Accounting robot device, program, and accounting system

Abstract

To provide an accounting robot device, a program, and an accounting system that can alleviate the shortage of personnel at the time of accounting.SOLUTION: In a restaurant which has a system comprising order terminals, a station, a serving robot, an accounting robot, and a kitchen terminal, and in which a plurality of tables each having an order terminal installed are arranged, the accounting robot, which processes accounting for ordered commodities, receives, from the station, accounting instruction information T23 instructing the accounting for the ordered commodities based on a customer's operation T21 of an accounting button on the order terminal, and obtains accounting information for the ordered and served commodities. After obtaining the accounting information, the accounting robot moves to the table where the order terminal is installed T24, and processes accounting for the accounting information at its destination T26 to T28.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an accounting robot device, a program, and an accounting system. [Background technology]

[0002] In recent years, food delivery robots that move around the store have been introduced in family restaurants, eating and drinking establishments, etc. This food delivery robot has a function of carrying the ordered food and then moving to the table of the customer who ordered it after the cooking of the ordered food is completed.

[0003] While such food delivery robots have been introduced to address staff shortages in restaurants, the payment process after a customer's meal is still handled by a waiter operating a cash register. In other words, when a customer pays for a meal, they must go to the cash register where the waiter has installed it, and the waiter then handles the transaction. This requires the restaurant to employ additional staff. Summary of the Invention [Problem to be solved by the invention]

[0004] The problem to be solved by the present invention is to provide an accounting robot device, a program, and an accounting system that can alleviate the shortage of personnel in accounting. [Means for solving the problem]

[0005] The accounting robot device of one embodiment is an accounting robot device that processes accounting for ordered items in a store where multiple tables are arranged for eating and drinking, and is equipped with an acquisition means that receives accounting instruction information that instructs the accounting for the ordered items based on an accounting operation on an order terminal, and acquires accounting information for the ordered and served items, a movement means that, after acquiring the accounting information, moves the accounting robot device to the table where the order terminal is installed, and an accounting means that processes accounting for the transaction information at the moved destination. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram showing the layout of a restaurant. [Figure 2] FIG. 2 is a diagram illustrating the system of the embodiment. [Figure 3] FIG. 3 is a perspective view showing the appearance of the food delivery robot. [Figure 4] FIG. 4 is a perspective view showing the appearance of the accounting robot. [Figure 5] FIG. 5 is a block diagram showing the hardware configuration of the order terminal. [Figure 6] FIG. 6 is a block diagram showing the hardware configuration of the station. [Figure 7] FIG. 7 is a memory map showing an example of the memory configuration of the order information section. [Figure 8] FIG. 8 is a memory map showing an example of the memory configuration of the ordered item section. [Figure 9] FIG. 9 is a block diagram showing the hardware configuration of the accounting robot. [Figure 10] FIG. 10 is a memory map showing an example of the memory configuration of the received amount section. [Figure 11] FIG. 11 is a sequence chart showing the flow of operations of the order terminal, station, serving robot, accounting robot, and kitchen terminal. [Figure 12] FIG. 12 is a functional block diagram showing the functional configuration of the order terminal, the station, and the accounting robot. [Figure 13] FIG. 13 is a flowchart showing the flow of control processing of the order terminal. [Figure 14] FIG. 14 is a flowchart showing the flow of the control process of the station. [Figure 15] FIG. 15 is a flowchart showing the flow of control processing for the in-store robot. [Figure 16] FIG. 16 is a flowchart showing the flow of the control process of the food delivery robot. [Figure 17] FIG. 17 is a flowchart showing the flow of the control process of the accounting robot. DETAILED DESCRIPTION OF THE INVENTION

[0007] The following describes an embodiment with reference to the drawings. In the embodiment, an accounting robot device and an accounting system are described as being applied to a restaurant such as a family restaurant or a fast food restaurant. The present invention can be applied to various types of restaurants.

[0008] FIG. 1 is an explanatory diagram showing the layout of a store M, which is a restaurant such as a family restaurant. In FIG. 1, the store M has an entrance / exit Ma through which customers enter and exit the store M. One or more tables and chairs for seating (hereinafter collectively referred to as "tables Mb") are installed inside the store M. In this embodiment, eight tables Mb are installed. Customers seated at the tables Mb eat and drink products (food) that have been served at the tables Mb.

[0009] An order terminal 1 is installed on each table Mb. The order terminal 1 is a device for ordering (placing an order) for products (that can be eaten or drunk) sold at the store M. A customer seated at the table Mb operates the order terminal 1 to order a product.

[0010] Store M also has a waiting space Mc where in-store robots K wait. The in-store robots K can function as food delivery robots 9 (food delivery robot devices) and accounting robots 7 (accounting robot devices). Hereinafter, an in-store robot K that functions as a food delivery robot will be referred to as a food delivery robot 9, and an in-store robot K that functions as an accounting robot will be referred to as an accounting robot 7. In the following description, when the food delivery robot 9 or the accounting robot 7 is not specified (when referring to both, or when either is acceptable), they may be referred to as an in-store robot K. In this embodiment, two food delivery robots 9 and two accounting robots 7 wait in waiting space Mc.

[0011] For example, by switching a mode switch button 781 (see FIG. 9 ) provided on the in-store robot K, the in-store robot K can be made to function as a food delivery robot 9. Alternatively, by switching the mode switch button 781, the in-store robot K can be made to function as an accounting robot 7. Note that instead of using the mode switch button 781, a dip switch or the like may be operated to switch between the food delivery robot 9 and the accounting robot 7, or the in-store robot K may be made to function as an accounting robot 7 when it detects that devices (such as a bill change machine 79, a coin change machine 80, a printer 81, a reader 82, a payment terminal 83, etc.) that are attached when the in-store robot K functions as an accounting robot 7 are connected, and may be made to function as a food delivery robot 9 when it detects that these devices are not connected.

[0012] It is desirable that the waiting space Mc be provided adjacent to or near the kitchen where the products are prepared. By arranging the kitchen and waiting space Mc in this way, products that have been cooked in the kitchen can be immediately placed on the food delivery robot 9 waiting in the waiting space Mc.

[0013] Additionally, a track Md is installed (layed on the floor or buried) within the store M. The track Md is made of a thin iron plate with a predetermined width. The in-store robot K can move by detecting the track Md with an internal detector (not shown) and traveling on the track Md. The track Md is installed between the waiting space Mc and each table Mb, and the in-store robot K waiting in the waiting space Mc can travel on the track Md to the position of each table Mb. Each table Mb is assigned a table number that individually identifies it, and by specifying (inputting) a specific table number, the in-store robot K travels on the track Md to the position of the table Mb specified by that table number and moves to that table Mb.

[0014] As a method for moving to the corresponding table Mb, for example, route information to the table Mb is stored in association with each table number, and the in-store robot K can move to the position of the corresponding table Mb by traveling on the track Md along the route corresponding to the specified table number. Such movement of the in-store robot K to the table Mb is already a publicly known technique.

[0015] In the above example, a trajectory Md is set in advance within the store M, but it is also possible to use a method in which a route is set in advance using the location information of the table Mb and a map of the store, and then travel along that route.

[0016] Store M also has a backyard. The backyard contains a money storage box that stores money (banknotes and coins) collected from the checkout robot 7 and money to replenish the checkout robot 7. Store M has a track Me (with the same structure as track Md) installed between the waiting space Mc and the money deposit / withdrawal position Mf where the money storage box is installed. The checkout robot 7 can travel on the track Me between the waiting space Mc and the money deposit / withdrawal position Mf.

[0017] The delivery robot 9, details of which will be described later in FIG. 3, is equipped with four trays TR, each tray TR holding a cooked product (food). When the delivery robot 9 receives delivery instruction information (including a table number specifying the table Mb to which the food is to be delivered), it moves along the track Md to carry the products placed on the trays TR (the products ordered from the order terminal 1) to the position of the table Mb where the customer is seated. The customer seated at the table Mb receives the ordered products from the tray TR of the delivery robot 9 that has arrived. When the customer has finished picking up all the products, they operate the OK button 783 (see FIG. 9). The delivery robot 9 then travels along the track Md to return to the waiting space Mc.

