Dish return instruction device, program and system

Abstract

The problem that this invention aims to solve is to provide a dish return instruction device, program, and system that can reliably handle the return of dishes. [Solution] The table clearing instruction device of the embodiment includes an acquisition means for acquiring table information indicating a table that has requested the clearing of dishes; an identification means for identifying a robot that will clear the dishes; an instruction means for instructing the identified robot to proceed to the table to clear the dishes; and a transmission means for transmitting the acquired table information so that it can be displayed on a display device visible to the staff.

Description

Technical Field

[0001] Embodiments of the present invention relate to a tableware removal instruction device, a program, and a system.

Background Art

[0002] In recent years, there are food delivery robots moving inside stores such as family restaurants and eateries. This food delivery robot has a food delivery function of placing the ordered product (food or drink) on it and moving to the table of the customer who ordered the product when the cooking of the ordered product is completed.

[0003] Also in recent years, a tableware removal robot for removing tableware, glasses, etc. (hereinafter referred to as "tableware") related to the delivered product from the table (hereinafter referred to as "tableware removal") has been developed. However, when all the tableware removal robots are in operation, there may be cases where the robot cannot move towards the table where the tableware removal request has been made. Also, if all the processes related to tableware removal are entrusted to the robot, it is conceivable that there may be omissions in the tableware removal process.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The problem to be solved by the present invention is to provide a tableware removal instruction device, a program, and a system capable of reliably performing the tableware removal process.

Means for Solving the Problems

[0005] The tableware removal instruction device according to the embodiment includes an acquisition means for acquiring table information indicating a table where there is a tableware removal request for tableware, a specification means for specifying a robot that performs the tableware removal of the tableware, an instruction means for instructing the specified robot to move towards the table for tableware removal, and a transmission means for transmit the acquired table information to a display device visible to the store clerk so that it can be displayed.

Brief Description of the Drawings

[0006] [Figure 1] Figure 1 shows the layout of a restaurant according to the first embodiment. [Figure 2] Figure 2 is a diagram illustrating the electrical connections of the system in the embodiment. [Figure 3] Figure 3 is a perspective view showing the external appearance of the robots (dish-clearing robot and food-serving robot). [Figure 4] Figure 4 is a block diagram showing the hardware configuration of the order terminal. [Figure 5] Figure 5 is a block diagram showing the hardware configuration of the station. [Figure 6] Figure 6 is a memory map showing an example of the memory configuration of the order information unit. [Figure 7] Figure 7 is a memory map showing an example of the memory configuration for the ordered products section. [Figure 8] Figure 8 is a memory map showing an example of the memory configuration of the robot information unit. [Figure 9] Figure 9 is a memory map showing an example of the memory configuration of the table information section. [Figure 10] Figure 10 is a block diagram showing the hardware configuration of the employee terminal. [Figure 11] Figure 11 is a block diagram showing the hardware configuration of the robots (dish-clearing robot and food-serving robot). [Figure 12] Figure 12 is a sequence diagram showing the main processes related to ordering and serving, as well as the transmission and reception of information between each device, in chronological order. [Figure 13] Figure 13 is a sequence diagram showing the main processes and the transmission and reception of information between the order terminal, station, dish return robot, staff terminal, and POS terminal in chronological order in relation to dish return requests. [Figure 14] Figure 14 is a sequence diagram showing the main processes related to accounting, including the order terminal, station, dish return robot, employee terminal, and POS terminal, as well as the transmission and reception of information between each device in chronological order. [Figure 15]Figure 15 is a sequence diagram showing the main processes of the order terminal, station, dish return robot, staff terminal, and POS terminal, as well as the transmission and reception of information between each device, in chronological order, after a predetermined time has elapsed since the food was served. [Figure 16] Figure 16 is a functional block diagram showing the functional configuration of the station and the employee terminal. [Figure 17] Figure 17 is a flowchart showing a part of the control processing flow of the order terminal. [Figure 18] Figure 18 is a flowchart showing the remaining steps in the control processing flow of the order terminal. [Figure 19] Figure 19 is a flowchart showing a part of the control process flow for the station. [Figure 20] Figure 20 is a flowchart showing another part of the control processing flow for the station. [Figure 21] Figure 21 is a flowchart showing the remaining control processing flow for the station. [Figure 22] Figure 22 is a flowchart showing the control process flow of the robots (dish-clearing robot and food-serving robot). [Figure 23] Figure 23 is a flowchart showing the flow of control processing at the employee terminal. [Figure 24] Figure 24 is a flowchart showing another part of the control processing flow of the station according to the second embodiment. [Figure 25] Figure 25 is a flowchart showing the remaining control processing flow of the station according to the second embodiment. [Figure 26] Figure 26 is a flowchart showing the control process flow of the serving robot according to the second embodiment. [Figure 27] Figure 27 is a flowchart showing the control process flow of the dish-returning robot according to the second embodiment. [Modes for carrying out the invention]

