Service robot

Abstract

To make various kinds of improvements and refinements to service robots.SOLUTION: A service robot according to the present invention is a service robot that can travel and provides various kinds of services to a user, and includes a speaker that outputs voice to the user, a receiver that outputs voice to the user and can also input user's voice, a storage location for storing the receiver, and a control unit that performs voice control on the speaker and the receiver.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a service robot that provides services in various facilities. [Background technology]

[0002] Currently, service robots are being introduced into various types of eating and drinking establishments, such as restaurants and conveyor belt sushi restaurants. These service robots in restaurants serve and clear dishes on behalf of employees, reducing the workload of employees and improving work efficiency. Patent Document 1 describes a service robot used in restaurants that collects information by linking the provided food and drink with the attributes of the person who actually ate and drank. In Patent Document 1, information about customers is collected by linking the gender, age, and attributes of people obtained by collecting audio of conversations between multiple people with the provided food and drink. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-7564 Summary of the Invention [Problem to be solved by the invention]

[0004] It is expected that service robots will be used not only in restaurants but also in various stores and facilities in the future. The widespread use of service robots will reduce the burden on workers and other humans for tasks and services that have been performed up until now, and will also make it possible to improve the efficiency and content of such tasks and services. The purpose of the present invention is to make various improvements to such service robots. [Means for solving the problem]

[0005] The service robot according to the first-1 configuration of the present invention is A service robot that can move and provides various services to a user, a speaker for outputting audio to a user; a handset that outputs voice to a user and is capable of inputting the user's voice; A storage area for storing a handset; The handset includes a speaker and a control unit that performs audio control for the handset.

[0006] The service robot according to the first and second configurations of the present invention is In the service robot according to the configuration of 1-1, The handset storage device has a storage detection sensor that detects whether or not the receiver is stored in the storage location.

[0007] The service robot according to the first to third configurations of the present invention is In the service robot according to the configuration of 1-2, The control unit controls the travel of the service robot, The control unit uses the first driving mode when the vehicle is stored and the second driving mode when the vehicle is not stored, based on the detection result of the storage detection sensor.

[0008] The service robot according to the first to fourth configurations of the present invention is In the service robot according to the first to third configurations, The second driving mode has more restrictive driving limitations than the first driving mode.

[0009] The service robot according to the first to fifth configurations of the present invention is In the service robot according to the configuration of 1-2, The control unit switches between audio output from the speaker and audio output from the handset according to the detection result of the storage detection sensor.

[0010] The service robot according to the first to sixth configurations of the present invention is In the service robot according to the configuration of 1-1, a locking portion for fixing the handset in the storage portion; The control unit brings the lock unit into a locked state when the driving state is in a first driving mode, and releases the lock unit from being locked when the driving state is in a second driving mode.

[0011] The service robot according to the first to seventh configurations of the present invention is In the service robot according to the configuration of 1-1, A light emitting unit is provided near the handset or a storage location where the handset is stored, The control unit causes the light emitting unit to emit light when it is necessary to remove the handset from the storage location or when it is necessary to return the handset to the storage location.

[0012] The service robot according to the configuration 2-1 of the present invention is A service robot that can move and provides various services to a user, Handles that can be gripped are provided on both sides of the housing.

[0013] The service robot according to the configuration 2-2 is In the service robot according to the configuration of 2-1, The handle is provided at a position close to the center of gravity of the service robot.

[0014] The service robot according to the configuration 2-3 is: In the service robot according to the configuration of 2-1, An emergency button is provided to stop the service robot from moving. When the emergency button is operated, a notification process is performed to notify the driver of the use of the steering wheel.

[0015] The service robot according to the configuration 2-4 is: In the service robot according to the configuration of 2-1, The handle can be changed between a stowed position and a grippable position.

[0016] The service robot according to the configuration 2-5 is: In the service robot according to the configuration of 2-4, An emergency button is provided to stop the service robot from moving. When the emergency button is operated, the handle changes from a stored state to a graspable state.

[0017] A service robot according to a third aspect of the present invention includes: A service robot that can move and provides various services to a user, The device has a housing including an upper housing portion, a middle housing portion, and a lower housing portion, The middle part of the case is narrower than the top and bottom of the case. A mounting portion for mounting an external unit is provided on the side of the central portion of the housing.

[0018] A service robot according to a fourth aspect of the present invention includes: A service robot that can move and provides various services to a user, A service providing unit and a transport unit are provided, the service providing unit includes a first control unit and a first communication unit, and provides information to the user using the display unit or the speaker controlled by the first control unit; The transport unit includes a second control unit and a second communication unit, and the transport unit controls the transport by the second control unit. The first control unit and the second control unit perform control by performing communication between the first communication unit and the second communication unit using a communication protocol. Effect of the Invention

[0019] According to the service robot of the present invention, various improvements and modifications have been made, making it possible to improve the functionality of the service robot, provide benefits to the user who uses it, and improve work efficiency. [Brief description of the drawings]