[0018] The accounting robot 7 is a device for processing payments for ordered items. The accounting robot 7 is a device for processing payments with cash or non-cash payments such as credit cards, debit cards, electronic money, and code payments. After eating and drinking, a customer requests payment from the order terminal 1 (in this embodiment, the customer operates the payment button 184 (see FIG. 5)). Based on instructions from the station 3 (see FIG. 2), the accounting robot 7 moves along the track Md to the table Mb where the operation was performed. The customer operates the moved accounting robot 7 to select whether to pay with cash or non-cash. The accounting robot 7 is equipped with a bill dispenser 79 and a coin dispenser 80 (both see FIG. 4). If cash payment is selected, the customer pays for the food and drink using these dispensers. The accounting robot 7 then performs cash payment processing (settlement processing). The accounting process is a process of making payment for ordered products, and includes a process of displaying payment information for the paid products (total amount, amount of money inserted into the bill change machine 79 or coin change machine 80, amount of change if there is any, etc.), and a process of issuing a receipt on which product information for the paid products (product name, amount, etc.) and payment information (total amount, amount received, amount of change, etc.) are printed.

[0019] The accounting robot 7 also drives the bill change machine 79 and the coin change machine 80 to store the amount (deposit) inserted by the customer in cash payments. The accounting robot 7 also drives the bill change machine 79 and the coin change machine 80 to dispense change calculated based on the deposit amount and the total amount.

[0020] The accounting robot 7 also manages the amount and number of banknotes of each denomination stored in the banknote change machine 79, and the amount and number of coins of each denomination (banknotes and coins are collectively referred to as "money") stored in the coin change machine 80. If there is money of a denomination stored in the banknote change machine 79 or the coin change machine 80 whose stored number falls below a first predetermined number, the accounting robot 7 travels on the track Me to the money deposit / withdrawal position Mf and replenishes the money from the money storage box. If there is money stored in the banknote change machine 79 or the coin change machine 80 whose stored number exceeds a second predetermined number (overflow), the accounting robot 7 travels on the track Me to the money deposit / withdrawal position Mf and collects the overflowed money into the money storage box.

[0021] Next, a system according to an embodiment will be described. FIG. 2 is a diagram illustrating a system according to an embodiment. In FIG. 2, a system 90 includes an order terminal 1, a station 3, a kitchen terminal 5, an accounting robot 7, and a food delivery robot 9. The order terminal 1 and the accounting robot 7 constitute an accounting system 10. The order terminal 1, the station 3, and the kitchen terminal 5 are connected to each other via a communication line L such as a LAN (Local Area Network) so that they can communicate with each other. The station 3, the accounting robot 7, and the food delivery robot 9 are connected to each other via a communication line NW such as a wireless LAN so that they can communicate with each other via a repeater (not shown).

[0022] The order terminal 1 is installed on each table Mb in the store M. The order terminal 1 is a device for ordering products (food) sold in the store M. Specifically, the order terminal 1 allows the customer to select a product to eat or drink from a list of products displayed on the display unit 17 (see FIG. 5) and operate the order button 183 (see FIG. 5) to send ordering information for the selected product to the station 3. The order terminal 1 also allows the customer to operate the checkout button 184 (see FIG. 5) to send an accounting signal to the station 3 to pay for the product that has been eaten (served).

[0023] Station 3 manages sales data for products sold at store M. Station 3 also manages order information received from order terminal 1 for each customer (each table Mb). Based on the received order information, station 3 sends cooking instructions for the ordered products included in the order information to kitchen terminal 5. When station 3 receives cooking completion information from kitchen terminal 5, it instructs food service robot 9 to serve the cooked products. Station 3 also manages whether the products instructed to be served have been served, and stores serving completion information for the served products. When station 3 receives a billing signal from order terminal 1, if the serving has been completed, it sends billing instruction information extracted from the billing information for that customer to billing robot 7.

[0024] The food delivery robot 9 is a device that carries cooked products to tables Mb. The food delivery robot 9 is equipped with wheels (not shown) for running and changing direction, and moves around the store on tracks Md to deliver products. The food delivery robot 9 will be described later with reference to FIG. 3.

[0025] The accounting robot 7 is a device that handles the accounting for the delivered products. The accounting robot 7 is equipped with wheels (not shown) for running and changing direction, and moves on tracks Md and Me to move within the store and in the back yard and process the accounting for the delivered products. The accounting robot 7 will be described later with reference to FIG. 4.

[0026] Next, the food delivery robot 9 will be described. FIG. 3 is a perspective view showing the appearance of the food delivery robot 9. As shown in FIG. 3, the food delivery robot 9 has a vertically elongated, approximately cylindrical shape. The food delivery robot 9 has a base 87 and a product placement unit 88 formed on top of the base 87. A traveling mechanism (not shown, e.g., four wheels) for moving the food delivery robot 9 is attached to the base 87, and the traveling mechanism is driven (the wheels rotate) to allow the food delivery robot 9 to move. The food delivery robot 9 moves to a different position by moving. The base 87 also has a motor 84 (see FIG. 9) for driving the traveling mechanism. The food delivery robot 9 drives the traveling mechanism to move along a track Md, and moves to a table Mb with cooked products on it.

[0027] The food delivery robot 9 also has a pair of pillars 86 extending upward from both sides of a base 87. Supports (not shown) that support trays TR are provided inside the pillars 86, and product placement section 88 is formed by removably attaching flat-topped, plate-like trays TR to the supports. In this embodiment, four trays TR, trays TRa to TRd, are attached at predetermined intervals in the height direction of the food delivery robot 9. The food delivery robot 9 moves the cooked products placed on these trays TR to table Mb and places them on the table.

[0028] The food delivery robot 9 also has a display unit 77 and an operation unit 78 on the top of one of the pillars 86. The display unit 77 displays a message indicating that the cooked food has been delivered (arrived) and a message urging the customer to pick up the food. The operation unit 78 is a touch panel keyboard provided on the display unit 77, and is provided with an OK button 783 (see Figure 9) and other buttons that are operated after the food is removed from the tray TR.

[0029] Next, the accounting robot 7 will be described. FIG. 4 is a perspective view showing the appearance of the accounting robot 7. Note that the same components of the accounting robot 7 as those of the food service robot 9 are designated by the same reference numerals, and their descriptions may be simplified or omitted. As shown in FIG. 4, the accounting robot 7 has a vertically elongated, approximately cylindrical shape. The accounting robot 7 has a base 87 and an accounting equipment mounting section 89 formed on the top of the base 87. A running mechanism for moving the accounting robot 7 is attached to the base 87, and the running mechanism is driven to move the accounting robot 7. The accounting robot 7 moves by running. The base 87 also has a motor 84 (see FIG. 9) for driving the running mechanism. The accounting robot 7 drives the running mechanism to move along the track Md to the location of a customer seated at table Mb and performs accounting for the items consumed by the customer. The accounting robot 7 also drives the running mechanism to move along the track Me to the cash deposit / withdrawal position Mf, where it replenishes and collects cash.

[0030] The accounting robot 7 also has a pair of pillars 86 extending upward from both sides of the base 87. Both pillars 86 are provided with support sections (not shown) that support trays TR, and flat-topped, plate-like trays TR can be detachably attached to these support sections. In this embodiment, tray TRa is attached to the top, and tray TRd is attached to the bottom. Above tray TRa and between trays TRa and TRd is an accounting equipment placement section 89.

[0031] The accounting robot 7 removes trays TRb and TRc, and has a banknote change machine 79 and a coin change machine 80 arranged side by side on tray TRd (they are detachably attached to tray TRd). The banknote change machine 79 has a banknote insertion slot 791 at the top and a banknote dispensing outlet 792 at the bottom. The banknote change machine 79 stores banknotes inserted through the banknote insertion slot 791 inside and dispenses change for the banknotes from the banknote dispensing outlet 792. A customer inserts banknotes as payment for food and drink through the banknote insertion slot 791. The coin change machine 80 has a coin insertion slot 801 at the top and a coin dispensing outlet 802 at the bottom. The coin change machine 80 stores coins inserted through the coin insertion slot 801 inside and dispenses change for the coins from the coin dispensing outlet 802. A customer inserts coins into a coin slot 801 to pay for food and drink.

[0032] The accounting robot 7 also has a reader 82 (see FIG. 9) on top of the banknote change dispenser 79 (removably attached). The reader 82 is composed of, for example, a camera, and captures a code symbol such as a two-dimensional code displayed on a mobile terminal carried by the customer. The accounting robot 7 analyzes the captured code symbol and performs accounting processing using code payment.

