Robot control system, robot control method, and storage medium

Abstract

The present disclosure provides a robot control system, a robot control method, and a storage medium. The robot control system according to this embodiment is a robot control system for controlling a mobile robot configured to autonomously move within a facility. Upon detecting that one or more used trays among a plurality of trays used for food service within the facility have been returned to a first designated location, the system instructs the mobile robot to collect the trays returned to the first designated location and deliver them to a second designated location.

Description

Technical Field

[0001] The present disclosure relates to a robot control system, a robot control method, and a storage medium. Background Art

[0002] Japanese Patent No. 6483505 discloses a delivery system that uses an autonomous mobile delivery robot to deliver trays for food service within a facility. Summary of the Invention

[0003] In hospitals and the like, used trays for dining services (including trays carrying used tableware) are generally returned to a location near the entrance of each ward (a first designated location) and then collected from the entrance of each ward at a predetermined time at another location (a second designated location). However, if used trays remain uncollected for a long time near the entrance of a ward, for example, because the used trays were returned earlier than expected, this can cause hygiene problems, such as the smell of leftover food.

[0004] The present disclosure has been made in view of the above background, and an object of the present disclosure is to provide a robot control system, a robot control method, and a storage medium that can enhance sanitation by immediately collecting used pallets.

[0005] The robot control system according to this embodiment is a robot control system for controlling a mobile robot that autonomously moves within a facility. Upon detecting that one or more used trays among a plurality of trays used for food service within the facility have been returned to a first designated location, the system instructs the mobile robot to collect the trays returned to the first designated location and deliver them to a second designated location. Even if the used trays are returned to the first designated location before the scheduled time, the robot control system immediately collects the used trays. This prevents used trays from remaining uncollected for extended periods, thereby achieving enhanced sanitation.

[0006] When it is detected that a specified number of two or more used trays among the multiple trays used for catering services are returned to the first designated location, the system can instruct the mobile robot to collect the specified number of trays returned to the first designated location and deliver the trays to the second designated location.

[0007] When a first designated time elapses after any one of the plurality of trays for catering service is returned to the first designated location, the system may instruct the mobile robot to collect the tray returned to the first designated location and deliver the tray to the second designated location.

[0008] After any one of the multiple trays used for catering services is returned to the first designated location, after a second designated time has passed, when another tray has not been returned to the first designated location, the system can instruct the mobile robot to collect the tray returned to the first designated location and deliver the tray to the second designated location.

[0009] The system may detect the number of pallets returned to the first designated place based on an image captured by a camera configured to capture the first designated place.

[0010] The plurality of trays for catering services may each be attached with an IC tag. The first designated location may be provided with a return station having a tag reader. The system may detect the number of trays returned to the first designated location based on the result of the tag reader reading the IC tags.

[0011] The first designated location may be provided with a return station equipped with a load sensor. The system may detect the number of pallets returned to the first designated location based on the load detected by the load sensor.

[0012] The robot control system includes: the mobile robot and a controller. The mobile robot is configured to move autonomously within a facility. The controller is configured to control the mobile robot.

[0013] The robot control method according to this embodiment includes: monitoring the return status of a plurality of trays used for food service within the facility to a first designated location; and, upon detecting that one or more used trays from the plurality of trays used for food service have been returned to the first designated location, instructing a mobile robot to collect the trays returned to the first designated location and deliver them to a second designated location. The robot control method immediately collects the used trays returned to the first designated location, even before the scheduled time. This prevents the used trays from remaining uncollected for extended periods, thereby achieving enhanced sanitation.

[0014] The storage medium according to this embodiment stores a control program that causes a computer to execute processing, including: monitoring the return status of multiple trays used for food service within a facility to a first designated location; and, upon detecting that one or more used trays from the multiple trays used for food service have been returned to the first designated location, instructing a mobile robot to collect the trays returned to the first designated location and deliver them to a second designated location. The control program immediately collects the used trays returned to the first designated location, even before the scheduled time. This prevents the used trays from remaining uncollected for an extended period, thereby achieving enhanced sanitation.

[0015] According to the present invention, it is possible to provide a robot control system, a robot control method, and a storage medium that are capable of enhancing sanitation by immediately collecting used pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals represent like elements, and wherein:

[0017] Figure 1 is a schematic diagram illustrating a mobile robot as a robot control system according to a first embodiment;

[0018] Figure 2 is a perspective view illustrating a mobile robot according to a first embodiment;

[0019] Figure 3 is a perspective view illustrating a mobile robot according to a first embodiment;

[0020] Figure 4 is a schematic plan view illustrating movement of the mobile robot within a facility according to the first embodiment;

[0021] Figure 5 is a flowchart showing an example of the operation of the mobile robot according to the first embodiment;

[0022] Figure 6 is a flowchart showing another example of the operation of the mobile robot according to the first embodiment;

[0023] Figure 7 is a flowchart showing another example of the operation of the mobile robot according to the first embodiment;

[0024] Figure 8 is a block diagram illustrating a server device provided in the robot control system according to the second embodiment; and

[0025] Figure 9is a sequence diagram illustrating the operation of the robot control system according to the second embodiment. DETAILED DESCRIPTION

[0026] Although the present invention will be described below by way of its embodiments, the present invention within the scope of the claims is not limited to the embodiments disclosed below. In addition, not all components described in the embodiments are necessary for achieving the objectives. To facilitate understanding, the following description and drawings are appropriately omitted and simplified. In the various drawings, the same components are represented by the same reference numerals, and redundant descriptions are omitted as necessary.