[0020] [Figure 1] FIG. 1 is a perspective view of a service robot according to an embodiment of the present invention; [Diagram 2] Five-sided view of the service robot according to this embodiment [Diagram 3] FIG. 2 is a block diagram showing the control configuration of the service robot according to the embodiment; [Figure 4] FIG. 1 is a diagram for explaining a receiver of a service robot according to the present embodiment; [Diagram 5] FIG. 11 is a flow diagram showing a receiver-related control process of the service robot according to the embodiment; [Figure 6] FIG. 1 is a diagram for explaining a handle in a service robot according to the present embodiment; [Figure 7] FIG. 1 is a perspective view of a service robot according to an embodiment of the present invention (with an external unit attached); [Figure 8] Five-sided view of the service robot according to the present embodiment (with external unit attached) [Figure 9] FIG. 1 is a diagram illustrating the shape of a service providing unit according to the present embodiment; [Figure 10] Block diagram to explain how service robots are used (medical facilities) [Figure 11] Flow diagram to explain how service robots are used (medical facilities) [Figure 12] Flow diagram to explain how service robots are used (medical facilities) DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Fig. 1 is a perspective view of a service robot 1 according to this embodiment, and Fig. 2 is a five-view diagram of the service robot according to this embodiment. The service robot 1 of this embodiment is configured to have a service providing unit 2 and a transport unit 5. The service robot 1 is about 110 cm tall, which is a height that allows a user (adult) who uses it facing it to look down on it.

[0022] First, the service providing unit 2 will be described. The service providing unit 2 is a part that provides services using video, audio, etc. to users who are the targets of the services. The transport unit 5 is a part that moves the service robot 1, and the service providing unit 2 is disposed on its upper part. The service providing unit 2 and the transport unit 5 are connected via connectors 30, 65, and can cooperate by communicating with each other.

[0023] The housing 21 of the service providing unit 2 has three parts: a housing upper part 21a, a housing middle part 21b, and a housing lower part 21c. The housing upper part 21a is provided with a touch panel monitor 24, a front camera 22a, a rear camera 22b, light emitters 23a and 23b, and an emergency button 26. The touch panel monitor 24 can provide various images to a facing user. In addition, by displaying various user interfaces on the touch panel monitor 24, it is possible to receive touch operations by a user.

[0024] The front camera 22a is a means for photographing the front of the service robot 1. For example, the front camera 22a can be used to photograph a user facing the service robot 1, or to photograph the state in front of the service robot 1 while it is moving. The rear camera 22b is a means for photographing the rear of the service robot 1. The rear camera 22b can be used to photograph the state behind the service robot 1. For example, when the service robot 1 leads a user, the state of the user following the service robot 1 can be photographed and checked using the rear camera 22b.

[0025] The light-emitting units 23a, 23b are provided with light-emitting elements such as LEDs inside, and can emit light during various processes executed by the service robot 1. The service robot 1 is provided with a touch panel monitor 24, but information is provided by video only in one direction, forward. Since the service robot 1 moves, it may be necessary to call attention in various directions. For example, if a user is located behind or to the side of the service robot 1, it is difficult to call the user's attention using the touch panel monitor 24. For this reason, in this embodiment, the light-emitting units 23a, 23b are provided that can call attention to the side and back of the service robot 1.

[0026] 1 and 2, the light-emitting units 23a and 23b are shaded in order to clearly indicate the positions of the light-emitting units 23a and 23b. As can be seen from the right side view of FIG. 2(B), the left side view of FIG. 2(D), and the rear view of FIG. 2(E), the light-emitting units 23a and 23b can be seen from the side and rear of the service robot 1. In this way, by providing the light-emitting units 23a and 23b, it is possible to call the attention of a user who is positioned to the side or rear of the service robot 1.

[0027] The emergency button 26 is a button that can be operated by the user, and is operated in the event of an emergency such as an earthquake, fire, etc. When the emergency button 26 is operated, the drive of the wheels 54a to 54d is stopped, and the service robot 1 becomes movable by applying a force (pushing, pulling, etc.) to the housing 21. In this way, when the emergency button 26 is operated, the service robot 1 becomes movable, and it can be moved to an appropriate position that does not get in the way.

[0028] As can be seen from the front view of Fig. 2(C), the housing middle part 21b is formed narrower than the housing upper part 21a and the housing lower part 21c. An attachment groove 21d (corresponding to an "attachment part") for attaching an external unit is provided on the side of the housing middle part 21b. Using this attachment groove 21d, it is possible to attach the external unit at an appropriate height.

[0029] A speaker hole 21e and a handset 25 are provided on the front surface of the housing middle part 21b. A speaker 33 is provided behind the speaker hole 21e, and it is possible to provide information using voice to the facing user. The handset 25 can be detached from the service robot 1 for use. The handset 25 is configured with a speaker that outputs voice and a microphone that can input voice.

[0030] The handset 25 is used in situations where the user does not want the conversation between the service robot 1 and the user to be heard by others around, or where the voice output from the service robot 1 or loud conversations would be a nuisance to others around, such as in a hospital room. A handset position light emitting unit 27 is provided above the storage part of the handset 25. When the handset 25 needs to be picked up or the handset 25 that is being used needs to be returned to the storage part, the handset position light emitting unit 27 emits light to alert the user to remove the handset or store it.

[0031] Next, the transport unit 5 will be described. The transport unit 5 is configured to include a housing 51, wheels 54a to 54d, and surrounding sensors 52a to 52d. The service providing unit 2 is disposed on the upper part of the housing 51, and the four wheels 54a to 54d are disposed on the lower part of the housing 51. The wheels 54a to 54d in this embodiment are spherical wheels, allowing the service robot 1 to travel in any direction. The surrounding sensors 52a to 52d are provided on the four side surfaces of the housing 51, and are capable of detecting obstacles around the transport unit 5. The travel of the conveying section 5 is controlled based on the detection results of the surrounding sensors 52a to 52d.