[0033] A payment terminal 83 (see FIG. 9) is provided (removably attached) on top of the coin change machine 80. When paying for food and drink using a non-cash payment method, such as a credit card, the payment terminal 83 acquires customer information and card information from the inserted card. The accounting robot 7 performs non-cash accounting processing based on the acquired information.

[0034] A printer 81 (see FIG. 9) is also provided above the tray TRa. The printer 81 prints processed product information and payment information (ordered product name, total amount, deposit amount, change amount, etc.) on receipt paper. The printer 81 also issues a receipt on which the product information and payment information are printed. Note that a receipt may be issued instead of a receipt.

[0035] The checkout robot 7 also has a display unit 77 and an operation unit 78 on the top of one of the pillars 86. The display unit 77 displays a message indicating that the checkout for the consumed items is to be processed. The operation unit 78 is a touch-panel keyboard provided on the display unit 77, and is provided with a checkout selection button 782 (see FIG. 9) for selecting the type of checkout and an OK button 783 (see FIG. 9) for prompting the checkout process. If the display unit 77 is too small for processing checkouts, a display unit (not shown) dedicated to checkouts may be provided, for example, above the tray TRa (next to the printer 81). The operation unit 78 is provided on the display dedicated to checkouts, and the checkout selection button 782 and OK button 783 are provided on the display dedicated to checkouts.

[0036] Note that by removing the bill change machine 79, coin change machine 80, reader 82, payment terminal 83, and printer 81 from the accounting robot 7, attaching trays TRb and TRc, and switching from accounting mode (described later) to serving mode, the accounting robot 7 can be made to function as a serving robot 9. Conversely, to switch the functions of the serving robot 9 to those of the accounting robot 7, this can be achieved by removing trays TRb and TRc, attaching the bill change machine 79, coin change machine 80, reader 82, payment terminal 83, and printer 81 as shown in Figure 4, and switching from serving mode to accounting mode.

[0037] Furthermore, from a crime prevention perspective, it is desirable to configure the accounting robot 7 so that at least the bill change machine 79 and the coin change machine 80 are not exposed to the outside while it is moving. For example, it is desirable to provide an openable shutter (not shown) that closes to cover the accounting equipment placement section 89 so that the bill change machine 79 and the coin change machine 80 are not exposed to the outside while the accounting robot 7 is moving. When the accounting robot 7 arrives at the destination table Mb, it opens the shutter to expose the accounting equipment placement section 89, allowing the accounting process to begin.

[0038] Next, the hardware configuration of the order terminal 1 will be explained. FIG. 5 is a block diagram showing the hardware configuration of the order terminal 1. As shown in FIG. 5, the order terminal 1 includes a CPU (Central Processing Unit) 11, which is an example of a processor, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, and a memory unit 14. The CPU 11 is the main controller. The ROM 12 stores various programs. The RAM 13 loads programs and various data. The memory unit 14 stores various programs. The CPU 11, ROM 12, RAM 13, and memory unit 14 are connected to one another via a bus 15. The CPU 11, ROM 12, and RAM 13 constitute a control unit 100. That is, the control unit 100 executes control processing related to the order terminal 1, which will be described later, by the CPU 11 operating in accordance with the control programs stored in the ROM 12 and memory unit 14 and loaded in the RAM 13.

[0039] The RAM 13 includes a customer ID section 131, a selected product section 132, and an order information section 133. The customer ID section 131 stores a customer ID (customer identification information) that identifies a customer who is a member and that is acquired by the information acquisition section 19, which will be described later. The selected product section 132 stores a product code (product identification information) that identifies a product to be ordered, selected from a number of displayed menus. The order information section 133 stores the product code of the ordered product.

[0040] The memory unit 14 is composed of a non-volatile memory such as an HDD (Hard Disc Drive) or flash memory that retains stored information even when the power is turned off. The memory unit 14 comprises a control program unit 141, a menu information unit 142, and a table number unit 143. The control program unit 141 stores a control program for controlling the order terminal 1. The menu information unit 142 stores information on menus sold at store M (information on all products sold at store M (information such as product names, product images, product prices, etc.)). The table number unit 143 stores a table number that identifies the table Mb at which the order terminal 1 is installed (i.e., identifies the order terminal 1 that ordered the product).

[0041] The control unit 100 is also connected to the display unit 17, operation unit 18, and information acquisition unit 19 via the bus 15 and the controller 16. The display unit 17 displays menu information and the like stored in the menu information unit 142 to the customer operating the order terminal 1. The operation unit 18 is, for example, a keyboard such as a touch panel provided on the display unit 17, and includes a start button 181, a product button 182, an order button 183, and a checkout button 184. The display unit 17 displays images of the start button 181, the product button 182, the order button 183, and the checkout button 184, and the touch panel in positions corresponding to the displayed images functions as the start button 181, the product button 182, the order button 183, and the checkout button 184.

[0042] The start button 181 is operated by the customer when starting to select the products to order. The product button 182 is operated by the customer when selecting (specifying) the products to order from the displayed menu. The order button 183 is operated by the customer when ordering (placing an order) the selected products. The checkout button 184 is operated by the customer when paying for the ordered products. Operating the checkout button 184 is called a checkout operation.

[0043] The controller 16 receives instructions from the control unit 100 and controls the display unit 17 and the operation unit 18. For convenience of explanation, the following description will be given assuming that the control performed by the controller 16 is performed by the control unit 100.

[0044] Furthermore, control unit 100 is connected to communication unit 20 via bus 15. Communication unit 20 is connected to station 3 and kitchen terminal 5 via communication line L so as to be able to communicate with each other.

[0045] In the embodiment, product selection and ordering of the selected product are performed based on the customer's operation on the order terminal 1 installed at table Mb, but product selection and ordering of the selected product may also be performed from a handheld terminal carried by a store clerk. In this case, the start button 181, product button 182, and order button 183 are displayed on the handheld terminal, and the store clerk operates these buttons to order (place an order) the product desired by the customer. Even in this case, a checkout button 184 is provided on the order terminal 1, and the customer performs the checkout operation.

[0046] Next, the hardware configuration of station 3 will be described. FIG. 6 is a block diagram showing the hardware configuration of station 3. As shown in FIG. 6, station 3 includes a CPU 31, which is an example of a processor, a ROM 32, a RAM 33, a memory unit 34, and the like. CPU 31 is the main controller. ROM 32 stores various programs. RAM 33 loads programs and various data. Memory unit 34 stores various programs. CPU 31, ROM 32, RAM 33, and memory unit 34 are connected to one another via a bus 35. CPU 31, ROM 32, and RAM 33 constitute a control unit 300. That is, the control unit 300 executes control processing related to station 3, which will be described later, by CPU 31 operating in accordance with a control program stored in ROM 32 or memory unit 34 and loaded in RAM 33.

[0047] The RAM 33 includes an order information section 331 and a sales management section 332. The order information section 331 stores, for each customer ID, the customer ID, table number, and order information included in the order information received from the order terminal 1. The order information section 331 will be described later with reference to Figures 7 and 8. The sales management section 332 stores sales data that is the accumulated sales data of the items that have been served (i.e., sales data of the items sold at store M).

[0048] The memory unit 34 is composed of a non-volatile memory such as a HDD or flash memory that retains stored information even when the power is turned off. The memory unit 34 includes a control program unit 341, a customer master 342, a product master 343, and a table information unit 344. The control program unit 341 stores a control program for controlling the station 3. The customer master 342 stores customer information about customers who have become members (such as the customer's name, address, gender, date of birth, number of years of membership, and email address of the customer's mobile device) by customer ID. The product master 343 stores product information (such as the product name and price) of each product (food) sold at the store M by product code that identifies the product. The table information unit 344 stores table numbers that identify each table Mb installed in the store M, in association with each table Mb. The table information unit 344 also stores route information that indicates the route that the store robot K will take from the waiting space Mc to the table Mb, in association with each table number. That is, when a table number is identified, the route that the store robot K will take from the waiting space Mc to the table number is identified. The table information unit 344 also stores route information that indicates the movement route of the checkout robot 7 from the waiting space Mc to the money deposit / withdrawal position Mf.

[0049] The control unit 300 is also connected to a display unit 37 and an operation unit 38 via a bus 35 and a controller 36. The display unit 37 displays information to a person operating the station 3. The operation unit 38 is a keyboard operated by the person operating the station 3.

[0050] The controller 36 receives instructions from the control unit 300 and controls the display unit 37 and the operation unit 38. For convenience of explanation, the following description will be given assuming that the control performed by the controller 36 is performed by the control unit 300.