[0027] First embodiment

[0028] Hereinafter, a robot control system according to a first embodiment will be described. The robot control system is a system for controlling a mobile robot configured to be able to move autonomously within a designated facility. The robot control system may be a single mobile robot, or may be a system including one or more mobile robots and a server device (controller) that manages (controls) the mobile robots. The mobile robots include delivery robots that move autonomously to deliver items. In this embodiment, a case will be described where the robot control system is a single mobile robot. In this embodiment, the mobile robot is used as a delivery robot that automatically moves to deliver catering service trays.

[0029] Configuration of mobile robots

[0030] Figure 1 1 is a perspective view illustrating a mobile robot according to a first embodiment. Figure 1 As shown, mobile robot 100 is configured to be able to move autonomously within designated facility 900. For example, designated facility 900 is a hospital. Note that designated facility 900 is not limited to a hospital. Designated facility 900 can be any facility, such as a hotel or a shopping mall, as long as mobile robot 100 can move autonomously within it. This embodiment will be described using the case where designated facility 900 is a hospital as an example.

[0031] Mobile robot 100 autonomously moves on floor surface 910 in facility 900. Facility camera 400 is fixed to the interior of facility 900. For example, facility camera 400 is fixed to ceiling 920 of facility 900 and images the vicinity of facility camera 400 to generate image data. Multiple facility cameras 400 may be installed within facility 900.

[0032] The mobile robot 100 and the facility camera 400 are communicatively connected to each other through information transmission such as wireless communication. For example, the mobile robot 100 and the facility camera 400 can be connected to each other for direct communication or to each other for communication with the server device 300 via the access point 500. The mobile robot 100 acquires image data from the facility camera 400 directly or via the access point 500 and the server device 300.

[0033] Access point 500 is, for example, an access point for a wireless LAN. Access point 500 is fixed inside facility 900 to obtain position information, travel information, or other information about mobile robot 100 from mobile robot 100 located around access point 500. Multiple access points 500 may be provided within facility 900.

[0034] Multiple mobile robots 100 can move autonomously within the facility 900. When the mobile robots 100 move autonomously, they can be connected to each other so as to be communicable with each other through information transmission such as wireless communication. For example, the mobile robots 100 can be connected so as to be able to communicate with each other directly, or they can be connected so as to be able to communicate with each other via the access point 500 and the server device 300.

[0035] Figure 2 is a perspective view illustrating the mobile robot 100 according to the first embodiment. Figure 3 1 is a block diagram illustrating the mobile robot 100 according to the first embodiment. Figure 2 and Figure 3 As shown, the mobile robot 100 includes a driving unit 110 , a housing unit 120 , a communication unit 130 , an operation receiving unit 140 , a display unit 150 , a sensor group 160 , an ID sensor 170 , a control unit 180 , and a storage unit 190 .

[0036] like Figure 2 As shown, mobile robot 100 is a mobile body that moves on floor surface 910 as a moving surface. Here, an XYZ orthogonal coordinate system is used to facilitate the description of mobile robot 100. Floor surface 910 is defined as an XY plane, and the upward direction is defined as the +Z axis direction.

[0037] The drive unit 110 serves as a moving device for the mobile robot 100. The drive unit 110 includes two drive wheels 111 and two casters 112. The drive wheels 111 are in contact with the floor surface 910 and are set to be able to rotate independently around a rotation axis that extends in a direction (left-right direction or Y-axis direction in the figure) perpendicular to the straight-line forward direction (front-back direction or X-axis direction in the figure). The casters 112 are in contact with the floor surface. The mobile robot 100 moves forward or backward by driving the drive wheels 111 arranged on the left and right sides at the same speed. The mobile robot 100 turns by setting the left and right drive wheels 111 to be different in rotation speed or rotation direction. The drive unit 110 drives the drive wheels 111 in response to instructions from the control unit 180.

[0038] Housing unit 120 is positioned above drive unit 110 in mobile robot 100. Housing unit 120 may have a storage compartment door 121. When storage compartment door 121 is open, a storage compartment is located within housing unit 120 for storing designated items to be delivered. In this embodiment, for example, meal service trays carrying hospital meals for patients or used meal service trays are stored in the storage compartment. Housing unit 120 can open and close storage compartment door 121 in response to commands from control unit 180.

[0039] like Figure 3 As shown, the communication unit 130 is an interface capable of communicating with the outside world. The communication unit 130 includes, for example, an antenna and circuitry for modulating or demodulating signals transmitted via the antenna. The communication unit 130 receives image data from the facility camera 400 directly or via the access point 500 and the server device 300.

[0040] The communication unit 130 may also receive information about the destination and information about the suitability of movement from the server device 300. The communication unit 130 may also transmit information about the status of the mobile robot 100, position information, travel information, or other information to the server device 300. The communication unit 130 may also exchange position information and image data with other mobile robots 100 directly or via the access point 500 and the server device 300.