[0007] Hereinafter, the first embodiment and the second embodiment will be described with reference to the drawings. In the first embodiment and the second embodiment, an example in which the under-dining instruction device and the system are applied to a food service establishment such as a family restaurant or a fast food restaurant will be described. In the first embodiment and the second embodiment, a station will be described as an example of the under-dining instruction device, and a store clerk terminal carried by a store clerk will be described as an example of a display device visible to the store clerk. Note that the present invention is applicable to various forms of food service establishments. Also, the present invention of the present application is not limited by the following description.

[0008] (First Embodiment) FIG. 1 is an explanatory diagram showing the layout inside a store M, which is a food service establishment such as a family restaurant. In FIG. 1, the store M is provided with an entrance / exit Ma, and customers enter and leave the store M through the entrance / exit Ma. Inside the store M, one or more tables and chairs for sitting are installed. Hereinafter, the tables and chairs will be collectively referred to as "table Mb". In the embodiment, as an example, eight tables Mb, namely Table 1 to Table 8, are installed. A customer sitting at the table Mb eats and drinks the products (dishes and drinks) served at the table Mb.

[0009] An order terminal 1 is installed on each table Mb. The order terminal 1 is a device for ordering (placing an order) the products (edible and drinkable) sold in the store M. A customer sitting at the table Mb operates the order terminal 1 to order products. Also, the customer operates the order terminal 1 to make a request to clear the tableware on the table Mb (lower the tableware (collect it)). Further, the customer uses the order terminal 1 to perform operations for settling the bill for the products eaten and drunk.

[0010] Furthermore, a waiting space Mc is provided within the store M where the robot 9 is stationed. While it is possible to install separate robots 9 for serving food and for clearing dishes, such robots 9 are expensive per unit, so it is desirable that one robot 9 functions as both a serving robot and a dish clearing robot. In this embodiment, the robot 9 can function as both a serving robot and a dish clearing robot. A serving robot is a robot that moves and transports (serves food) cooked food to a designated table Mb on its own. A dish clearing robot is a robot that collects dishes from table Mb and moves and transports (clears dishes) to the vicinity of the kitchen (for example, the waiting space Mc) on its own. In this embodiment, at table Mb, the customer places the dishes to be cleared onto the dish clearing robot, and a store employee collects the dishes from the dish clearing robot after they have been transported to the waiting space Mc. In the following explanation, when robot 9 functions as a serving robot, it will be referred to as serving robot 9, and when robot 9 functions as a dish clearing robot, it will be referred to as dish clearing robot 9. In this embodiment, four robots 9 are waiting in the waiting space Mc.

[0011] Robot 9 can switch between four modes: standby mode, serving mode, serving completion mode, and dish clearing mode. Standby mode is when robot 9 is waiting in the standby space Mc. Serving mode is when robot 9 is functioning as a serving robot 9. That is, when robot 9 is serving food, it is in serving mode. Serving completion mode is when robot 9 has finished serving food. That is, from the time it finishes serving food until it returns to the standby space Mc, robot 9 is in serving completion mode. Dish clearing mode is when robot 9 is functioning as a dish clearing robot 9. That is, from the time robot 9 receives a dish clearing instruction and goes to the designated table Mb, transports the cleared dishes, and returns to the standby space Mc, it is in dish clearing mode. Thus, the robot 9 of this embodiment can be switched between serving robot 9 and dish clearing robot 9 by switching modes.

[0012] Furthermore, it is desirable that the waiting space Mc be located 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 prepared in the kitchen can be immediately placed onto the robot 9 waiting in the waiting space Mc. In addition, the dishwashing robot 9 can collect the dishes it has returned to the kitchen.