[0051] The control unit 300 is also connected to a communication unit 39 via a bus 35. The communication unit 39 is communicatively connected to the order terminal 1 and the kitchen terminal 5 via a communication line L. The control unit 300 is also connected to a communication unit 40 via the bus 35. The communication unit 40 is communicatively connected to the food delivery robot 9 and the accounting robot 7 via a communication line NW.

[0052] Next, the order information unit 331 will be described. Fig. 7 is a memory map showing an example of the memory configuration of the order information unit 331. The order information unit 331 stores the customer ID, table number, and order information based on the ordering information received from the order terminal 1. The order information unit 331 also stores accounting information indicating the total price (including consumption tax) to be paid by the customer, which is the total price of the ordered products.

[0053] As shown in FIG. 7, the order information section 331 has a customer ID section 3311, a table number section 3312, an ordered item section 3313, and an accounting information section 3314. The customer ID section 3311 stores the customer ID included in the order information received from the order terminal 1. The table number section 3312 stores the table number included in the order information received from the order terminal 1, correlating it with the customer ID stored in the customer ID section 3311. The table number section 3312 also acquires and stores route information that is associated with the received table number and stored in the table information section 344. The ordered item section 3313 stores the product code included in the order information received from the order terminal 1, correlating it with the customer ID stored in the customer ID section 3311. If the order information includes multiple product codes, all of the included product codes are stored.

[0054] FIG. 8 is a memory map showing an example of a detailed memory configuration of the ordered item section 3313. The ordered item section 3313 has a product code section 33131 and a serving information section 33132. The product code section 33131 stores, for each item, the product code included in the order information received from the order terminal 1. The product code section 33131 reads product information (product name, product price, etc.) corresponding to the stored product code from the product master 343 and stores it together with the product code. The serving information section 33132 stores serving information corresponding to the product code stored in the product code section 33131, indicating whether the item identified by each product code has been served. The serving information is, for example, flag information. For example, a flag "1" indicates that the item has been served, and a flag "0" indicates that the item has not yet been served. When the item is served, the serving information in the serving information section 33132 corresponding to the served item is changed from a flag "0" to a flag "1."

[0055] The accounting information unit 3314 stores total price information (accounting information) for items that have been served among the items with product codes stored in the ordered items unit 3313. Specifically, the accounting information unit 3314 stores total price information for items that have been served among the items with product codes stored in the ordered items unit 3313 and for which serving information that has been stored in the serving information unit 33132 is already served.

[0056] Next, we will explain the hardware configuration of the checking out robot 7. Figure 9 is a block diagram showing the hardware configuration of the checking out robot 7. As shown in Figure 9, the checking out robot 7 is equipped with a CPU 71, which is an example of a processor, a ROM 72, a RAM 73, a memory unit 74, etc. The CPU 71 is the main controller. The ROM 72 stores various programs. The RAM 73 expands programs and various data. The memory unit 74 stores various programs. The CPU 71, ROM 72, RAM 73, and memory unit 74 are connected to each other via a bus 75. The CPU 71, ROM 72, and RAM 73 constitute the control unit 700. In other words, the control unit 700 executes control processing related to the checking out robot 7, which will be described later, by the CPU 71 operating in accordance with the control programs stored in the ROM 72 and memory unit 74 and expanded in the RAM 73. The control unit 700 also executes control processing for the in-store robot K.

[0057] The RAM 73 has a catering information section 731, a billing information section 732, a sales data section 733, a receipt amount section 734, and a mode information section 735. The catering information section 731 stores the product codes and product information of the products to be served, corresponding to the table number stored in the table number section 3312. That is, the catering information section 731 stores the product codes of the products to be served and the table number of the table to which the products are served (and also stores route information stored in the table information section 344 corresponding to the table number). The transaction information section 732 receives from station 3 and stores the following information based on the table number identifying the table Mb included in the transaction signal transmitted when the transaction button 184 is operated: the customer ID stored in the customer ID section 3311 corresponding to the table number obtained from the order information section 331; the table number and route information stored in the table number section 3312; product information obtained from the product master 343 based on the product code stored in the order product section 3313; and total amount information stored in the transaction information section 3314.

[0058] The sales data unit 733 cumulatively stores sales data for products processed by the checking out robot 7. The stored amount unit 734 stores inventory information on the number and amount of banknotes by denomination stored in the banknote change machine 79 installed in the checking out robot 7, and inventory information on the number and amount of coins by denomination stored in the coin change machine 80 installed in the checking out robot 7. The stored amount unit 734 updates the inventory information every time a banknote is deposited or dispensed in the banknote change machine 79, or every time a coin is deposited or dispensed in the coin change machine 80. The stored amount unit 734 will be described later with reference to FIG. 10.

[0059] The mode information unit 735 stores mode information indicating whether the in-store robot K is functioning as a food delivery robot 9 or as an accounting robot 7. When food delivery mode information is stored in the mode information unit 735, the in-store robot K functions as a food delivery robot 9. When accounting mode information is stored in the mode information unit 735, the in-store robot K functions as an accounting robot 7. In the case of Figure 9, the in-store robot K is functioning as an accounting robot 7, so the mode information unit 735 stores accounting mode information indicating the accounting robot mode.

[0060] The memory unit 74 is composed of non-volatile memory such as a HDD or flash memory that retains stored information even when the power is turned off. The memory unit 74 includes a control program unit 741 and a moving amount unit 742. The control program unit 741 stores a control program for controlling the accounting robot 7. The moving amount unit 742 stores reference inventory information that will cause the accounting robot 7 to move to the money deposit / withdrawal position Mf. Specifically, the moving amount unit 742 stores upper and lower limits that serve as reference values ​​for the number of banknotes and coins that can be stored in the banknote change machine 79 and coin change machine 80, for each denomination. The upper limit is the maximum number (second predetermined number) that can be stored in the banknote change machine 79 and coin change machine 80. If the number of denominations exceeds this upper limit, the storage for that denomination is overflowing, and money of that denomination needs to be collected. The lower limit is the minimum number (first predetermined number) stored in the banknote change machine 79 or the coin change machine 80. If the number of denominations falls below this minimum, there is a shortage of money of that denomination stored in the storage for that denomination, and money of that denomination needs to be replenished. For this reason, when the number of money stored in the moving amount unit 742 exceeds the upper limit or falls below the lower limit, the accounting robot 7 moves to the money deposit / withdrawal position Mf to replenish or collect money.

[0061] The control unit 700 is also connected to a display unit 77, an operation unit 78, a bill change dispenser 79, a coin change dispenser 80, a printer 81, a reader 82, a payment terminal 83, and a motor 84 via a bus 75 and a controller 76. The display unit 77 displays information to the customer operating the checkout robot 7. The operation unit 38 is a keyboard operated by the customer operating the checkout robot 7. The operation unit 38 is, for example, a touch keyboard provided on the display unit 77. The operation unit 78 includes a mode switch button 781, a checkout selection button 782, and an OK button 783. The mode switch button 781 changes the mode information stored in the mode information unit 735 to another mode information. If the mode information unit 735 stores checkout mode information for functioning as the checkout robot 7, operating the mode switch button 781 changes the mode information for functioning as the food delivery robot 9. Furthermore, when the mode information section 735 stores food delivery mode information in which the robot functions as the food delivery robot 9, operating the mode switch button 781 changes the mode information to the accounting mode in which the robot functions as the accounting robot 7.

[0062] The checkout selection button 782 selects the payment method to be used by the checkout robot 7. Specifically, it is possible to select whether the checkout robot 7 will use cash or non-cash payment methods (for example, a credit card or a mobile device such as a smartphone). The OK button 783 is operated when the checkout robot 7 is to carry out the checkout process using the selected payment method. The motor 84 rotates to drive the in-store robot K's running mechanism, causing the in-store robot K to run.

[0063] The controller 76 receives instructions from the control unit 700 and controls the display unit 77, operation unit 78, bill change machine 79, coin change machine 80, printer 81, reader 82, payment terminal 83, and motor 84. For convenience of explanation, the following description will be given assuming that the control performed by the controller 76 is performed by the control unit 700.

[0064] The control unit 700 is also connected to a communication unit 85 via a bus 75. The communication unit 85 is connected to the station 3 via a communication line NW so as to be able to communicate with the station 3.