[0041] The communication unit 130 may periodically transmit a heartbeat signal to the server device 300. The heartbeat signal may include log data chronologically indicating the status of the mobile robot 100. The heartbeat signal may also include an identification (ID) of the mobile robot 100 and an ID of a user operating the mobile robot 100.

[0042] The communication unit 130 is connected to the control unit 180 to output a signal including information transmitted from the facility camera 400 and the server device 300 to the control unit 180. The communication unit 130 also transmits a signal output from the control unit 180 to the server device 300.

[0043] Upon receiving an input operation from the user, the operation receiving unit 140 transmits an operation signal to the control unit 180. As a device for receiving an input operation from the user, the operation receiving unit 140 may have, for example, an operation button or a touch panel superimposed on the display unit 150. The user operates the input operation device to turn on or off the power, open and close the storage chamber door 121, and the like.

[0044] For example, the display unit 150 is provided so as to protrude from the upper surface of the housing unit 120. The display unit 150 is, for example, a display unit including a rectangular liquid crystal panel. The display unit 150 appropriately displays information in response to instructions from the control unit 180. A touch panel for receiving user operations may be superimposed on the display unit 150.

[0045] The sensor group 160 includes sensors that acquire data required for the autonomous movement of the mobile robot 100. The sensor group 160 includes, for example, a robot camera 161 and a distance sensor 162. The sensor group 160 may further include sensors other than the robot camera 161 and the distance sensor 162.

[0046] The robot camera 161 is disposed, for example, at an upper portion of the housing unit 120 below the display unit 150. The robot camera 161 may be composed of two camera units having the same viewing angle, the camera units being disposed horizontally apart from each other. Images captured by the respective camera units are output as image data to the control unit 180.

[0047] For example, the distance sensor 162 is disposed at the bottom of the housing unit 120. The distance sensor 162 may be disposed below the +X-axis side surface, the -X-axis side surface, the +Y-axis side surface, and the -Y-axis side surface of the housing unit 120. The distance sensor 162 measures the distance to objects around the mobile robot 100. By analyzing image data output by the robot camera 161 and detection signals output by the distance sensor 162, the control unit 180 identifies obstacles around the mobile robot 100 and measures the distance between the mobile robot 100 and the obstacles.

[0048] For example, an ID sensor 170 is provided near the display unit 150. The ID sensor 170, which identifies the ID of the user operating the mobile robot 100, detects a unique identifier included in an ID card owned by each user. For example, the ID sensor 170 includes an antenna for reading information from each wireless tag. In order for the mobile robot 100 to recognize the ID of the user operating the mobile robot 100, the user brings the ID card close to the ID sensor 170.

[0049] The control unit 180 is an information processing device having an arithmetic device such as a central processing unit (CPU). The control unit 180 includes hardware of the control unit 180 and a program stored in the hardware. Specifically, the processing performed by the control unit 180 is realized by one of hardware and software.

[0050] The control unit 180 acquires various information from the various components and issues instructions to them based on the acquired information. For example, the control unit 180 detects the distance between the mobile robot 100 and surrounding objects based on image data acquired from the facility camera 400 and the robot camera 161, as well as information about objects surrounding the mobile robot 100 acquired from the distance sensor 162. The control unit 180 then calculates a route to the destination based on the detected distance, positional information, and other factors. The control unit 180 then instructs the drive unit 110 to move along the calculated route. When performing this process, the control unit 180 refers to information about the floor map stored in the storage unit 190.

[0051] The storage unit 190 includes a non-volatile memory such as a flash memory and a solid-state drive (SSD). The storage unit 190 stores a floor map of a facility for autonomous movement of the mobile robot 100. The storage unit 190 is connected to the control unit 180 and outputs the stored information to the control unit 180 in response to a request from the control unit 180.

[0052] like Figure 2 As shown, the +x-axis direction of the mobile robot 100 on which the robot camera 161 is arranged is defined as the front side. In other words, during normal movement, the +x-axis direction is the forward direction, as shown by the arrow.

[0053] Note that various ideas can be adopted as to how to define the front side of the mobile robot 100. For example, the front side of the mobile robot 100 can be defined based on how the sensor group 160 for recognizing the surrounding environment is arranged. Specifically, among the side surfaces of the housing unit 120 of the mobile robot 100, a side on which sensors with high recognition capabilities are arranged or many sensors are arranged can be defined as the front side of the mobile robot 100. By defining the front side of the mobile robot 100 in this manner, the mobile robot 100 can move while more accurately recognizing the surrounding environment. The mobile robot 100 in this embodiment also defines the +x-axis direction in which the robot camera 161 is arranged as the front side.

[0054] Alternatively, the front side can be defined based on how the display unit 150 is arranged. When the display unit 150 displays a person's face, etc., people around the mobile robot 100 naturally recognize that one side of the display unit 150 is the front side of the mobile robot 100. Therefore, the side of the display surface of the display unit 150 defined as the front side of the mobile robot 100 gives less discomfort to the people around the mobile robot 100. The mobile robot 100 in this embodiment also defines one side of the display surface of the display unit 150 as the front side.