[0013] Furthermore, a track Md is installed (laid or embedded in the floor) within the store M. The track Md is made of a thin steel plate of a predetermined width. The robot 9 can move by detecting the track Md with a detector (not shown) installed inside and traveling along the track Md. The track Md is provided between the waiting space Mc and each table Mb. The robot 9 waiting in the waiting space Mc is equipped with wheels (not shown), and by rotating these wheels, it can travel along the track Md to the position of each table Mb. In addition, the robot 9 that has delivered the goods can travel along the track Md to the position of another table Mb.

[0014] Each table Mb is assigned table information that identifies it individually (in this embodiment, the table numbers of Table 1 to Table 8), and by specifying (inputting) a specific table number, the robot 9 travels along the trajectory Md to the location of the table Mb specified by that table number and moves to that table Mb. Specifically, the robot stores the location information of each table Mb (for example, coordinate information that identifies the location within the store) associated with the table number of each table Mb, and the robot 9 also stores location information indicating its current position within the store M. When a table Mb is specified, the robot 9 travels along the trajectory Md to that table Mb based on its current location information and the location information of the specified table Mb.

[0015] Furthermore, a back room is provided within store M. Station 3 is installed in the back room. Station 3 manages the products ordered from order terminal 1. Specifically, Station 3 issues cooking instructions to the kitchen for the ordered products. Station 3 also instructs robot 9 to serve the products once they are ready. Station 3 also instructs robot 9 to clear the dishes from table Mb when a request for clearing has been made. Station 3 also instructs robot 9 to clear the dishes from table Mb after a predetermined amount of time has elapsed since the products were served. In addition, Station 3 instructs robot 9 to clear the dishes from table Mb when payment is processed on order terminal 1.

[0016] From here, a system according to the embodiment will be described. Figure 2 is a diagram illustrating the system of the embodiment. In Figure 2, system 90 includes an order terminal 1, a station 3, a staff terminal 5, a POS terminal 7, a kitchen terminal 8, and a robot 9. Station 3 and staff terminal 5 constitute system 80. Order terminal 1, station 3, POS terminal 7, and kitchen terminal 8 are connected to each other via a communication line L such as a LAN (Local Area Network). Station 3, staff terminal 5, and robot 9 are also connected to a communication line NW such as a wireless LAN via a repeater (not shown) so that they can communicate with each other.

[0017] Order terminal 1 is installed on each table Mb within store M. Order terminal 1 is a device for ordering products (dishes) sold within store M. Specifically, order terminal 1 selects the product to be eaten or drunk from the list of products displayed on the display unit 16 (see Figure 4) and transmits the order information of the selected product to station 3 by operating the order button 173 (see Figure 4). Order terminal 1 also transmits a dish clearing request signal to request the removal of dishes from table Mb by operating the dish clearing request button 174 (see Figure 4). Furthermore, order terminal 1 transmits an accounting signal to station 3, including the dish clearing request signal, for accounting of the consumed (served) products, by operating the accounting button 175 (see Figure 4).

[0018] Station 3 manages sales data for products sold at store M. Station 3 also manages order information received from order terminal 1, organized by customer (by table Mb).

[0019] Station 3 transmits cooking instructions for the ordered items to the kitchen terminal 8 based on the received order information. When Station 3 receives cooking completion information from the kitchen terminal 8, it instructs the robot 9 to serve the cooked items. Station 3 also manages whether the items that were instructed to be served have been served and stores information on the completion of serving (e.g., the time of serving completion) for the served items.

[0020] Furthermore, when Station 3 receives a dish clearing request signal from Order Terminal 1, it instructs Robot 9 to clear the dishes. Also, when a predetermined time has elapsed since the food was served, Station 3 instructs Robot 9 to clear the dishes. Furthermore, when Station 3 receives a payment request signal from Order Terminal 1, it instructs Robot 9 to clear the dishes from the table Mb and transmits payment information to POS Terminal 7.

[0021] Furthermore, when Station 3 issues a command to Robot 9 to clear the table, it sends message information (table clearing request information) to the employee terminal 5, including the table number of the table Mb for which the table clearing command was issued, indicating that Robot 9 is heading to clear the table.

[0022] The employee terminal 5 is a terminal carried by each employee, and can be, for example, a smartphone, mobile phone, or tablet. Based on the table clearing request information received from Station 3, the employee terminal 5 displays information about the table Mb that has been instructed to be cleared. By looking at the display on the employee terminal 5, employees can understand that they have instructed the table Mb to be cleared. For example, if a new table clearing request is received when all (four in this embodiment) robots 9 are already being used for serving or clearing, an employee can go to clear the table on behalf of the robots 9. Employees can also monitor whether the robots 9 are correctly processing the table clearing requests.