[0065] Next, the hardware configuration of the food delivery robot 9 will be described. The food delivery robot 9 has the same basic configuration as the cashier robot 7. That is, the food delivery robot 9 has the hardware configuration shown in FIG. 9. The food delivery robot 9 includes a CPU 71, which is an example of a processor, a ROM 72, a RAM 73, and a memory unit 74. The CPU 71 is the main controller. The ROM 72 stores various programs. The RAM 73 loads programs and various data. The memory unit 74 stores various programs. The CPU 71, ROM 72, RAM 73, and memory unit 74 are connected to one another via a bus 75. The CPU 71, ROM 72, and RAM 73 constitute a control unit 700. That is, the control unit 700 executes control processing for the food delivery robot 9, which will be described later, by the CPU 71 operating in accordance with the control programs stored in the ROM 72 and the memory unit 74 and loaded in the RAM 73. However, the food delivery robot 9 is not connected to a banknote change dispenser 79, a coin change dispenser 80, a printer 81, a reader 82, or a payment terminal 83. Furthermore, in the food delivery robot 9, mode information indicating the food delivery robot mode is stored in the mode information section 735. Furthermore, in the food delivery robot 9, the checkout selection button 782 cannot be operated (it is not displayed or is grayed out).

[0066] Next, the stored amount unit 734 will be described. FIG. 10 is a memory map showing an example of the memory configuration of the stored amount unit 734. The stored amount unit 734 has a denomination unit 7341, a number unit 7342, an amount unit 7343, and a total amount unit 7344. The denomination unit 7341 stores the type (denomination) of money stored by the accounting robot 7 (specifically, the banknote change machine 79 and the coin change machine 80). In this embodiment, the denomination unit 7341 stores banknotes of 10,000 yen, 5,000 yen, 2,000 yen, and 1,000 yen stored by the banknote change machine 79, and coins of 500 yen, 100 yen, 50 yen, 10 yen, 5 yen, and 1 yen stored by the coin change machine 80. The number unit 7342 stores the number of pieces of money stored by the banknote change machine 79 and the coin change machine 80 for each denomination stored in the denomination unit 7341. In the embodiment, the number unit 7342 stores the number of 10,000 yen, 5,000 yen, 2,000 yen, and 1,000 yen banknotes stored in the banknote change machine 79, and the number of 500 yen, 100 yen, 50 yen, 10 yen, 5 yen, and 1 yen coins stored in the coin change machine 80. The amount unit 7343 stores the amount of money stored in the banknote change machine 79 and the coin change machine 80 for each denomination stored in the denomination unit 7341. In the embodiment, the amount unit 7343 stores the amount by denomination of 10,000 yen, 5,000 yen, 2,000 yen, and 1,000 yen banknotes stored in the banknote change machine 79, and the amount by denomination of 500 yen, 100 yen, 50 yen, 10 yen, 5 yen, and 1 yen coins stored in the coin change machine 80. The total amount section 7344 stores the total amount of money stored in the bill change machine 79 and the coin change machine 80.

[0067] In the above description, the accounting robot 7 moves to the money deposit / withdrawal position Mf to collect or replenish money when the amount of money stored in the banknote change machine 79 and the coin change machine 80 satisfies the conditions relative to the upper and lower limits stored in the moving amount unit 742. However, the accounting robot 7 may also be configured to move to the money deposit / withdrawal position Mf based on the number of denominations of money and the total amount stored in the stored amount unit 734. Specifically, for example, 10,000 yen bills are not usually dispensed as change, so for security reasons, the accounting robot 7 may be configured to move to the money deposit / withdrawal position Mf to collect 10,000 yen bills when the number of 10,000 yen bills stored in the bill count unit 7342 reaches a predetermined number or more. Also, for security reasons, the accounting robot 7 may be configured to move to the money deposit / withdrawal position Mf to collect 10,000 yen bills when the total amount stored in the total amount unit 7344 reaches a predetermined amount or more.

[0068] Next, we will explain the main processing flow between each device that makes up system 90: order terminal 1, station 3, kitchen terminal 5, accounting robot 7, and serving robot 9. Figure 11 is a sequence chart showing the operational flow of order terminal 1, station 3, serving robot 9, accounting robot 7, and kitchen terminal 5. First, we will explain the main flow from ordering a product to serving the food.

[0069] A customer seated at table Mb operates the order terminal 1 installed on that table Mb to select one or more items to order (T1). After selecting the items, the customer operates the order button 183 (T2). The order terminal 1 then transmits order information to station 3, including the product code indicating the selected item and the table number identifying that table Mb (T3).

[0070] Upon receiving the order information, the station 3 stores the order information in the order information section 331 (T4). The station 3 then searches the product master 343 based on the ordered product code, acquires product information corresponding to the product code, and transmits cooking instruction information including the product information to the kitchen terminal 5 (T5).

[0071] When the kitchen terminal 5 receives the cooking instruction information, it displays product information for the product to be cooked on the display. The cook looks at the display on the kitchen terminal 5 and prepares the displayed product. Then, when the cook has finished cooking, the cook operates the kitchen terminal 5 to indicate that the product has been cooked. The kitchen terminal 5, which has been operated to complete cooking, sends cooking completion information for the product to the station 3 (T6). The cook then places the cooked product on the tray TR of the food delivery robot 9 waiting in the waiting space Mc. Information on which waiting food delivery robot 9 the product has been placed on is included in the cooking completion information, based on the cook's operation of the kitchen terminal 5.

[0072] Upon receiving the cooking completion information, station 3 designates the accounting robot 7 on which the cook placed the product and transmits serving instruction information (T7). This serving instruction information includes the product code and product information of the cooked product, the table number received in T3, and route information to table Mb of that table number.

[0073] Upon receiving the food delivery instruction information, the food delivery robot 9 moves to the table Mb identified by the table number based on the received route information and stops there (T8). The customer then removes the food items prepared for table Mb from the moved food delivery robot 9. After removing all the food items, the customer operates the OK button 783 at the position corresponding to the image of the OK button displayed on the display unit 77 (T9). After the OK button 783 is operated, the food delivery robot 9 transmits food delivery completion information to station 3 (T10). This food delivery completion information includes product information (including product code) of the delivered food items and the table number of table Mb to which the food items were delivered. The food delivery robot 9 then moves to the waiting space Mc (T11). Upon receiving the food delivery completion information, station 3 stores a flag "1" in the food delivery information section 33132 for the food items that have been delivered, indicating that the food items have been delivered (T12). Station 3 then adds the price of the delivered items to the transaction information section 3314 based on the received delivery information (i.e., updates the transaction information section 3314) (T13).

[0074] Next, the main flow of the checkout process will be explained. When a customer has finished eating and drinking and wishes to pay, they press the checkout button 184 displayed on the order terminal 1 (T21). The order terminal 1 that pressed the checkout button 184 sends a checkout signal to the station 3 requesting a checkout for the table Mb in question (T22). This checkout signal includes the table number for the table Mb stored in the table number section 143 of the order terminal 1 whose checkout button 184 was pressed. Based on the received table number, the station 3 sends checkout instruction information to the checkout robot 7 instructing the checkout, including the product information stored in the order product section 3313 corresponding to the table number, the total amount information stored in the checkout information section 3314, and the table number (including route information) (T23). The station 3 then specifies one of the checkout robots 7 waiting in the waiting space Mc and sends the checkout instruction information.

[0075] Upon receiving the checkout instruction information, the checkout robot 7 moves to the corresponding table Mb based on the received route information (T24). Upon arrival, the checkout robot 7 displays the amount of the checkout (the amount the customer will pay) on the display unit 77. The customer operates the checkout selection button 782 in a position corresponding to the image of the checkout selection button displayed on the display unit 77 to select the checkout medium (T25). The checkout robot 7 then executes the checkout process using the selected medium (T26). If cash payment is selected, the customer confirms the displayed amount and inserts money into the bill change machine 79 and coin change machine 80. The checkout robot 7 then executes the cash payment process. If change is due, the checkout robot 7 dispenses money equivalent to the change amount during the payment process (T27). On the other hand, if payment is made non-cash, the customer uses the reader 82 or payment terminal 83. The checkout robot 7 then executes the non-cash payment process. The checkout robot 7 then issues a receipt during the payment process (T28). Once the receipt is issued, the checkout robot 7 moves to the waiting space Mc (T29). The checkout robot 7 also sends checkout completion information to the station 3, including product information for the processed items, payment information, and updated inventory information (T30). Upon receiving the checkout completion information, the station 3 updates the sales data stored in the sales management unit 332 (T31).