[0055] The front side of the mobile robot 100 can also be defined based on the shape of the shell of the shell unit 120. For example, when the projected shape of the shell unit 120 on the traveling surface is a rectangle, when the shorter side of the shell unit 120 is defined as the front side, people passing by are less disturbed during movement than when the longer side is defined as the front side. In other words, depending on the shape of the shell, some shell surfaces are more suitable as the front side during normal movement. The mobile robot 100 in this embodiment also defines the shorter side of the rectangle as the front side. The front side of the mobile robot 100 is defined in accordance with some of the ideas described above. The shape, function, etc. of the mobile robot can be considered to determine which idea to use to define the front side.

[0056] Mobile robot operation

[0057] The operation of the mobile robot in this embodiment will now be described. For example, a user turns on the power of the mobile robot 100. The user then inputs a desired task into the operation receiving unit 140. When the power is turned on or the operation receiving unit 140 is operated, the ID sensor 170 is used to identify the user ID when necessary.

[0058] When the desired task is to deliver an item, the user operates the operation receiving unit 140 to open the storage chamber door 121 and put the item into the storage chamber. The user then operates the operation receiving unit 140 to close the storage chamber door 121.

[0059] The user then inputs a delivery destination for the item using the operation receiving unit 140. Consequently, the control unit 180 of the mobile robot 100 searches for a route from the delivery source to the delivery destination using the floor map stored in the storage unit 190. The mobile robot 100 then delivers the item along the route derived from the floor map while avoiding obstacles such as installed objects and people.

[0060] Figure 4 is a schematic plan view showing the movement of the mobile robot 100 within a facility. Figure 4 In the example shown in FIG. 1 , hospital facility 900 includes a kitchen 700 for preparing hospital meals, a patient ward 800, and a corridor 901 between kitchen 700 and patient ward 800. Kitchen 700 also serves as a tray collection location. Therefore, kitchen 700 is also referred to as tray collection location 700. Patient ward 800 is home to six patients, M1 through M6. Near the entrance to patient ward 800, a return station 801 for used trays is located.

[0061] For example, in kitchen 700, serving as a delivery source, cooking staff place meal service trays P1 to P6 carrying hospital meals in the storage room of mobile robot 100. Hospital staff then enter ward 800, which is treating patients M1 to M6, into mobile robot 100 as the delivery destination for meal service trays P1 to P6. Mobile robot 100 then delivers meal service trays P1 to P6 from kitchen 700 to ward 800 along route R1 derived from the floor map.

[0062] For example, in ward 800, which is the delivery source, hospital staff also place used meal service trays (hereinafter referred to as used trays) P1 to P6 after patients M1 to M6 finish their meals in the storage room of mobile robot 100. The hospital staff then inputs a tray collection location 700, which is the delivery destination for used trays P1 to P6, into mobile robot 100. Mobile robot 100 then delivers used trays P1 to P6 from ward 800 to tray collection location 700 along route R2 derived from the floor map.

[0063] The mobile robot 100 may be configured to place items arranged at a designated location into a storage room by itself by default or through an instruction from a server device or the like, and then deliver the items to a designated delivery destination to provide the items.

[0064] Specifically, the mobile robot 100 can be configured to autonomously place meal service trays P1 to P6 carrying hospital meals into a storage room in the kitchen 700, and then deliver the meal service trays P1 to P6 to a designated ward 800 to provide them to patients M1 to M6 admitted to the ward 800. The mobile robot 100 can also be configured to autonomously place used trays P1 to P6 returned to a return station 801 installed near the entrance of the ward 800 into a storage room, and then deliver the used trays P1 to P6 to a designated tray collection location 700 so that they can be returned to the tray collection location 700.

[0065] exist Figure 4 In the illustrated example, the mobile robot 100 travels back and forth between the kitchen 700 and one ward 800. However, the mobile robot 100 may be configured to travel back and forth between the kitchen 700 and a plurality of wards 800, or may be configured to deliver other items to other delivery destinations during idle time without being limited to this example.

[0066] Here, mobile robot 100 is basically configured to collect used trays P1 to P6 returned to return station 801 at the appointed time. For example, when meals are provided to individual patients at 6:00 PM, mobile robot 100 is configured to collect used trays P1 to P6 returned to return station 801 at the appointed time of 9:00 PM. However, if, for example, patient M1 loses his appetite and therefore returns used tray P1 to return station 801 at 6:30 PM, used tray P1 ends up being left on return station 801 for approximately two and a half hours. When used trays remain uncollected near the ward entrance for an extended period due to being returned earlier than expected, this can lead to sanitation issues, such as the odor of leftover food. Uncollected trays can also cause fasting patients to steal leftovers.

[0067] As a solution, when it is detected that one or more of the multiple trays used for catering services are returned to a designated location (e.g., the return station 801), the mobile robot 100 according to the present embodiment collects the trays returned to the designated return location and delivers them to the designated delivery destination. In other words, when it is detected that one or more of the multiple trays used for catering services are returned to the designated location, the control unit 180 of the mobile robot 100 according to the present embodiment instructs the mobile robot 100 to collect the trays returned to the designated return location and deliver them to the designated delivery destination. Therefore, even before the agreed time, the mobile robot 100 according to the present embodiment immediately collects the used trays returned to the designated return location. This makes it possible to prevent used trays from remaining uncollected for a long time, thereby achieving enhanced hygiene.

