. (6) The waiter robot apparatus according to claim 1, further comprising a detection section for detecting the presence or absence of ordered products in the tray section in the ordered product receiving section. (7) It is installed between the first position on the chef side and the second position on the customer side, and if there are multiple second positions on the customer side, it has a branch point leading to each second position. , a track in which a guiding member is embedded, and a follower control panel provided at the second position and having switches for notifying the chef of the arrival of customers;
A master control board, which is installed in the first place 1 and includes a display for displaying notifications from the slave control board, and switches installed to display on the slave control board the fact that the cook has recognized the notification. a drive mechanism for traveling on the track; a plurality of sensors for detecting guiding members buried along the track; and a coin or banknote fee transfer device;
A selection switch for selecting the menu shown on the dish selection display panel, an order receiving section on which ordered dishes can be placed, accessory peripheral equipment provided as necessary, and operation of the above-mentioned mechanisms and devices. Equipped with a microcomputer that organically controls the microcomputer,
At least, a route between each of the second positions and the first position is memorized by a branch point on the trajectory, and one of the routes is selected based on the chef's designation, and the drive mechanism is activated. It has a built-in program that issues control commands,
As a result, the wakeropot is configured to reciprocate on the orbit along the unspecified route, and
In the method for controlling a waiter robot device having at least a music and sound generating device as an accessory peripheral device, when a switch in a second position on an arbitrary customer side is pressed, the waiter robot comes to rest in a first position near a cook. the waiter robot moves along a predetermined buried guide member to a second position on the customer side; and when the waiter robot reaches and stops at the second position, the music and sound generating device is activated. a step in which the food selection display panel is shown to the customer, the customer inserts the price into the fee transfer device and selects the ordered item using the selection switch; The step of operating the drive mechanism to change the direction of the food and returning it from the second position to the first position along the guidance, and the main command from the chef using the communication means with the waiter robot to send the menu decided by the customer. There are two stages: displaying the order on the board, a stage in which the waiter robot that returned in the first place returns to the waiter robot, where the chef is determined to receive the order, changes direction after placing the order, and a stage in which the drive mechanism is activated to move the waiter robot to the waiter robot. moving the robot from the first position to the second position again; and when the waiter robot reaches and stops at the second position, activating the music and sound generating device to generate a predetermined sound. a step of activating the music and sound generating device to generate a predetermined sound after the customer removes the ordered item; and activating the drive mechanism to move the way or robot from the second position to the second position. The apparatus for the waiter robot comprises the steps of: returning the waiter robot to the first position again along the trajectory; and returning to the second position, changing direction and stopping all operations of the waiter robot. control method. Proceedings (self-motivated) November 1, 1985 (Examiner of the Patent Office)■, Indication of case: 1982 Patent Application No. 245585 2, Title of invention: Waiter robot device and its control method 3 , Relationship with the case of the person making the amendment Applicant's address Name: Taito Co., Ltd. 4, Agent's address: Lot 2-1-11 Higashikanda, Chiyoda-ku, Tokyo Fl) Column of applicable provisions in the title of the application (2) Application 4 '6, Contents of the amendment Contents of the amendment il+ The column of applicable provisions in the title of the application should be changed to "Patent Law No. 38"
"A patent application pursuant to the provisions of the proviso to Article 1." (2) The column for the number of inventions in the application is amended to read "1. 'Number of inventions stated in the claims 2.'that's all

Claims (7)

[Claims] (1) It is installed between the first position on the chef side and the second position on the customer side, and if there are multiple second positions on the customer side, it has a branch point leading to each second position. , a track in which a guide member is embedded, a slave command board provided at the second position and having switches for notifying the chef of the arrival of a customer, and a slave command board located at the first position. a main command board having a display for displaying the report and switches provided to display on the subordinate command board that the chef has recognized the report, and having a means of communication with the waiter robot; A drive mechanism for traveling on the track, a plurality of sensors for detecting guide members buried along the track, a food selection display panel for displaying a plurality of food menus, and payment