[0032] Fig. 3 is a block diagram showing the control configuration of the service robot 1 according to this embodiment. As described with reference to Figs. 1 and 2, the service robot 1 according to this embodiment is configured to include a service providing unit 2 and a transport unit 5. The service providing unit 2 includes a first CPU 31a that performs overall control thereof. The transport unit 5 includes a second CPU 61a that performs overall control thereof. The service providing unit 2 and the transport unit 5 are connected via connectors 30, 65, and the first CPU 31a and the second CPU 61a can communicate with each other using the communication units 29, 64.

[0033] With such a configuration, the first CPU 31a and the second CPU 61a communicate with each other using a general communication protocol and cooperate with each other. It is also possible to control the service providing unit 2 and the transport unit 5 with one control unit. However, in a configuration in which they are controlled with one control unit, it is possible that a program related to the service providing unit 2 may affect the travel of the transport unit 5. Malfunctioning of the travel of the service robot 1 may affect the surroundings or may lead to damage to the service robot 1 itself. Therefore, in this embodiment, the service providing unit 2 and the transport unit 5 are controlled by the first CPU 31a and the second CPU 61a, respectively, and the two are connected by communication, thereby making it possible to perform appropriate control. Furthermore, with such a configuration, it is also easy to develop the service providing unit 2 and the transport unit 5 independently, which allows the development to proceed smoothly.

[0034] The service providing unit 2 has a first control unit including a first CPU 31a, a memory 31b, a display control unit 31c, an operation processing unit 31d, and an audio control unit 31e. An interface 31f for connecting various devices and a connector 34 are connected to the first control unit. The light emitting units 23a and 23b, the handset position light emitting unit 27, and the display unit 24a constituting the touch panel monitor 24 are connected to the display control unit 31c. The touch panel 24b constituting the touch panel monitor 24, the storage detection sensor 32 for detecting the installation status of the handset 25, and the emergency button 26 are connected to the operation processing unit 31d.

[0035] The receiver 25 and the speaker 33 are connected to the audio control unit 31e. The wireless LAN communication unit 35, the front camera 22a, the rear camera 22b, and the connection connector 34 are connected to the interface 31f. Various external units 43 can be connected to the connection connector 34. In the present embodiment shown in FIG. 3, a scanner unit 43a, a card reading unit 43b, and a printer unit 43c are shown connected as the external units 43. The connection of the external units 43 will be described later.

[0036] The transport unit 5 has a second CPU 61a and a memory 61b as a second control unit. An interface 61d for connecting peripheral devices is connected to the second control unit. The peripheral devices in the transport unit 5 include a travel control unit 61c, drive units 53a to 53d, and surrounding sensors 52a to 52d. The transport unit 5 travels based on the surrounding conditions detected by the surrounding sensors 52a to 52d and map information stored in the memory 61b (or memory 31b). When traveling, the drive units 53a to 53d are driven and the wheels 54a to 54d rotate based on the control of the travel control unit 61c.

[0037] With this configuration, the transport unit 5 is capable of autonomous travel or travel based on external instructions (for example, instructions received via the wireless LAN communication unit 35 or instructions input to the touch panel monitor 24).

[0038] [Use of the handset 25] Now, the use of the handset 25 of the service robot 1 of this embodiment will be described. FIG. 4 is a diagram for explaining the handset 25 of the service robot 1 according to this embodiment. The service robot 1 of this embodiment is provided with the handset 25 in consideration of the confidentiality of conversation and the influence of conversation on the surroundings. A user facing the service robot 1 can use the handset 25 to talk with the service robot 1 or an operator using an operator terminal communicatively connected to the service robot 1.

[0039] Fig. 4(A) is a diagram showing the receiver 25 when stored, and Fig. 4(B) is a diagram showing the receiver 25 when removed. A user who uses the receiver 25 removes the receiver 25 in the state shown in Fig. 4(A) and uses the receiver 25 in the state shown in Fig. 4(B). The receiver 25 of this embodiment is a wired type, and the receiver 25 and the service robot 1 are connected by a connection cable 25a.

[0040] However, if the handset 25 is not stored properly, it is possible that the handset 25 will come off. Since the service robot 1 is mobile, if the service robot 1 travels with the handset 25 off, it may drag the handset 25 connected by the connection cable 25a as it travels. In such a case, it is possible that the travel of the service robot 1 will be impeded or that the surroundings of the traveling service robot 1 will be disturbed.

[0041] Therefore, the service robot 1 of this embodiment executes a receiver-related control process. Fig. 5 is a flow diagram showing the receiver-related control process of the service robot 1 according to this embodiment. In the receiver-related control process, the storage state of the receiver 25 is detected, and the running state of the service robot 1 is changed according to the storage state. Normally, the service robot 1 is set to the first running mode, and is in a running state in which there are no restrictions on the speed or movement range (S101). Normally, the service robot 1 uses the speaker 33 to provide voice guidance, etc. (S102).

[0042] Under such circumstances, it is considered that an event that requires the use of the handset 25 may occur (S103). For example, it is considered that the service robot 1 may have a conversation with an operator using an operator terminal that is communicatively connected to the service robot 1. When the operator instructs the service robot 1 to talk using the handset 25 (S103: Yes), the service robot 1 issues an instruction to hang up the handset 25 (S104).