[0076] Next, the main flow of processing money stored in the banknote change dispenser 79 and the coin change dispenser 80 will be described. The checkout robot 7 determines whether to move to the money deposit / withdrawal location Mf based on the number and amount of money stored in the stored amount unit 734 (T41). For example, if the number of bills of any denomination stored in the stored amount unit 734 is less than the minimum number (first predetermined number) stored in the transfer amount unit 742, or if the number of bills of any denomination stored in the stored amount unit 734 exceeds the maximum number (second predetermined number) stored in the transfer amount unit 742, the checkout robot 7 determines to move to the money deposit / withdrawal location Mf. Alternatively, if the number of 10,000 yen bills stored in the stored amount unit 734 exceeds a predetermined number (the predetermined number is stored in the transfer amount unit 742), or if the total amount stored in the stored amount unit 734 exceeds a predetermined amount (the predetermined amount is stored in the transfer amount unit 742), the checkout robot 7 may determine to move to the money deposit / withdrawal location Mf.

[0077] If it is determined that the accounting robot 7 should move to the money deposit / withdrawal position Mf, the accounting robot 7 moves to the money deposit / withdrawal position Mf (T42). The person in charge at the money deposit / withdrawal position Mf collects money from the bill change machine 79 and coin change machine 80 mounted on the accounting robot 7 that has arrived at the money deposit / withdrawal position Mf, or replenishes money in the bill change machine 79 and coin change machine 80 (T43). After the accounting robot 7 has finished collecting or replenishing money, it moves to the waiting space Mc (T44).

[0078] Next, we will explain the functional configuration of the accounting system 10 (order terminal 1, accounting robot 7) and station 3. Figure 12 is a functional block diagram showing the functional configuration of the order terminal 1, station 3, and accounting robot 7. The control unit 100 of the order terminal 1 functions as an operation determination means 101, an accounting signal transmission means 102, and an order means 103 by following the control programs stored in the ROM 12 and the control program section 141 of the memory unit 14.

[0079] The operation determination means 101 determines whether a checkout operation has been performed. Specifically, the operation determination means 101 determines whether the checkout button 184 has been operated.

[0080] The billing signal transmitting means 102 transmits a billing signal when it determines that a billing operation has been performed. Specifically, the billing signal transmitting means 102 transmits a billing signal when the operation determining means 101 determines that the billing button 184 has been operated.

[0081] The ordering means 103 orders a product. Specifically, when the order button 183 is operated, the ordering means 103 transmits order information for the selected product.

[0082] In addition, the control unit 300 of station 3 functions as a reception judgment means 301, a billing information extraction means 302, a food delivery judgment means 303, and a billing instruction information transmission means 304 by following the control program stored in the ROM 32 or the control program section 341 of the memory unit 34.

[0083] The reception determining means 301 determines whether a billing signal has been received from the order terminal 1.

[0084] The transaction information extraction means 302 extracts transaction information when the reception determination means 301 determines that a transaction signal has been received. Specifically, when the reception determination means 301 determines that a transaction signal has been received, the transaction information extraction means 302 reads transaction information from the order information section 331. More specifically, the transaction information extraction means 302 reads the table number from the table number section 3312, reads the ordered item information from the ordered item section 3313, and reads the total amount information from the transaction information section 3314.

[0085] The serving determination means 303 determines whether all ordered items have been served based on the serving information included in the read product information. Specifically, the serving determination means 303 determines whether all ordered items have been served based on the flag information stored in the serving information section 33132.

[0086] When the food serving determination means 303 determines that all ordered items have been served, the accounting instruction information sending means 304 sends accounting instruction information instructing the accounting robot 7 to perform the accounting. Specifically, when the food serving determination means 303 determines that all ordered items have been served, the accounting instruction information sending means 304 sends accounting instruction information including the table number (specifically, route information to the table Mb to be moved), item information, and accounting information to the accounting robot 7.

[0087] In addition, the control unit 700 of the accounting robot 7 functions as an acquisition means 701, a movement means 702, an accounting means 703, and a condition determination means 704 by following the control program stored in the ROM 72 or the control program section 741 of the memory unit 74.

[0088] The acquisition unit 701 receives accounting instruction information instructing the accounting for the ordered items based on the accounting operation of the order terminal 1, and acquires the accounting information for the ordered and served items. Specifically, when the accounting button 184 is operated on the order terminal 1, the acquisition unit 701 receives accounting instruction information instructing the accounting for the ordered items from the order terminal 1 (received from station 3 in this embodiment), and acquires the accounting information included in the accounting instruction information.

[0089] After the acquisition unit 701 acquires the transaction information, the movement unit 702 moves the accounting robot 7 to the table Mb where the order terminal 1 is placed. Specifically, based on the route information included in the transaction information acquired by the acquisition unit 701, the movement unit 702 moves the accounting robot 7 along the track Md to the position of the table Mb where the order terminal 1 where the transaction button 184 was operated is placed.

[0090] The checkout unit 703 performs the checkout process related to the transaction information at the destination. Specifically, the checkout unit 703 performs the checkout process at the location of table Mb, which has been moved by the moving unit 702. At the destination, the checkout unit 703 operates the checkout selection button 782 displayed on the checkout robot 7 to select the method of payment, and performs the selected cash checkout or the selected non-cash checkout.

[0091] The condition determination means 704 determines whether the money stored in the banknote change machine 79 and the coin change machine 80 mounted on the accounting robot 7 satisfies a predetermined condition. The predetermined condition is whether the number of each denomination of money (banknotes and coins) stored in the banknote change machine 79 and the coin change machine 80 is less than a lower limit (first predetermined number) or exceeds an upper limit (second predetermined number), and the condition determination means 704 determines whether there is a denomination that is short of the lower limit or whether there is a denomination that exceeds the upper limit. Specifically, the condition determination means 704 determines whether the number of each denomination of money stored in the banknote change machine 79 and the coin change machine 80 exceeds the upper limit stored in the transfer amount unit 742 or is less than the lower limit. The condition determining means 704 determines that a predetermined condition is met when there is a denomination whose number of bills exceeds the upper limit and when there is a denomination whose number of bills is less than the lower limit.

[0092] Furthermore, the condition determination means 704 determines, as a predetermined condition, for example, whether a predetermined number (for example, 10) or more of the highest denomination banknotes (for example, 10,000 yen bills) have accumulated (stored) in the banknote change dispenser 79. Specifically, the condition determination means 704 determines whether the number of 10,000 yen bills stored in the number section 7342 corresponding to 10,000 yen bills has reached the predetermined number. If the condition determination means 704 determines that the predetermined number or more of the highest denomination banknotes have accumulated in the banknote change dispenser 79, the condition determination means 704 determines that the predetermined condition is satisfied.

[0093] Furthermore, the condition determination means 704 determines, as a predetermined condition, for example, whether the total amount stored in the banknote change machine 79 and the coin change machine 80 is equal to or greater than a predetermined amount (for example, 100,000 yen). Specifically, the condition determination means 704 determines whether the total amount stored in the total amount unit 7344 is equal to or greater than the predetermined amount. If the condition determination means 704 determines that the total amount is equal to or greater than the predetermined amount, the condition determination means 704 determines that the predetermined condition is satisfied.

[0094] When the condition determination means 704 determines that the predetermined condition is met, the movement means 702 moves the checkout robot 7 to the money deposit / withdrawal position Mf. Specifically, when the condition determination means 704 determines that the predetermined condition is met, the movement means 702 moves the checkout robot 7 to the money deposit / withdrawal position Mf by moving it on the track Me.

[0095] Next, the control of the order terminal 1 will be explained. Fig. 13 is a flowchart showing the flow of the control process of the order terminal 1. The control unit 100 of the order terminal 1 determines whether the start button 181 has been operated (S11). If it is determined that the start button 181 has been operated (Yes in S11), the control unit 100 displays on the display unit 17 a product selection screen including a menu of products sold at store M, which is stored in the menu information unit 142, and product buttons 182 for selecting a desired product from the menu (S12). The control unit 100 then returns to S11.

[0096] Furthermore, if it is determined that the start button 181 has not been operated (No in S11), the control unit 100 determines whether any of the product buttons 182 for any of the products has been operated (S13). If it is determined that the product button 182 has been operated (Yes in S13), the control unit 100 stores the product code of the product specified by the product button 182 in the selected product section 132 (S14). Then, the control unit 100 returns to S11.