[0068] Detect in any way whether the tray is returned to the designated return location and the number of returned trays. For example, based on the image captured by the facility camera 400 that captures the designated return location, detect whether the tray is returned to the designated return location and the number of returned trays. Alternatively, multiple trays used for catering services can each be attached with an IC tag, and the return station at the designated return location can be equipped with a tag reader. Based on the result of the tag reader reading the IC tag, it is possible to detect whether the tray is returned to the return station and the number of returned trays. Alternatively, the return station at the designated return location can be equipped with a load sensor. Based on the load detected by the load sensor, it is possible to detect whether the tray is returned to the return station and the number of returned trays.

[0069] Figure 5 The mobile robot 100 is shown in Figure 4 A flow chart illustrating an example of operations in a hospital is shown.

[0070] First, when the hospital meals are ready, the mobile robot 100 places the meal service trays P1 to P6 carrying the hospital meals into the storage room in the kitchen 700, and then delivers the meal service trays P1 to P6 to the designated ward 800 to provide them to patients M1 to M6 at, for example, 18:00 (step S101).

[0071] The mobile robot 100 then waits for a while (step S102 ). The mobile robot 100 may deliver items other than the food service tray during the waiting period.

[0072] For example, if the used pallets P1 to P6 are not returned to the return station 801 by the scheduled time of 21:00 (No in step S103), the mobile robot 100 does not collect the pallets before the scheduled time. On the contrary, when the scheduled time comes, the mobile robot 100 collects the used pallets P1 to P6 (Yes in step S106 → step S107).

[0073] At the same time, when it is detected that the used pallet P1 is returned to the return station 801 at 19:00 before the agreed time, for example (Yes in step S103), the mobile robot 100 immediately goes to collect the used pallet P1 even before the agreed time. The mobile robot 100 then collects the used pallet P1 returned to the return station 801 and delivers the used pallet P1 to the pallet collection location (kitchen) 700 (step S105). The process of the mobile robot 100 collecting the used pallets before the agreed time is repeated until the agreed time arrives (No in step S106). Then, once the agreed time arrives, the mobile robot 100 collects the remaining used pallets, which also serves as a final check (step S107).

[0074] Therefore, when it is detected that any one of the trays P1 to P6 for meal service is returned to the return station 801 near the entrance of the ward 800, even before the appointed time, Figure 5 The mobile robot 100 shown in the example also immediately collects used trays that are returned to the return station 801. This prevents used trays from remaining uncollected for a long time, thereby achieving enhanced hygiene. This can also prevent fasting patients from stealing leftovers.

[0075] In the described example, when any one of the trays P1 to P6 used for catering services is detected to be returned to the return station 801, the mobile robot 100 collects the returned used tray. However, the present disclosure is not limited to this example. When a specified number of trays, two or more, are detected to be returned to the return station 801, the mobile robot 100 may collect the specified number of returned used trays. This reduces the number of times the mobile robot 100 collects trays.

[0076] Figure 6 The mobile robot 100 is shown in Figure 4 Hereinafter, the following will be described with reference to another example of the operation in the hospital. Figure 5 The operating details are different from those described in .

[0077] exist Figure 6 In the example shown in FIG. 1 , when it is detected that a used pallet P2 has been returned to the return station 801 at, for example, 7:00 PM before the scheduled time (Yes in step S103), the mobile robot 100 waits for a specified time T1 (e.g., approximately one hour) (step S104) and then collects the used pallet P2 (step S105). Therefore, if another used pallet P3 is returned between the time the used pallet P2 was returned and the specified time T1 has passed (in this example, between 7:00 PM and 8:00 PM), the mobile robot 100 can collect the used pallets P2 and P3 together.

[0078] in short, Figure 6 The mobile robot 100 shown in the example of FIG. 1 is capable of preventing used pallets from being left uncollected for a long time to enhance hygiene while reducing the number of times the pallets are collected.

[0079] Figure 7 The mobile robot 100 is shown in Figure 4 A flow chart illustrating another example of operations in a hospital is shown.

[0080] First, when the hospital meals are ready, the mobile robot 100 places the meal service trays P1 to P6 carrying the hospital meals into the storage room in the kitchen 700, and then delivers the meal service trays P1 to P6 to the designated ward 800 to provide them to patients M1 to M6 at, for example, 18:00 (step S101).

[0081] The mobile robot 100 then waits for a while (step S102 ). The mobile robot 100 may deliver items other than the food service tray during the waiting period.

[0082] For example, if the used pallets P1 to P6 are not detected to be returned to the return station 801 by the scheduled time of 21:00 (No in step S103), the mobile robot 100 does not collect the pallets before the scheduled time. On the contrary, when the scheduled time comes, the mobile robot 100 collects the used pallets P1 to P6 (Yes in step S106 → step S107).

[0083] Meanwhile, when it is detected that the used pallet P1 is returned to the return station 801 at 19:00 before the scheduled time (Yes in step S103), the mobile robot 100 waits for a while (step S201). When no other used pallet is returned during the waiting time T2 (for example, about 15 minutes) (No in step S202 → Yes in step S203), the mobile robot 100 goes to collect the used pallet P3 (step S105).