[0043] The notification to hang up the receiver 25 is given by voice or display. In the case of voice notification, an instruction to hang up the receiver is sounded from the speaker 33. In the case of display notification, a display is given on the touch panel monitor 24, and the receiver position light emitting unit 27 emits light (lights up or blinks). With such instructions, the user can easily confirm the position of the receiver 25 and hang up the receiver 25 to continue a conversation.

[0044] In particular, the receiver position light emitting unit 27 provided near the receiver 25 emits light (lights up or blinks), making it possible to easily find the receiver 25. The receiver position light emitting unit 27 may be provided on the receiver 25 itself. Since it is also conceivable that the user may be located on the back or side of the service robot 1, the notification by display may be made by making the light emitting units 23a and 23b emit light (lights up or blinks).

[0045] In this embodiment, in response to the occurrence of an event that requires the use of the handset 25 (S103: Yes), the service robot 1 is set to the second traveling mode. In the second traveling mode, the traveling state of the service robot 1 is restricted compared to the first traveling mode. Possible restrictions include reducing the moving speed (including a speed of 0) or restricting the moving range.

[0046] As an example of limiting the movement range, it is possible to limit the movement range from the current position to a radius of about 1 m. By switching to the second travel mode in this way, the user can easily attach and detach the handset 25. Furthermore, even when the handset 25 is in use, the user can easily handle the handset 25 by limiting the travel of the service robot 1.

[0047] When the handset 25 is removed (S106: Yes) in response to an instruction to remove the handset 25 (S104), the service robot 1 starts audio output using the handset 25 (S107). When the storage detection sensor 32 detects that the handset 25 has been removed, the service robot 1 switches from audio output from the speaker 33 to audio output and audio input from the handset 25. Then, when the event requiring the use of the handset 25 ends, for example, when the conversation with the operator ends (S108: Yes), an instruction to return the handset 25 to the stored position is notified (S109).

[0048] The instruction to put the handset 25 back on the hook is notified, similarly to the instruction to hang up the handset 25, by a voice notification using the speaker 33, or by using at least one of the following: light emission (lighting or blinking) of the handset position light emitting unit 27, a display on the touch panel monitor 24, and light emission (lighting or blinking) of the light emitting units 23a and 23b. When the hanging detection sensor 32 detects that the handset 25 has been hung up (S110: Yes), the service robot 1 changes the setting from the second traveling mode to the first traveling mode (S101).

[0049] In this way, the service robot 1 of this embodiment is set to the second running mode in which running is restricted when the handset 25 is used, thereby making it easy for the user to use the handset 25. Also, by setting the robot to normal running (first running mode) when the handset 25 is stored, normal running is not performed with the handset 25 dropped off.

[0050] The handset 25 provided in the service robot 1 of this embodiment has been described above, but the following modified examples can be adopted. A locking unit may be provided to fix the handset 25 in the storage location when the handset 25 is stored. When the storage detection sensor 32 detects that the handset 25 is in the storage location and in the first traveling mode, the locking unit is set to a locked state, making it impossible for the handset 25 to be removed.

[0051] On the other hand, in the second driving mode, the locking part is released from the fixed state, and the state is changed to one in which the handset 25 can be removed. According to this configuration, it is possible to prevent the handset 25 from falling off during normal driving (first driving mode), and also to prevent the handset 25 from being removed due to mischief or the like.

[0052] [About Handle 28] 6 is a diagram for explaining the handle 28 in the service robot 1 according to this embodiment. The service robot 1 of this embodiment is provided with a handle 28 for manually moving it. The service robot 1 of this embodiment is provided with an emergency button 26 for stopping its operation in the event of an earthquake, fire, abnormal operation, or the like.

[0053] When the emergency button 26 is operated, the driving unit 53b of the transport unit 5 stops driving the driving units 53a to 53d, and the wheels 54a to 54d are put into a free-running state. Therefore, the service robot 1 can move by pushing it with a hand. At that time, if the part of the service robot 1 that is pushed is not appropriate, the service robot 1 may fall over.

[0054] Therefore, when moving the service robot 1 manually, the handle 28 can be pulled out and used. The handle 28 in this embodiment is stored flush with the surface of the housing 51, and employs a push-up mechanism. With the push-up mechanism, by pushing the top portion of the handle 28, the stored state shown in FIG. 6(A) changes to the usable state shown in FIG. 6(B). The handle 28 is located close to the center of gravity of the service robot 1, and is designed so that even when the handle 28 is grasped and moved, the service robot 1 does not tip over and can be easily moved with little force.

[0055] In this embodiment, the handle 28 is manually pulled out for use, but it may be automatically pulled out from the state of Fig. 6(A) to the state of Fig. 6(B) in response to the operation of the emergency button 26. In addition, in a situation in which it is presumed that the handle 28 will be used, such as when the emergency button 26 is operated or the handle 28 is pulled out, the operation method (movement method) of the service robot 1 may be displayed on the touch panel monitor 24 or notified by voice from the speaker 33, or the like, to the user.

[0056] [About external unit 43] The service robot 1 of this embodiment can be equipped with various external units 43 required for the situation of use. The external units 43 are units that can be attached to and detached from the service robot 1 described in Figs. 1 and 2, and can be provided according to the situation of use. The external units 43 are fixed to the housing 21 of the service providing unit 2, and are electrically connected using the connector 34. Here, a form in which a scanner unit 43a, a card reading unit 43b, and a printer unit 43c are attached as the external units 43 will be described.