[0097] Furthermore, if it is determined that the product button 182 was not operated (No in S13), the control unit 100 determines whether the order button 183 was operated (S15). If it is determined that the order button 183 was operated (Yes in S15), the ordering means 103 transmits order information including the product code of the selected product and the table number identifying the table Mb to the station 3 (S16). Then, the control unit 100 stores the product code of the ordered product in the order information unit 133 (S17). Then, the control unit 100 returns to S11.

[0098] When the customer has finished eating all of the items they ordered and their food has been served, they press the checkout button 184 displayed on the order terminal 1. If it is determined that the order button 183 was not pressed (No in S15), the operation determination means 101 determines whether the checkout button 184 was pressed (S21). If it is determined that the checkout button 184 was pressed (Yes in S21), the checkout signal sending means 102 sends a checkout signal (including the table number) to the station 3 indicating that the checkout has been completed (S22). The control unit 100 then returns to S11. If it is determined that the checkout button 184 was not pressed (No in S21), the control unit 100 returns to S11.

[0099] In this way, the order terminal 1 of the embodiment is equipped with a checkout button 184, and when a customer who has finished eating the ordered and served items operates the checkout button 184, the order terminal 1 transmits a checkout signal to the station 3.

[0100] When the checkout button 184 is operated, the order terminal 1 may send a checkout signal to the checkout robot 7. In this case, the checkout robot 7 receives the checkout signal and sends the table number included in the checkout signal to station 3, and receives from station 3 the product information and checkout information for the ordered product stored in the order information unit 331 using that table number (station 3 reads the product information and checkout information from the order information unit 331 and sends them to the checkout robot 7).

[0101] Furthermore, the checkout button 184 may be configured to become operable only after all ordered items have been served. In this case, the order terminal 1 receives from the station 3 information indicating that food is served, which the station 3 has received from the food service robot 9. The order terminal 1 then associates the food served flag with the product code stored in the order information unit 133 based on the received food service completion information. In this way, the order terminal 1 can determine whether all ordered items have been served based on the food served flag stored in the order information unit 133, and the order terminal 1 will determine that all items have been served and then display the checkout button 184 in an operable state. If all items have not been served, the checkout button 184 will be grayed out (or hidden) and will not be operable.

[0102] Next, the control of station 3 will be described. FIG. 14 is a flowchart showing the flow of control processing of station 3. The control unit 300 of station 3 determines whether order information has been received from the order terminal 1 (S31). If it determines that order information has been received (Yes in S31), the control unit 300 stores the customer ID, product code, and table number included in the received order information in the order information unit 331 (S32). The control unit 300 also searches the product master 343 based on the received product code, reads out product information corresponding to the product code, and stores it in the order information unit 331. The control unit 300 then sends cooking instructions for the ordered product to the kitchen terminal 5 based on the stored product information (S33). The control unit 300 then returns to S31.

[0103] If it is determined that the received information is not order information (No in S31), it determines whether cooking completion information has been received from the kitchen terminal 5 (S34). If it is determined that cooking completion information has been received from the kitchen terminal 5 (Yes in S34), it transmits serving instruction information to the food delivery robot 9 to instruct it to serve the cooked items (S35). Then, the control unit 300 returns to S31.

[0104] If it is determined that the cooking completion information has not been received from the kitchen terminal 5 (No in S34), the control unit 300 determines whether food serving completion information has been received from the food serving robot 9 (S41). If it is determined that food serving completion information has been received (Yes in S41), the control unit 300 stores flag information indicating that the item has been served in the food serving information section 33132 corresponding to the item, based on the table number and item code included in the received food serving completion information (S42). The control unit 300 may also transmit the received food serving completion information to the order terminal 1 that transmitted the order information. The control unit 300 then returns to S31.

[0105] If it is determined that the receipt did not indicate that serving is complete from the serving robot 9 (No in S41), the reception determination means 301 determines whether a billing signal has been received from the order terminal 1 (S51). If it is determined that a billing signal has been received (Yes in S51), the transaction information extraction means 302 searches the order information section 331 based on the table number contained in the received billing signal, and extracts transaction information including the received table number (including route information) and the product information and transaction information corresponding to that table number (S52).

[0106] Next, the food service determination means 303 determines whether all ordered items have been served (whether all flags are "1") based on the extracted food service information (food service information stored in the food service information section 33132) (S53). If it is determined that all ordered items have been served (Yes in S53), the accounting instruction information sending means 304 sends accounting instruction information to the accounting robot 7 instructing the customer to complete the transaction (S54). The control unit 300 then returns to S31. If it is determined that all items have not been served (No in S53), the control unit 300 sends a message to the order terminal 1 indicating that the transaction cannot be completed at this time because there are items that have not yet been served (S55). The control unit 300 then returns to S31.

[0107] Furthermore, if it is determined that the transaction signal was not received from the order terminal 1 (No in S51), the control unit 300 determines whether transaction completion information was received from the transaction robot 7 (S56). If it is determined that transaction completion information was received from the transaction robot 7 (Yes in S56), the control unit 300 updates the sales information in the sales management unit 332 (S57). That is, the control unit 300 adds the amount stored in the transaction information unit 3314 to the sales management unit 332, updating the sales data in the sales management unit 332. The control unit 300 then ends processing and returns to S31. Furthermore, if it is determined that the transaction completion information was not received from the transaction robot 7 (No in S56), the control unit 300 returns to S31.

[0108] Next, the control of the in-store robot K will be described. FIG. 15 is a flowchart showing the flow of the control process of the in-store robot K. As shown in FIG. 15, the control unit 700 of the in-store robot K determines whether serving mode information is stored in the mode information unit 735 (S61). If it determines that serving mode information is stored (serving mode in S61), the control unit 700 executes the serving process to be performed by the serving robot 9, details of which are shown in FIG. 16 (S62). The control unit 700 then ends the process and returns to S61. If it determines that payment mode information is stored (payment mode in S61), the control unit 700 executes the payment process to be performed by the payment robot 7, details of which are shown in FIG. 17 (S63). The control unit 700 then ends the process and returns to S61.

[0109] Next, the control of the food delivery process of the food delivery robot 9 will be described. Figure 16 is a flowchart showing the flow of the control process of the food delivery robot 9. The control unit 700 of the food delivery robot 9 determines whether food delivery instruction information has been received from station 3 (S621). If it is determined that food delivery instruction information has been received (Yes in S621), the control unit 700 moves to the position of the table Mb based on the table number (including route information) included in the received food delivery instruction information (S622). The control unit 700 then returns to S621.

[0110] If it is determined that the delivery instruction information has not been received from station 3 (No in S621), the control unit 700 determines whether the OK button 783 has been operated (S623). The control unit 700 waits until the OK button 783 is operated (No in S623), and if it is determined that the OK button 783 has been operated (Yes in S623), the control unit 700 transmits delivery completion information for the delivered products to station 3 (S624). The control unit 700 then moves the delivery robot 9 to the waiting space Mc (S625). The control unit 700 then ends the process and returns to S61.

[0111] Next, the control of the checking out robot 7 will be explained. Figure 17 is a flowchart showing the flow of the control process of the checking out robot 7. As shown in Figure 17, the control unit 700 of the checking out robot 7 determines whether checking out instruction information has been received from station 3 (S631). If it determines that checking out instruction information has been received (Yes in S631), the acquisition means 701 stores the customer ID, product information, transaction information, and table number (including route information) contained in the received checking out instruction information in the transaction information unit 732 (S632).

[0112] Next, the movement means 702 moves the checkout robot 7 to the location of table Mb identified by the received table number based on the stored route information (S633). Once the checkout robot 7 has moved to the location of table Mb, the control unit 700 then displays transaction information on the display unit 77, including product information for the products ordered by the customer and the amount to be paid (transaction information) (S634).

[0113] The customer checks the displayed product information and transaction information and selects the medium for which the transaction will be performed. The control unit 700 determines whether the transaction selection button 782, which selects the medium for which the transaction will be performed, has been operated (S635). The control unit 700 waits until this is done (No in S635), and if it determines that the transaction selection button 782 has been operated (Yes in S635), the control unit 700 then determines whether cash transaction has been selected using the transaction selection button 782 (S636). If it determines that cash transaction has been selected (Yes in S636), the control unit 700 determines whether the OK button 783 has been operated (S637). The control unit 700 waits until this is done (No in S637), and if it determines that the OK button 783 has been operated (Yes in S637), the transaction means 703 executes the cash transaction process (S638). That is, the accounting means 703 calculates and displays the amount of deposit based on the money inserted into the bill change machine 79 or the coin change machine 80, and if there is change, it drives the bill change machine 79 or the coin change machine 80 to dispense money equivalent to the change amount. The accounting means 703 also executes the process of issuing a receipt on which product information and payment information are printed.