[0023] Next, the robot 9 will be described. Figure 3 is a perspective view showing the external appearance of the robot 9. As shown in Figure 3, the robot 9 has a roughly cylindrical shape, for example, with a vertically elongated form. The robot 9 has a base 87 and a product placement section 88 formed on the upper part of the base 87. The base 87 is fitted with a running mechanism (not shown, for example, four wheels) for moving the robot 9, and the robot 9 can be moved by driving the running mechanism (the wheels rotate). The robot 9 moves its own position by running. The base 87 also has a motor 98 (see Figure 11) for driving the running mechanism. The robot 9 moves along the track Md by driving the running mechanism, carrying the cooked products to table Mb. The robot 9 also moves along the track Md by driving the running mechanism to table Mb where the dishes are collected, and after the dishes are collected, it moves along the track Md to the waiting space Mc.

[0024] The robot 9 also includes a pair of columnar sections 86 extending upward from both sides of the base section 87. Inside each columnar section 86, there are support sections (not shown) that support the trays TR, and a product placement section 88 is formed by detachably attaching a flat-topped plate-shaped tray TR to these support sections. In this embodiment, four trays TR, TRa to TRd, are mounted on the robot 9 at predetermined intervals in the height direction. The robot 9 moves the cooked products placed on these trays TR to table Mb and serves them. The robot 9 also places the returned dishes onto the trays TR and moves to the waiting space Mc.

[0025] In addition, the robot 9 of the first embodiment is used as a serving robot 9 to place cooked food on, and as a dishwashing robot 9 to place washed dishes on, so for hygienic reasons, the trays TR on which the food is placed may be separated. For example, the food to be served may be placed on trays TRa and TRb, and the dishes to be washed may be placed on trays TRc and TRd. In this case, for example, each tray TR may be equipped with a light (not shown) that can be turned on and off, and by turning on the lights of different tray TRs during serving and dishwashing, it is possible to guide the robot to place the food to be served and the dishes to be washed on different tray TRs. For example, the lights of trays TRa and TRb are turned on during serving, and the lights of trays TRc and TRd are turned on during dishwashing. In this way, the tray TR on which the food to be received by the customer from the robot 9 is placed can be clearly indicated during serving, and the tray TR on which the dishes to be collected are placed can be clearly indicated during dishwashing.

[0026] Furthermore, if you do not want other customers to see the dishes that have been returned, you can provide the robot 9 with an openable and closable shutter (not shown) that covers the tray on which the dishes to be returned are placed (for example, trays TRc and TRd). After placing the dishes to be returned on tray TR, you can close the shutter to conceal the dishes during transport.

[0027] The robot 9 also has a display unit 96 and an operation unit 97 on the upper part of one of its column sections 86. In serving mode, the display unit 96 displays a message indicating that the cooked food has been served (arrived), that is, a message prompting the user to accept the food. In return mode, it displays a message prompting the user to place the dishes to be returned onto the tray TR. The operation unit 97 is a touch panel keyboard located on the display unit 96 and includes an OK button 971 (see Figure 11) and other buttons to be used when removing food from the tray TR and when placing dishes to be returned onto the tray TR.

[0028] Furthermore, it is desirable that the dish-clearing robot 9 be equipped with a trash can for waste generated by customers' eating and drinking. Customers will put their waste into the trash can when they have their dishes cleared away.

[0029] The hardware configuration of order terminal 1 will now be described. Figure 4 is a block diagram showing the hardware configuration of order terminal 1. As shown in Figure 4, order terminal 1 is equipped with a CPU (Central Processing Unit) 11, which is an example of a processor, ROM (Read Only Memory) 12, RAM (Random Access Memory) 13, etc. The CPU 11 is the control unit. ROM 12 stores the OS (Operating System) and various programs. Note that ROM 12 may be replaced with an HDD (Hard Disk Drive) or SSD (Solid State Drive). RAM 13 loads programs and various data. The CPU 11, ROM 12, and RAM 13 are connected to each other via a bus 14. The CPU 11, ROM 12, and RAM 13 constitute the control unit 100. That is, the control unit 100 executes control processing related to order terminal 1, which will be described later, by operating according to the control program stored in ROM 12 and loaded into RAM 13 by the CPU 11.