[0057] Fig. 7 is a perspective view of the service robot according to this embodiment (when the external unit is attached), and Fig. 8 is a five-sided view of the service robot 1 according to this embodiment (when the external unit is attached). The scanner unit 43a can optically read a paper surface by pressing (or holding) the paper surface against the reading surface 431. For example, when checking in at a lodging facility, an identification card such as a passport, a mine number card, or a driver's license may be required. Alternatively, when checking in at a medical facility, you may be required to present your health insurance card or My Number card.

[0058] In such a case, the paper surface (or the face of the ticket) can be read by using this scanner unit 43a. The scanner unit 43a of this embodiment is provided so that its reading surface 431 is located on the upper surface of the service robot 1. Therefore, when the service robot 1 is used to read the paper surface (or the face of the ticket), it is easy for the user to see and it is also easy to perform the operation of pressing (or holding) the paper surface (or the face of the ticket) against the scanner unit 43a. In addition, since the reading surface 431 is located behind the touch panel monitor 11 as a display unit, it is also easy to use the touch panel monitor 11 to guide the position of the reading surface 431, for example by indicating the position of the reading surface 431 with an arrow.

[0059] The card reading unit 43b is an external unit 43 attached to the left side of the upper housing 21a. The card reading unit 43b in this embodiment is for reading credit cards, and can read card information and perform payment by inserting a credit card or holding the credit card over it. The card reading unit 43b is also provided with a numeric keypad for inputting a PIN number. In accommodation facilities, medical facilities, or various stores, the service robot 1 can be provided with a payment function by attaching the card reading unit 43b.

[0060] The printer unit 43c is an external unit 43 that prints on paper. The printer unit 43c can be used to print receipts for various payments and reception slips required for waiting in line. The printer unit 43c in this embodiment is provided in a location that takes advantage of the shape of the service robot 1. As can be seen from Figures 7 and 8, the printer unit 43c is provided on the left side surface of the housing middle part 21b.

[0061] The printer unit 43c is fixed using a mounting groove 21d provided in the housing middle part 21b. The mounting groove 21d is provided on both the left and right sides of the housing middle part 21b, and various external units 43 can be attached. In addition, when an electrical connection is required like the printer unit 43c, it is possible to prevent the cable from being exposed by running the cable along the mounting groove 21d. The cable enters the housing 21 from a hole provided in the mounting groove 21d (for example, the upper or lower part of the mounting groove 21d) and is connected to the connector 34.

[0062] Fig. 9 is a diagram for explaining the shape of the service providing unit 2 according to this embodiment. As described in Figs. 1 and 2, the service providing unit 2 according to this embodiment is configured to have an upper housing portion 21a, a middle housing portion 21b, and a lower housing portion 21c. Moreover, the width W2 of the middle housing portion 21b as viewed from the front is set smaller than the width W1 of the upper housing portion 21a and the width W3 of the lower housing portion 21c. Therefore, when an external unit 43 such as a printer unit 43c is attached to the side surface of the middle housing portion 21b, it is possible to suppress the protruding amount W4.

[0063] Since the service robot 1 is mobile, by reducing the amount of protrusion W4 associated with the attachment of the external unit 43, it is possible to prevent the external unit 43 from becoming an obstacle to the movement. The external unit 43 attached to the side surface of the middle housing portion 21b is not limited to the printer unit 43c, and various external units 43 can be used. Furthermore, the external unit 43 does not necessarily require an electrical connection, and various forms can be adopted, such as a transport shelf or transport container for transporting various materials.

[0064] The above-described service robot 1 can be used in various facilities. The following describes how the service robot 1 can be used in various facilities.

[0065] [About use in medical and nursing care facilities] 10 is a block diagram for explaining a usage form (medical facility) of the service robot 1 according to this embodiment. In this embodiment, the service robot 1 is used for the first response to patients. The target facility may be not only a medical facility such as a hospital, but also a care facility such as a nursing home.

[0066] Fig. 10 shows the state of a floor in a medical facility. The medical facility is equipped with patient rooms A to C, a nurse station, and a corridor for passage. The two service robots 1a and 1b can move through the corridor, patient rooms A to C, and the nurse station by using their running function.

[0067] Hospital rooms A to C are provided with hospital beds 71a to 71f, and patients 72a to 72f are hospitalized therein. Nurse call devices 73a to 73f are provided in each of the hospital beds 71a to 71f. In this embodiment, the nurse call devices 73a to 73f are of the button-operated type, and patients 72a to 72f who need assistance operate the buttons on the nurse call devices 73a to 73f.

[0068] The service robots 1a and 1b operated in the medical facility are operated by a service robot management system described below. In this embodiment, the service robots 1a and 1b are communication-controlled using a network constructed in the medical facility. The network in the medical facility is configured with an in-facility LAN 80, access points 81a and 81b that provide wireless LAN communication, and a router 83 for communication connection to an external network such as the Internet. The in-facility LAN 80 is provided with a control server 82 that controls the service robots 1a and 1b. The control server 82 controls the service robots 1a and 1b via the access points 81a and 81b.