and reception of coins or banknotes. The device, a selection switch for selecting the menu shown on the dish selection display panel, a means of communication with the main command panel, an order receiving section on which ordered dishes can be placed, and surrounding accessories provided as necessary. equipment, and a microcomputer that organically controls the operations of the mechanisms, devices, etc., and the microcomputer at least traces a route between each of the second positions and the first position on the orbit. A built-in program is stored according to the branch points of the above, and issues a command to select one of the above-mentioned routes and control the above-mentioned drive mechanism based on the chef's designation, thereby causing the above-mentioned trajectory to follow the specified above-mentioned route. A waiter robot device that consists of a waiter robot that moves back and forth above. (2) The waiter robot device according to claim 1, wherein the guiding member embedded in the track includes an iron plate. (3) The guiding member has a cylindrical portion at the branch point on the track, and the cylindrical portion is constituted by four iron plates spaced apart and intersecting each other at right angles. 1
The waiter robot device described in Section 1. (4) The waitarot device according to claim 1, wherein the accessory peripheral device is a music and sound generating device. (5) The waiter robot device according to claim 1, further comprising an alarm device that emits an alarm sound on the robot body when the plurality of sensors are detached from or lifted up from the guide member. (6) The waiter robot apparatus according to claim 1, further comprising a detection unit for detecting the presence or absence of ordered items in the tray section in the ordered item receiving section. (7) It is installed between the first position on the cook side and the second position on the customer side, and if there are multiple second positions on the customer side, it has a branch point leading to each second position. , a track in which a guide member is embedded, a slave command board provided at the second position and having switches for notifying the chef of the arrival of a customer, and a slave command board located at the first position and equipped with switches from the slave command board located at the first position. a main control panel having a display for displaying notifications and switches provided to display on the subordinate control panel that the chef has recognized the notification; a drive mechanism for traveling on the track; and a drive mechanism for traveling on the track; a plurality of sensors for detecting guide members buried along the line; a coin or banknote fee transfer device; a selection switch for selecting the menu shown on the dish selection display panel; The microcomputer is equipped with an order receiving section, accessory peripheral equipment provided as necessary, and a microcomputer that organically controls the operation of the above-mentioned mechanisms and devices, and the microcomputer is connected to at least each of the above-mentioned second positions. a built-in program that stores a route between the first position and the first position by a branch point on the trajectory, selects one of the routes based on a chef's designation, and issues a command to control the drive mechanism; This controls a waiter robot device that is configured with a waiter robot that reciprocates on the orbit along the specified path, and that is equipped with at least a music and sound generating device as the accessory peripheral device. In this method, when a switch at a second position on an arbitrary customer side is pressed, the waiter robot, which was stationary at a first position near the cook, moves along a predetermined buried guide member to a second position on the customer side. a step of activating the music and sound generation device to generate a predetermined sound when the waiter robot reaches and stops at the second position; and a step of showing the food selection display panel to the customer and displaying the dish selection display panel to the customer. the step of inserting the fare into the fare transfer device and determining the ordered item with the selection switch, and after determining the order, the waiter rod is operated to change direction by operating the drive mechanism and is guided from the second position to the first position. a step of displaying the menu decided by the customer on the main command panel of the cook side by means of communication with the waiter robot, and a step of returning the waiter robot to the order receiving section of the waiter robot that has returned to the first position. a step of changing direction after the chef is determined and placing the order; a step of activating the drive mechanism to move the waiter robot again along the trajectory from the first position to the second position; activating the music and sound generation device to generate a predetermined sound when the customer reaches and stops at the second position; and after the customer removes the ordered item, activating the music and sound generation device to generate a predetermined sound. a step of generating a sound, a step of operating the drive mechanism to return the weight robot from the second position to the first position along the trajectory, and returning to the second position and changing direction. A method for controlling the waiter robot apparatus, comprising: stopping all operations of the waiter robot.