[0084] Here, when it is detected that another used pallet P4 is returned to the return station 801 during the waiting time T2 (Yes in step S202), the mobile robot 100 waits for a period of time after the used pallet P4 is returned to the return station 801 (step S201). When no other used pallet is returned during the waiting time T2 after the pallet P4 is returned (No in step S202 → Yes in step S203), the mobile robot 100 collects the used pallets P3 and P4 (step S105).

[0085] Repeat the process of the mobile robot 100 collecting the used pallets before the appointed time until the appointed time comes (No in step S106). Then, once the appointed time comes, the mobile robot 100 collects the remaining used pallets, which also serves as a final inspection (step S107).

[0086] therefore, Figure 7 The mobile robot 100 shown in the example in Figure 5 The same effect as the mobile robot 100 shown in the example. Figure 7 The mobile robot 100 shown in the example in FIG waits for a short time after any one used pallet is returned. When another used pallet is returned during the waiting time, the mobile robot 100 collects the used pallets collectively. Figure 7 The mobile robot 100 shown in the example of FIG. 1 is capable of preventing used pallets from being left uncollected for a long time to enhance hygiene while reducing the number of times the pallets are collected.

[0087] Second embodiment

[0088] Next, a robot control system according to a second embodiment will be described. In this embodiment, a case will be described where the robot control system includes one or more mobile robots and a server device (controller) that manages (controls) the mobile robots.

[0089] Specifically, the robot control system includes one or more mobile robots 100 and a server device 300. Since the configuration of the mobile robot 100 is similar to that described in the first embodiment, a description thereof will be omitted.

[0090] The mobile robot 100 according to this embodiment may be configured so that some functions of the mobile robot 100 in the first embodiment are included in the server device 300. For example, the server device 300 may be configured to instruct one or more mobile robots 100 to deliver catering service trays carrying hospital meals and collect used trays.

[0091] For example, the server device 300 is a computer with a communication function. The server device 300 can be installed anywhere as long as the server device 300 can communicate with the various components of the robot control system. The server device 300 sends and receives position information and travel information about the mobile robot 100.

[0092] Figure 8 1 is a block diagram illustrating a server device provided in the robot control system according to the second embodiment. Figure 8 As shown, the server device 300 includes a communication unit 330 , a control unit 380 , and a storage unit 390 .

[0093] The communication unit 330 communicates with each mobile robot 100 individually. The communication unit 330 outputs signals received from each component to the control unit 380. The communication unit 330 also appropriately transmits signals output from the control unit 380 to each component. The communication unit 330 may include a router device for performing communication between the server device 300 and the multiple components. For communication between the server device 300 and the multiple components, the communication unit 330 may have multiple different communication devices for each component as a communication partner. The communication unit 330 may be capable of being connected to each component via an intranet line or an Internet line.

[0094] The control unit 380 is composed of an arithmetic device such as a CPU to perform various information processing. The control unit 380 may be configured to instruct one or more mobile robots 100 to deliver a catering service tray carrying hospital meals and collect used trays.

[0095] The storage unit 390 includes a non-volatile memory such as a flash memory and an SSD. The storage unit 390 stores a floor map of a facility for autonomous movement of the mobile robot 100. The storage unit 390 is connected to the control unit 380 and outputs the stored information to the control unit 380 in response to a request from the control unit 380.

[0096] Figure 9 1 is a sequence diagram illustrating the operation of the robot control system according to the second embodiment. Figure 9 In the example of FIG, a case where the server device 300 instructs one mobile robot 100 to deliver a food service tray is described. However, the server device 300 may instruct a plurality of mobile robots 100 to deliver a food service tray without being limited to this case.

[0097] like Figure 9 As shown, for example, when it is detected that hospital meals are ready in kitchen 700 (step S301), server device 300 instructs mobile robot 100 to deliver meal service trays P1 to P6 carrying hospital meals from kitchen 700 to ward 800 (step S303). At this time, server device 300 searches for a route from the current position of mobile robot 100 to kitchen 700, which is the delivery source, and a route R1 from kitchen 700 to ward 800 (step S302), and transmits the confirmed route to mobile robot 100 (step S304).

[0098] Therefore, the mobile robot 100 moves to the kitchen 700 as the delivery source along the route received from the server device 300. When the mobile robot 100 receives the meal service trays P1 to P6 carrying hospital meals, the mobile robot 100 delivers the meal service trays P1 to P6 to the patient room 800 along the route R1 (step S305).

[0099] After the patient etc. finishes eating and drinking, the mobile robot 100 collects the used trays in response to the instruction from the server device 300. The process of the mobile robot 100 collecting the used trays is basically the same as that of the server device 300. Figures 5 to 7 The following describes the same process flow as shown in Figure 5 The processing flow shown corresponds to the processing flow.

[0100] Basically, when the scheduled time arrives (step S311), server device 300 instructs mobile robot 100 to collect used pallets P1 to P6 that have been returned to return station 801 (step S313). At this point, server device 300 searches for a route from mobile robot 100's current location to return station 801 near the entrance of ward 800, which served as the source of the delivery, and for a route R2 from return station 801 to pallet collection location 700 (step S312). Server device 300 transmits the confirmed route information to mobile robot 100 (step S314).