[0030] ROM 12 includes a control program unit 121, a menu information unit 122, and a table information unit 123. The control program unit 121 stores a control program for controlling the order terminal 1. The menu information unit 122 stores product information for all items available for consumption at store M (product identification information (e.g., product code), product name, product price, product image, etc.). The table information unit 123 stores a table number that identifies the table Mb (in this embodiment, a table number that identifies the table Mb on which the order terminal 1 is installed, out of tables 1 to 8). The table number may also be information that identifies the order terminal 1 installed on table Mb.

[0031] RAM13 has a selected product unit 131, an order information unit 132, and a coupon information unit 133. The selected product unit 131 stores product codes that identify the ordered product selected from a large number of displayed menus. The order information unit 132 stores product codes for the ordered products. The coupon information unit 133 stores coupon information for coupons obtained by lottery in response to the return of tableware.

[0032] Furthermore, the control unit 100 is connected to the display unit 16, the operation unit 17, and the printer 18 via the bus 14 and the controller 15. The display unit 16 displays menu information stored in the menu information unit 122 to the customer operating the order terminal 1. The operation unit 17 is a keyboard, such as a touch panel, provided on the display unit 16, and includes a start button 171, product buttons 172, order buttons 173, a dish clearing request button 174, and a payment button 175. The display unit 16 displays images of the start button 171, product buttons 172, order buttons 173, dish clearing request button 174, and payment button 175, and the touch panel at the position corresponding to the displayed image functions as the start button 171, product buttons 172, order buttons 173, dish clearing request button 174, and payment button 175.

[0033] The Start button 171 is operated by the customer to begin selecting the items to order. The Item button 172 is operated by the customer to select (specify) the items to order from the displayed menu. The Order button 173 is operated by the customer to place an order for the selected items. The Dish Clearance Request button 174 is operated by the customer to have the dishes on the table Mb (mainly dishes that contained the served food, and dishes that are empty after eating and drinking) cleared away (collected from the table Mb). The Payment button 175 is operated by the customer to pay for the ordered items. Operating the Payment button 175 is called the payment operation.

[0034] Printer 18 is, for example, a thermal printer, and prints and issues coupons related to coupon information stored in, for example, the coupon information unit 133. The lottery and issuance of coupons to customers who clear their dishes is an effective means of encouraging customers to actively cooperate in clearing their dishes. By issuing coupons to customers who cooperate in clearing their dishes, it is possible to encourage active customer participation in clearing dishes and reduce the number of staff members who have to clear dishes.

[0035] The controller 15 controls the display unit 16, the operation unit 17, and the printer 18 based on instructions from the control unit 100. For the sake of explanation, the control performed by the controller 15 will be described below as being performed by the control unit 100.

[0036] Furthermore, the control unit 100 is connected to the communication unit 19 via the bus 14. The communication unit 19 is connected to the station 3, POS terminal 7, and kitchen terminal 8 via the communication line L, enabling communication between them.

[0037] Next, the hardware configuration of Station 3 will be described. Figure 5 is a block diagram showing the hardware configuration of Station 3. As shown in Figure 5, Station 3 is equipped with a CPU 31, ROM 32, RAM 33, etc., which are examples of processors. The CPU 31 is the control unit. The ROM 32 stores the OS and various programs. Note that the ROM 32 may be replaced with an HDD or SSD. The RAM 33 loads programs and various data. The CPU 31, ROM 32, and RAM 33 are connected to each other via a bus 34. The CPU 31, ROM 32, and RAM 33 constitute the control unit 300. That is, the control unit 300 executes control processing related to Station 3, which will be described later, by operating according to the control program stored in the ROM 32 and loaded into the RAM 33 by the CPU 31.

[0038] ROM32 comprises a control program unit 321, a product master 322, and a table information unit 323. The control program unit 321 stores a control program for controlling station 3. The product master 322 stores product information (product name, product price, product image, etc.) for each product (dish) that is identified by a product code that identifies the product (dish) sold at store M. The table information unit 323 stores a table number that identifies each table Mb installed in store M, and location information (coordinate information) of the location where each table Mb is installed. The table information unit 323 will be described later in Figure 9.