[0069] The nurse station is a place where nurses 74a and 74b wait. In this embodiment, the nurses 74a and 74b wear intercoms 75a and 75b (also called headsets) to enable conversation with call center operators 90a and 90b, or between the nurses 74a and 74b, etc.

[0070] In this embodiment, a call center is provided to provide various services to patients 72a to 72f by the service robots 1a and 1b or the nurses 74a and 74b. The call center in this embodiment is provided outside the medical facility, but in a large medical facility such as a general hospital, it may be provided inside the medical facility. In this case, the call center can communicate using a network within the medical facility.

[0071] The call center is equipped with center terminals 91a and 91b, and operators 90a and 90b use input units such as keyboards 92a and 92b and display units such as monitors 93a and 93b connected to the center terminals 91a and 91b to perform corresponding operations. Intercoms 94a and 94b (also called headsets) are connected to the network in the call center for communication (wireless connections are also possible), and the operators 90a and 90b can have conversations using the intercoms 94a and 94b.

[0072] The center terminals 91a, 91b are communicatively connected to a network constructed including an intra-center LAN 97. A call center server 95 and a router 96 are communicatively connected to the intra-center LAN 97. The call center server 95 stores various databases used by the center terminals 91a, 91b, and generally manages the network. The router 96 is a means for communicatively connecting to an external network such as the Internet, and the center terminals 91a, 91b can communicate with various components on the medical facility side via the Internet.

[0073] Conventionally, when a patient 72a-72f operates a nurse call 73a-73f in a certain bed 71a-71f, a pager installed in a nurse's station or a pager carried by a nurse 74a or 74b is used to respond. The pager usually notifies the nurse 74a or 74b which bed 71a-71f the nurse call 73a-73f was operated in, and the nurse 74a or 74b goes to the bed 71a-71f to check the condition of the patient (first response).

[0074] After checking the condition of the patients 72a to 72f, the nurses 74a and 74b return to the nurse station to get the necessary supplies such as medicine and treatment tools if treatment is required. Then, they usually go back to the beds 71a to 71f again to treat the patients 72a to 72f. In the above procedure, the nurses 74a and 74b have to make two trips between the beds 71a to 71f and the nurse station, which increases their workload. In the embodiment using the service robot 1, the primary treatment that was previously performed by the nurses 74a and 74b is now performed by the service robots 1a and 1b.

[0075] 11 and 12 are flow diagrams for explaining the usage form (medical facility) of the service robots 1a and 1b. Assume that a patient 72a operates a nurse call 73a at a certain hospital bed 71a (S201). Information indicating the hospital bed 71a (or the patient 72a) on which the nurse call 73a was operated is notified to the control server 82 (S201). The control server 82 selects an appropriate service robot 1a (here, the service robot 1a is assumed) based on the positional relationship between the hospital bed 71a and the service robots 1a and 1b, or the working status of the service robots 1a and 1b, etc. (S202). Then, the control server 82 transmits a movement instruction to the selected service robot 1a (S203).

[0076] The service robot 1 that has received the movement instruction moves to the hospital bed 71a (patient 72a) for which the nurse call 73a has been operated (S204). The service robot 1a that has arrived at the hospital bed 71a establishes a communication connection with a center terminal 91a installed in the call center (S205). After that, the service robot 1a uses the speaker 33 to call out to the patient 72a. At this time, the image captured by the front camera 22a of the service robot 1a is displayed on the monitor 93a of the call center.

[0077] The operator 90a checks the state of the patient 72a photographed by the front camera 22a on the monitor 93a, and if it is determined that it is possible to talk to the patient, starts a conversation with the service robot 1a using the handset 25 (S206). The service robot 1a that has received the instruction notifies the patient 72a to remove the handset 25 according to the handset-related control process described in FIG.

[0078] If the patient 72a is not available, such as if the patient 72a is not available, the operator 90a selects the nurses 74a and 74b (one or more) and issues instructions using the intercoms 75a and 75b. The selection of the nurses 74a and 74b may be manual by the operator 90a, or may be automatically selected using the configuration of the call center server 95 or the control server 82, etc., based on the work status, location, etc. of the nurses 74a and 74b.

[0079] The patient 72a who has removed the handset 25 uses the handset 25 to talk and inform the operator 90a of the situation (S206). In hospital room A, which has multiple hospital beds 71a, 71b, talking in a loud voice late at night, etc., may be a nuisance to those around. In this embodiment, the conversation is carried out using the handset 25, so the form is considerate of those around. After the conversation ends, the service robot 1a ends the primary response (S207) and moves on to patrol the medical facility or to respond to other cases.

[0080] The operator 90a, having confirmed the situation, determines the contents of the instruction (S208) and the target of the instruction (S209). The contents of the instruction may be, for example, that medicine or treatment is necessary due to the symptoms of the patient 72a, or that tea should be provided because the patient 72a desires fluids. The target of the instruction may be which of the nurses 74a, 74b the instruction should be given to, or which of the service robots 1a, 1b the instruction should be given to. It is also possible to determine multiple targets of the instruction (for example, multiple nurses 74a, 74b, or multiple service robots 1a, 1b, or the nurse 74a and the service robot 1a, etc.).

[0081] 11 shows a case where a nurse 74a is determined as the person to whom instructions are to be given. The operator 90a establishes a communication connection with the intercom 75a of the determined nurse 74a (S221) and communicates the contents of the instructions by talking to the nurse 74a (S222). The nurse 74a who has received the instructions moves to the hospital bed 71a of the patient 72a as a secondary response, carrying necessary supplies such as appropriate medicines and treatment tools (S223), and performs treatment (S224).