[0101] Therefore, the mobile robot 100 moves to the return station 801 as the delivery source along the route received from the server device 300, collects the used pallets returned to the return station 801, and delivers the used pallets to the pallet collection location 700 along the route R2 (step S315).

[0102] If server device 300 detects that a used pallet P1 has been returned to return station 801 before the scheduled time (step S306), it instructs mobile robot 100 to immediately collect the used pallet P1 even before the scheduled time (step S308). At this point, server device 300 searches for a route from mobile robot 100's current location to return station 801 near the entrance of ward 800, the source of the delivery, and for a route R2 from return station 801 to pallet collection location 700 (step S307). Server device 300 transmits the confirmed route information to mobile robot 100 (step S309).

[0103] Therefore, the mobile robot 100 moves to the return station 801 as the delivery source along the route received from the server device 300, collects the used pallet P1 returned to the return station 801, and delivers the used pallet P1 to the pallet collection location 700 along the route R2 (step S310). The mobile robot 100 repeats the process of collecting used pallets before the scheduled time until the scheduled time arrives.

[0104] Therefore, when the robot control system according to this embodiment detects that one or more of the multiple trays used for catering services have been returned to a designated return location, it instructs mobile robot 100 to collect the trays returned to the designated return location and deliver them to the designated delivery destination. Therefore, even before the scheduled time, the robot control system according to this embodiment immediately collects used trays returned to the designated return location. This prevents used trays from remaining uncollected for extended periods, thereby achieving enhanced sanitation.

[0105] Note that the present invention is not limited to the disclosed embodiments and can be modified appropriately without departing from the scope of the present invention. For example, a combination of the components of the first and second embodiments is also within the technical concept of this embodiment. The autonomous movement method and autonomous movement program described below are also within the technical concept of this embodiment.

[0106] Furthermore, the present disclosure can realize part or all of the processing in the mobile robot 100 and the server device 300 by causing a central processing unit (CPU) to execute a computer program.

[0107] The above program can be stored using various types of non-transitory computer-readable media and provided to the computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media, magneto-optical recording media, read-only memory (CD-ROM), CD-R, CD-R / W, and semiconductor memory. Examples of magnetic recording media include floppy disks, magnetic tapes, hard disk drives, etc. Examples of magneto-optical recording media include magneto-optical disks, etc. Examples of semiconductor memories include mask ROMs, programmable ROMs (PROMs), erasable PROMs (EPROMs), flash ROMs, random access memories (RAMs), etc. Various types of temporary computer-readable media can be used to provide the program to the computer. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide the program to the computer via a wired communication channel (e.g., wires, optical fibers) or a wireless communication channel.

[0108] Note that the present invention is not limited to the disclosed embodiments and can be modified as appropriate without departing from the scope of the present invention. For example, combinations of the components of the first and second embodiments are also within the technical concept of this embodiment. The robot control method and control program described below are also within the technical concept of this embodiment.

[0109] Appendix 1

[0110] A robot control method, comprising:

[0111] the steps of monitoring the return status of a plurality of trays to a first designated location, said plurality of trays being used for food service within said facility; and

[0112] When it is detected that one or more used trays among the plurality of trays used for catering services are returned to the first designated location, a mobile robot is instructed to collect the trays returned to the first designated location and deliver the trays to a second designated location.

[0113] Appendix 2

[0114] The robot control method according to Appendix 1, wherein, in the step of instructing delivery, when it is detected that two or more specified numbers of trays among the multiple trays used for catering services are returned to the first designated location, the mobile robot is instructed to collect the specified number of trays returned to the first designated location and deliver the trays to the second designated location.

[0115] Appendix 3

[0116] The robot control method according to Appendix 1, wherein, in the step of instructing delivery, when a first designated time has passed after any one of the multiple trays used for catering services is returned to the first designated location, the mobile robot is instructed to collect the tray returned to the first designated location and deliver the tray to the second designated location.

[0117] Appendix 4

[0118] According to the robot control method described in Appendix 1, in the step of instructing delivery, after any one of the multiple trays used for catering services is returned to the first designated location, after a second designated time has passed, when another tray is not returned to the first designated location, the mobile robot is instructed to collect the tray returned to the first designated location and deliver the tray to the second designated location.

[0119] Appendix 5

[0120] A robot control method according to any one of Appendices 1 to 4, wherein, in the step of monitoring the return status, the number of pallets returned to the first designated location is detected based on an image captured by a camera configured to capture the first designated location.

[0121] Appendix 6

[0122] A robot control method according to any one of Appendices 1 to 4, wherein:

[0123] The plurality of trays for catering services are each attached with an IC tag;

[0124] The first designated location is provided with a return station having a tag reader; and

[0125] In the step of monitoring the return status, the number of pallets returned to the first designated place is detected based on a result of the tag reader reading the IC tag.

[0126] Appendix 7

[0127] A robot control method according to any one of Appendices 1 to 4, wherein:

[0128] The first designated location is provided with a return station equipped with a load sensor; and

[0129] In the step of monitoring the return status, the number of pallets returned to the first designated place is detected based on the load detected by the load sensor.