[0039] RAM33 comprises an order information unit 331, a sales management unit 332, and a robot information unit 333. The order information unit 331 stores order information, including the table number of the ordered table Mb and the product code of the ordered product, which is included in the order information received from the order terminal 1, organized by table number. The order information unit 331 will be described later in Figures 6 and 7. The sales management unit 332 stores sales data accumulated from the sales data of the served products (i.e., sales data of products sold at store M). The robot information unit 333 stores the current location information and status of each robot 9. For serving robots 9 that are currently serving, the serving mode is stored in the robot information unit 333. For robots 9 that have finished serving, the serving completion mode is stored in the robot information unit 333. For dish-clearing robots 9 that are currently clearing dishes, the dish-clearing mode is stored in the robot information unit 333. For robots 9 that are waiting in the waiting space Mc, the waiting mode is stored in the robot information unit 333. The robot information unit 333 will be described later in Figure 8.

[0040] Furthermore, the control unit 300 is connected to the display unit 36 ​​and the operation unit 37 via the bus 34 and the controller 35. The display unit 36 ​​displays information to the person operating the station 3. The operation unit 37 is a keyboard operated by the person operating the station 3.

[0041] The controller 35 controls the display unit 36 ​​and the operation unit 37 based on instructions from the control unit 300. For the sake of explanation, the control performed by the controller 35 will be described below as being performed by the control unit 300.

[0042] Furthermore, the control unit 300 is connected to the communication unit 38 via the bus 34. The communication unit 38 is connected to the order terminal 1, the POS terminal 7, and the kitchen terminal 8 via the communication line L. The control unit 300 is also connected to the communication unit 39 via the bus 34. The communication unit 39 is connected to the employee terminal 5 and the robot 9 via the communication line NW.

[0043] Next, the order information unit 331 will be described. Figure 6 is a memory map showing an example of the memory configuration of the order information unit 331. Based on the order information received from the order terminal 1, the order information unit 331 stores accounting information indicating the total payment amount to be paid by the customer, which is the sum of the table number, order information, table clearing request information, information on the dishes that have been cleared, and coupon information of coupons acquired by the customer.

[0044] As shown in Figure 6, the order information unit 331 includes a table number unit 3311, an ordered product unit 3312, a dish return request unit 3313, a dish return quantity unit 3314, an accounting information unit 3315, and a coupon information unit 3316. The table number unit 3311 stores the table number included in the order information received from the order terminal 1. The ordered product unit 3312 stores various product information (including product codes) included in the order information received from the order terminal 1, associating it with the table number stored in the table number unit 3311.

[0045] Figure 7 is a memory map showing an example of the detailed memory configuration of the ordered product unit 3312. Note that the ordered product unit 3312 shown in Figure 7 corresponds to one table number stored in the table number unit 3311. In reality, there is an ordered product unit 3312 corresponding to each table number stored in the table number unit 3311.

[0046] The ordered product unit 3312 has a product code unit 33121, a serving information unit 33122, and an elapsed time unit 33123. The product code unit 33121 stores product codes for each product included in the order information received from the order terminal 1. The product code unit 33121 also reads product information (product name, product price, etc.) corresponding to the stored product code from the product master 322 and stores it together with the product code. The serving information unit 33122 stores serving information indicating whether or not the product identified by each product code has been served, in association with the product code stored in the product code unit 33121. The serving information indicating that it has been served is, for example, serving time information. If it has not been served, the serving information unit 33122 stores serving information indicating that it has not been served (for example, information indicating that it has not been served), and the serving time is not stored. The elapsed time unit 33123 stores the elapsed time since the serving time was stored in the serving information unit 33122. For example, it stores the elapsed time calculated from the serving time stored in the serving information unit 33122 and the current time measured by a timer (not shown).

[0047] The dish return request unit 3313 stores dish return request information (e.g., flag information) that indicates a dish return request has been made, associated with the table number of the table Mb that sent the dish return request signal. For example, if the dish return request unit 3313 stores flag information "1", it indicates that a dish return request has been made (a dish return request signal has been received) from the order terminal 1 of table Mb specified by the corresponding table number. Also, if the dish return request unit 3313 stores flag information "1", it indicates that a predetermined time has elapsed for the items served to table Mb specified by the corresponding table number. Also, if the dish return request unit 3313 stores flag information "0", it indicates that no dish return request has been made (a dish return request signal has not been received) from the order terminal 1 of table Mb specified by the corresponding table number. Also, if the dish return request unit 3313 stores flag information "0", it indicates that a predetermined time has not elapsed for the items served to table Mb specified by the corresponding table number. The dish return unit 3314 stores the number of dishes returned (collected) from table Mb, associating them with the table number.