[0082] In this way, by using the service robots 1a and 1b in the medical facility of this embodiment, the first response by the nurses 74a and 74b, which was previously performed, becomes unnecessary, and the workload of the nurses 74a and 74b can be reduced. Also, the call center operators 90a and 90b can give instructions after fully understanding the status of the patients 72a to 72f by the photographed status of the patients 72a to 72f and the conversation with the patients 72a to 72f using the receiver 25. Then, based on the status of the patients 72a to 72f that has been understood, it becomes possible to select the appropriate nurses 74a and 74b and give instructions.

[0083] On the other hand, Fig. 12 shows a case where the service robot 1b is determined as the target. For example, there are situations where the service robots 1a and 1b can handle the task without the nurses 74a and 74b, such as bringing necessary supplies such as tea to the patient 72a. In such a situation, the operator 90a issues instructions to the service robots 1a and 1b. In this embodiment, the selection of the service robots 1a and 1b is performed by the control server 82 based on the operating status of the service robots 1a and 1b, but the selection may be made by the center terminal 91a (or the call center server 95) or the operator 90a.

[0084] In this case, the operating status of the service robots 1a, 1b may be determined by the center terminal 91a (or the call center server 95). The control server 82 selects the service robot 1b (S233) and transmits an instruction to the service robot 1b (S234). In this embodiment, the service robot 1b is selected, but depending on the operating status or the position of the service robot 1a, the service robot 1a that performed the first response may be selected.

[0085] 11, since necessary supplies (tea, medicine, etc.) are requested, the service robot 1b prepares the necessary supplies (S235) and moves to the patient 72a (S236). When the service robot 1b arrives at the patient, it gives and receives the necessary supplies to the patient 72a (S237).

[0086] In this manner, in the example of FIG. 11, secondary care for the patient 72a is also performed by the service robot 1b, eliminating the need for care by the nurses 74a and 74b, thereby reducing the workload of the nurses 74a and 74b.

[0087] [Use in medical and nursing care facilities (variations)] In the above-mentioned use in the medical facility, the call center operator 90a determines the contents of the instructions (S208) and the target of the instructions (S220, S230) based on the conversation (S206) with the patient 72a. Also, when the target of the instructions is a nurse 75a, the instructions are conveyed by talking to the nurse 75a (S222).

[0088] In this type of configuration, the operators 90a and 90b need to select the nurses 72a and 72b, and also need to converse with the nurses 72a and 72b (S222). For example, if the nurses 72a and 72b are busy on the intercoms 75a and 75b, the operators 90a and 90b need to wait for the nurses 72a and 72b to finish talking, and then call them again on the intercoms 75a and 75b. In this way, the operator 90a needs to make the decision to select the nurses 72a and 72b, and it is considered that the operator 90a will take time to converse with the nurses 72a and 72b (or wait for the busy period).

[0089] Therefore, it is considered to automate part of the work performed by the operators 90a, 90b. In Fig. 11 and Fig. 12, the parts enclosed in dashed lines are parts where automation can be implemented to further reduce time and improve efficiency. For example, the determination of the instruction target (S220, S231) in Fig. 11 and Fig. 12 may be automatically determined by the call center server 95 or the control server 82. In this case, the instruction target is determined using the instruction content determined by the operators 90a, 90b.

[0090] For example, if the instruction is to deliver tea to the patient 72a, one of the service robots 1a and 1b is determined as the instruction target, or if the instruction is to treat the patient 72a, the nurses 74a and 74b are determined as the instruction target.

[0091] Also, the conversation (S222) between the operators 90a and 90b, which was based on the decision of the instruction contents, can be notified to the nurses 74a and 74b by a fixed voice message or voice synthesis. Therefore, the operators 90a and 89b only need to decide the instruction contents (S208), and are freed from the task of deciding the instruction target (S220, S231) and the conversation with the nurses 74a and 74b, which can further improve efficiency. The notification to the nurses 74a and 74b may be notified by a text message to a mobile terminal or the like carried by the nurses 74a and 74b.

[0092] In addition, the automation will be performed using various information (the working conditions, abilities and characteristics of the service robots 1a and 1b, and the working conditions, abilities and characteristics of the nurses 74a and 74b). In addition, the automation will be performed using artificial intelligence (AI), which will enable improved accuracy and speed of judgment.

[0093] [About use for facility guidance] The service robot 1 can be used in various facilities such as museums and art galleries. In such facilities, the service robot 1 can guide the user to exhibits in the facility and explain the exhibits. A user who uses the service robot 1 accesses a website provided by the facility in advance and makes a reservation to use the service robot 1.

[0094] On the day of use, the user who reserved the service robot 1 uses a mobile terminal such as a smartphone to notify the server device managing the facility that he or she has arrived at the facility. The server device allocates the service robot 1 to be used by the reserved user, thereby ensuring smooth use by the user. Upon receiving a notification of the user's arrival, the server device notifies the service robot 1 allocated to the user of the user's arrival. Upon receiving the notification, the service robot 1 displays the information on the touch panel monitor 24 and lights up (or blinks) the light-emitting units 23a and 23b to notify the user of its own location.