[0130] Appendix 8

[0131] A control program that causes a computer to execute a process, the process comprising:

[0132] a process for monitoring the return status of a plurality of trays to a first designated location, the plurality of trays being used for food service within the facility; and

[0133] When it is detected that one or more used trays among the plurality of trays used for catering services are returned to the first designated location, a mobile robot is instructed to collect the trays returned to the first designated location and deliver the trays to a second designated location.

[0134] Appendix 9

[0135] According to the control program described in Appendix 8, in the step of instructing delivery, when it is detected that two or more specified numbers of used trays among the multiple trays used for catering services are returned to the first designated location, the mobile robot is instructed to collect the specified number of trays returned to the first designated location and deliver the trays to the second designated location.

[0136] Appendix 10

[0137] According to the control program described in Appendix 8, wherein, in the step of instructing delivery, when a first designated time has passed after any one of the multiple trays used for catering services is returned to the first designated location, the mobile robot is instructed to collect the tray returned to the first designated location and deliver the tray to the second designated location.

[0138] Appendix 11

[0139] According to the control program described in Appendix 8, in the step of instructing delivery, after any one of the multiple trays used for catering services is returned to the first designated location, after a second designated time has passed, when another tray is not returned to the first designated location, the mobile robot is instructed to collect the tray returned to the first designated location and deliver the tray to the second designated location.

[0140] Appendix 12

[0141] A control program according to any one of Appendices 8 to 11, wherein, in the step of monitoring the return status, the number of pallets returned to the first designated place is detected based on an image captured by a camera configured to capture the first designated place.

[0142] Appendix 13

[0143] A control procedure according to any one of Appendices 8 to 11, wherein:

[0144] The plurality of trays for catering services are each attached with an IC tag;

[0145] The first designated location is provided with a return station having a tag reader; and

[0146] In the step of monitoring the return status, the number of pallets returned to the first designated place is detected based on a result of the tag reader reading the IC tag.

[0147] Appendix 14

[0148] A control procedure according to any one of Appendices 8 to 11, wherein:

[0149] The first designated location is provided with a return station equipped with a load sensor; and

[0150] In the step of monitoring the return status, the number of pallets returned to the first designated place is detected based on the load detected by the load sensor.

Claims

1. A robot control system for controlling a mobile robot configured to move autonomously within a facility, wherein: When detecting that one or more used trays among a plurality of trays used for food service in the facility are returned to a first designated location before an agreed time, the system instructs the mobile robot to collect the trays returned to the first designated location and deliver the trays to a second designated location; When the appointed time arrives, the system instructs the mobile robot to collect the remaining used pallets returned to the first designated location and deliver the pallets to the second designated location.

2. The robot control system according to claim 1, wherein: When it is detected that two or more designated numbers of used trays among the plurality of trays used for catering services are returned to the first designated location, the system instructs the mobile robot to collect the designated number of trays returned to the first designated location and deliver the trays to the second designated location.

3. The robot control system according to claim 1, wherein: When a first designated time elapses after any one of the plurality of trays for catering service is returned to the first designated location, the system instructs the mobile robot to collect the tray returned to the first designated location and deliver the tray to the second designated location.

4. The robot control system according to claim 1, wherein: After any one of the plurality of trays used for catering services is returned to the first designated location, after a second designated time has passed, when another tray has not been returned to the first designated location, the system instructs the mobile robot to collect the tray returned to the first designated location and deliver the tray to the second designated location.

5. The robot control system according to any one of claims 1 to 4, wherein: The system detects the number of pallets returned to the first designated place based on an image captured by a camera configured to capture the first designated place.

6. The robot control system according to any one of claims 1 to 4, wherein: The plurality of trays for catering services are each attached with an IC tag; The first designated location is provided with a return station having a tag reader; and The system detects the number of pallets returned to the first designated place based on a result of the tag reader reading the IC tag.

7. The robot control system according to any one of claims 1 to 4, wherein: The first designated location is provided with a return station equipped with a load sensor; and The system detects the number of pallets returned to the first designated location based on the load detected by the load sensor.

8. The robot control system according to any one of claims 1 to 4, comprising: the mobile robot configured to move autonomously within the facility; as well as A controller is configured to control the mobile robot.

9. A robot control method comprising: the steps of monitoring the return status of a plurality of trays to a first designated location, the plurality of trays being used for food service within the facility; When it is detected that one or more used trays of the plurality of trays used for catering services are returned to the first designated location before an agreed time, instructing a mobile robot to collect the trays returned to the first designated location and deliver the trays to a second designated location; as well as When the appointed time arrives, the mobile robot is instructed to collect the remaining used pallets returned to the first designated location and deliver the pallets to the second designated location.

10. A storage medium storing a control program for causing a computer to execute a process, the process comprising: monitoring the return status of a plurality of trays to a first designated location, the plurality of trays being used for food service within the facility; When detecting that one or more used trays among the plurality of trays used for catering services are returned to the first designated location before an agreed time, instructing a mobile robot to collect the trays returned to the first designated location and deliver the trays to a second designated location; as well as When the appointed time arrives, the mobile robot is instructed to collect the remaining used pallets returned to the first designated location and deliver the pallets to the second designated location.

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