[0114] Next, the control unit 700 updates the balance information stored in the stored amount unit 734 based on the number and amount of each denomination of money inserted into the banknote change machine 79 and the coin change machine 80 and the number and amount of each denomination of money dispensed (S639). The control unit 700 then transmits transaction completion information to the station 3, including product information for the processed products, payment information, and the updated balance information (S640). The movement means 702 then moves the transaction robot 7 to the waiting space Mc (S641). The control unit 700 then ends the process and returns to S61.

[0115] If a medium other than cash is selected in S636 (No in S636), the checkout means 703 executes the checkout process using the medium other than cash (S642).Then, the control unit 700 executes the processes of S640 and S641.

[0116] Furthermore, if it is determined in S631 that the receipt of transaction instruction information has not been received (No in S631), the condition determination means 704 determines whether a predetermined condition has been met (S651). If it is determined that the predetermined condition has not been met (No in S651), the control unit 700 terminates processing and returns to S61. If it is determined that the predetermined condition has been met (Yes in S651), the movement means 702 moves the transaction robot 7 to the money deposit / withdrawal position Mf (S652). The staff member collects money from or replenishes money in the bill change dispenser 79 and coin change dispenser 80 of the transaction robot 7 that has moved to the money deposit / withdrawal position Mf, and instructs the transaction robot 7 to move to the waiting space Mc (for example, by operating a movement button, not shown). The transaction robot 7 determines whether a movement instruction has been issued (S653). The control unit 700 waits until a movement instruction is given (No in S653), and if it determines that a movement instruction has been given (Yes in S653), the control unit 700 moves the checkout robot 7 from the cash deposit / withdrawal position Mf to the waiting space Mc (S654).The control unit 700 then ends the process and returns to S61.

[0117] When the checkout button 184 is operated on the order terminal 1, the checkout robot 7 in this embodiment automatically moves from the waiting space Mc to the location of the table Mb where the checkout button 184 was operated, and performs the checkout process at the destination. This makes it possible to alleviate staff shortages during checkouts. Furthermore, the checkout robot 7 in this embodiment automatically moves to the money receiving / dispensing position Mf when certain conditions are met for the money stored in the bill change dispenser 79 and coin change dispenser 80. This makes it possible to alleviate staff shortages required for collecting and replenishing money. Furthermore, since the ability to store more money than the specified amount can be improved, this has the effect of deterring crimes targeting the bill change dispenser 79 and coin change dispenser 80 mounted on the unmanned, traveling checkout robot 7.

[0118] As described above, the accounting robot 7 of this embodiment is an accounting robot 7 that processes accounting for ordered items in a store M where multiple tables Mb for eating and drinking are arranged, and is equipped with an acquisition means 701 that receives accounting instruction information instructing the accounting for the ordered items based on the accounting operation of the order terminal 1 and acquires accounting information for the ordered and served items, a movement means 702 that moves the accounting robot 7 to the table Mb where the order terminal 1 is installed after acquiring the accounting information, and an accounting means 703 that processes accounting related to the transaction information at the moved destination.

[0119] The accounting robot 7 with this configuration acquires accounting information related to the ordered and served items in response to accounting operations from the order terminal 1, and after acquiring the accounting information, moves to table Mb to process the accounting. This makes it possible to alleviate staff shortages at the time of accounting.

[0120] Although the embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments and their modifications can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as defined in the claims.

[0121] For example, in the embodiment, product orders are placed from the order terminal 1. However, this is not limiting, and product orders may be placed from other devices (e.g., handheld terminals), and the order terminal 1 may be a device that transmits at least a checkout signal in response to checkout operations.

[0122] In the embodiment, the mode is switched so that one in-store robot K functions as a food delivery robot 9 and also as an accounting robot 7. However, this is not limiting, and the food delivery robot 9 and the accounting robot 7 may be separate, independent devices.

[0123] In the embodiment, the cashier robot 7 is configured to move to the cash deposit / withdrawal position Mf to replenish and collect money, but this configuration is not essential.

[0124] The program executed by the accounting robot 7 of the embodiment is provided as a file in an installable or executable format recorded on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0125] The program executed by the accounting robot 7 of the embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The program executed by the accounting robot 7 of the embodiment may be provided or distributed via a network such as the Internet.

[0126] Furthermore, the program executed by the accounting robot 7 of the embodiment may be configured to be provided in advance by being stored in a ROM or the like. [Explanation of symbols]

[0127] 1. Order terminal 3 Stations 7. Accounting Robot 9. Food Delivery Robot 10 Accounting System 17 Display 18 Control section 77 Display section 78 Control section 79 Banknote change machine 80 Coin change machine 100 control section 101 Operation judgment means 102 Accounting signal transmission means 103 Ordering Methods 132 Selected Products Department 133 Order Information Department 143 Table Number Section 184 Checkout button 300 control section 301 Reception determination means 302 Accounting Information Extraction Method 303 Food distribution decision-making method 304 Accounting instruction information transmission means 700 control section 701 Acquisition method 702 Transportation 703 Accounting Instruments 704 Condition judgment means 731 Food Distribution Information Department 732 Accounting Information Department 734 Receipt amount section 742 Transfer amount section 782 Checkout selection button 783 OK button Mf Cash deposit and withdrawal location [Prior art documents] [Patent documents]

[0128] [Patent Document 1] Japanese Patent Application Laid-Open No. 61-125781

Claims

1. An accounting robot device that processes accounting for ordered products in a store where multiple tables for eating and drinking are arranged, an acquisition means for receiving accounting instruction information instructing the accounting for the ordered items based on an accounting operation on the order terminal, and acquiring accounting information for the ordered and served items; a moving means for moving the accounting robot device to the table where the order terminal is installed after the transaction information is acquired; a checkout unit that processes the checkout information at the destination; and An accounting robot device equipped with the above.

2. a change dispenser for depositing and dispensing money in connection with the accounting process using cash; a condition determination means for determining whether the money stored in the change dispenser satisfies a predetermined condition; Equipped with the moving means moves the accounting robot device to a money deposit / withdrawal position where money is deposited or withdrawn from the change dispenser when the condition determining means determines that a predetermined condition is satisfied. The accounting robot device according to claim 1 .

3. The condition determination means determines whether there is a denomination of money stored in the change dispenser that is insufficient, the moving means moves the machine to the money deposit / withdrawal position to replenish the money when it is determined that there is a denomination that is insufficient; The accounting robot device according to claim 2.

4. The condition determination means determines whether or not there is a denomination of money stored in the change dispenser that exceeds a predetermined amount, the moving means moves the machine to the cash deposit / withdrawal position in order to dispense money when it is determined that there is an excess denomination; The accounting robot device according to claim 2.

5. The condition determination means determines whether a predetermined number of bills of the maximum denomination have been stored in the change dispenser, the moving means moves the machine to the money deposit / withdrawal position when a predetermined number of bills have been stored in order to dispense the maximum amount of money; The accounting robot device according to claim 2.

6. A computer as an accounting robot device that processes the accounting for ordered products in a store where a plurality of tables for eating and drinking are arranged, an acquisition means for receiving accounting instruction information instructing the accounting for the ordered items based on an accounting operation on the order terminal, and acquiring accounting information for the ordered and served items; a moving means for moving the accounting robot device to the table where the order terminal is installed after the transaction information is acquired; a checkout unit that processes the checkout information at the destination; and A program that can function as a

7. 1. A checkout system in a store where a plurality of tables are arranged for eating and drinking, the checkout system including an order terminal for ordering food and drink products, and a checkout robot device for processing the checkout for the products ordered from the order terminal, The order terminal has an operation determination means for determining whether a transaction operation has been performed; accounting signal transmitting means for transmitting an accounting signal when a accounting operation is determined; Equipped with The accounting robot device includes: an acquisition means for receiving accounting instruction information instructing the accounting for the ordered items based on the transmission of the accounting signal, and acquiring accounting information for the ordered and served items; a moving means for moving the accounting robot device to the table where the order terminal is installed after the transaction information is acquired; a checkout unit that processes the checkout information at the destination; and An accounting system with.

8. The order terminal includes an order means for ordering the product. The accounting system according to claim 7.

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