[0095] 1, 2, etc., the light emitting units 23a, 23b of the service robot 1 are arranged so as to be visible from the side or rear of the service robot 1. Therefore, even if the user is positioned behind or to the side of the service robot 1, the user can confirm the service robot 1 that has been assigned to him / her based on the reservation.

[0096] Furthermore, when the service robot 1 guides (guides) the user within a facility, the use of the rear camera 22b is effective. The service robot 1 can recognize the user based on the face information of the user registered at the start of use or in advance, or on appearance information (information on the user's physique, clothing, etc.). During guidance, the service robot 1 runs ahead of the user while recognizing the user using the rear camera 22b.

[0097] At that time, for example, if the user leaves the service robot 1, it is possible to reduce the running speed to match the walking speed of the user. Also, if the user leaves the specified guide route, it is possible to notify the user by voice or display.

[0098] [About use in accommodation facilities] When using the service robot 1 in an accommodation facility, it is considered that the external unit 43 described with reference to FIG. 7 is attached to the service robot 1.

[0099] 7, a scanner unit 43a, a card reading unit 43b, and a printer unit 43c are attached as the external unit 43. When using an accommodation facility, it is possible to have the service robot 1 check in at the accommodation facility using such an external unit 43.

[0100] The service robot 1 is placed in the lobby of an accommodation facility, and searches for customers who have not checked in using the front camera 22a and rear camera 22b. Information for identifying the customer (face information or appearance information (information on physique, clothing, etc.)) and information indicating the check-in status of the customer are stored in advance in a control server that controls the service robot 1, and the service robot 1 searches for customers who have not checked in using the information.

[0101] If the vehicle finds a customer who has not checked in, it drives close to the customer and checks whether or not the customer is a guest. This can be done by displaying a guide on the touch panel monitor 24 or by emitting a guide message using the speaker 33. When the customer checks in, a check-in process using the touch panel monitor 24 is started.

[0102] The check-in process involves paying for accommodation using a credit card or the like using the card reading unit 43b, printing a receipt or printing the room PIN using the printer unit 43c, and scanning identification (passport, driver's license, My Number card, etc.) using the scanner unit 43a.

[0103] When the check-in process is completed, the service robot 1 uses the front camera 22a (or the rear camera 22b) to register face information or appearance information of the customer who has completed check-in. Alternatively, if the face information or appearance information of the customer has already been registered, the customer who has completed check-in process is considered to have checked in. By excluding customers who have completed check-in from the next check-in process, the service robot 1 can efficiently perform the check-in process. [Explanation of symbols]

[0104] 1 (1a, 1b): Service robot 43: External unit 2: Service provision section 43a: Scanner unit 5: Transport section 431: Reading surface 11: Touch panel monitor 43b: Card reading unit 21: Housing 43c: Printer unit 21a: Upper part of the housing 51: Housing 21b: Central part of the housing 52a to 52d: Surrounding sensors 21c: Lower part of the housing 53a to 53d: Drive part 21d: mounting groove 54a~54d: wheels 21e: Speaker hole 61a: Second CPU 22a: Front camera 61b: Memory 22b: Rear camera 61c: Driving control unit 23a, 23b: Light emitting unit 61d: Interface 24: Touch panel monitor 64: Communication unit 24a: Display unit 65: Connector 24b: Touch panel 71a~71f: Hospital beds 25: Receiver 72a~72f: Patient 25a: Connection cable 73a~73f: Nurse call 26: Emergency button 74a, 74b: Nurse 27: Handset position light emitting unit 75a, 75b: Intercom 28: Handle 80: In-facility LAN 29: Communication unit 81a, 81b: Access point 30: Connector 82: Control server 31a: First CPU 83: Router 31b: Memory 90a, 90b: Operator 31c: Display control unit 91a, 92b: Center terminal 31d: Operation processing unit 92a, 92b: Keyboard 31e: Sound control unit 93a, 93b: Monitor 31f: Interface 94a, 94b: Intercom 32: Storage detection sensor 95: Call center server 33: Speaker 96: Router 34: Connection connector 97: Center LAN 35: Wireless LAN communication section

Claims

1. A service robot that can move and provides various services to a user, a speaker for outputting audio to a user; a handset that outputs voice to a user and is capable of inputting the user's voice; A storage area for storing a handset; The device includes a speaker and a control unit that performs voice control for the handset. Service robot.

2. The handset has a storage detection sensor that detects whether the handset is stored in the storage location. The service robot according to claim 1 .

3. The control unit controls the travel of the service robot, The control unit uses the first driving mode when the vehicle is stored and the second driving mode when the vehicle is not stored, based on the detection result of the storage detection sensor. The service robot according to claim 2 .

4. The second driving mode has more driving restrictions than the first driving mode. The service robot according to claim 3 .

5. The control unit switches between audio output from the speaker and audio output from the handset according to the detection result of the storage detection sensor. The service robot according to claim 2 .

6. a locking portion for fixing the handset in the storage portion; The control unit brings the lock unit into a locked state when the driving state is in the first driving mode, and releases the lock unit from being locked when the driving state is in the second driving mode. The service robot according to claim 1 .

7. The device has a light emitting unit provided on the handset, or in the vicinity of a storage location where the handset is stored, or on the handset; The control unit causes the light emitting unit to emit light when the handset needs to be removed from the storage location or when the handset needs to be returned to the storage location. The service robot according to claim 1 .

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