[0048] The accounting information unit 3315 stores total amount information (accounting information) for items that have been served from among the items with product codes stored in the ordered product unit 3312. Specifically, the accounting information unit 3315 stores total amount information for items with product codes stored in the ordered product unit 3312 for which serving information has been stored in the serving information unit 33122. The coupon information unit 3316 stores coupon information for coupons obtained by lottery according to the number of dishes returned in the dish return unit 3314, associating it with the table number.

[0049] Next, the robot information unit 333 will be described. Figure 8 is a memory map showing an example of the memory configuration of the robot information unit 333. As shown in Figure 8, the robot information unit 333 has a robot number unit 3331, a position information unit 3332, and a mode information unit 3333. The robot number unit 3331 stores a robot identification number that identifies a robot 9. In this embodiment, it stores robot numbers (robot number 1 to robot number 4) that identify four robots 9. The position information unit 3332 stores the position information of each robot 9, corresponding to its respective robot number, and the current position of that robot 9 within the store M. The position information of the robot 9 is, for example, coordinate information calculated based on the direction of movement and distance traveled from the reference position (coordinate (0,0)) with the position of the waiting space Mc as the reference position. Alternatively, the position information of the robot 9 may be coordinate information of movement from the reference position, calculated based on signals received by a GPS (Global Positioning System) receiver mounted on each robot 9. The location information of robot 9 stored in the location information unit 3332 is received in real time from robot 9 and updated each time robot 9 moves. The mode information unit 3333 stores the current mode information of robot 9 (one of the following: standby mode, serving mode, serving completion mode, or dish clearing mode) associated with each robot number.

[0050] Next, the table information unit 323 will be described. Figure 9 is a memory map showing an example of the memory configuration of the table information unit 323. The table information unit 323 has a table number unit 3231 and a position information unit 3232. The table number unit 3231 stores the table number of each table Mb. The position information unit 3232 stores the position information (coordinate information with the waiting space Mc as the reference position) of the location where the table Mb is installed, associated with each table number. Each robot 9 determines the route on the trajectory Md to move to the table Mb based on the position of the robot 9's current position (coordinate information stored in the position information unit 3332) and the position of the table Mb to be moved (coordinate information stored in the position information unit 3232 of the table Mb to be moved).

[0051] The hardware configuration of the employee terminal 5 will now be described. Figure 10 is a block diagram showing the hardware configuration of the employee terminal 5. As shown in Figure 10, the employee terminal 5 is equipped with a CPU 51, ROM 52, RAM 53, etc., which are examples of processors. The CPU 51 is the control unit. The ROM 52 stores the OS and various programs. Note that the ROM 52 may be replaced with an HDD or SSD. The RAM 53 loads programs and various data. The CPU 51, ROM 52, and RAM 53 are connected to each other via a bus 54. The CPU 51, ROM 52, and RAM 53 constitute the control unit 500. That is, the control unit 500 executes control processing related to the employee terminal 5, which will be described later, by operating according to the control program stored in the ROM 52 and loaded into the RAM 53 by the CPU 51.

[0052] The ROM 52 includes a control program unit 521. The control program unit 521 stores a control program for controlling the employee terminal 5.

[0053] RAM53 includes an order information unit 531 and a robot information unit 532. The order information unit 531 has the same configuration as the order information unit 331. The robot information unit 532 has the same configuration as the robot information unit 333.

[0054] Furthermore, the control unit 500 is connected to the display unit 56 and the operation unit 57 via the bus 54 and the controller 55. The display unit 56 displays information to the person operating the employee terminal 5. The display unit 56 displays information for each table Mb stored in the order information unit 531 and information for each robot 9 (location information and mode information) stored in the robot information unit 532. The display unit 56 also displays the dish clearing request message related to the dish clearing request information received from the station 3. Employees of store M can understand the order information for each table Mb, dish clearing request information, and information for each robot 9 displayed on the employee terminal 5. The operation unit 57 is a keyboard operated by the person operating the employee terminal 5.

[0055] The controller 55 controls the display unit 56 and the operation unit 57 based on instructions from the control unit 500. For the sake of explanation, the control performed by the controller 55 will be described below as being performed by the control unit 500.

[0056] Furthermore, the control unit 500 is connected to the communication unit 58 via the bus 54. The communication unit 58 is connected to the station 3 via the communication line NW so as to be able to communicate.

[0057] The hardware configuration of robot 9 will now be described. Figure 11 is a block diagram showing the hardware configuration of robot 9. As shown in Figure 11, robot 9 is equipped with a CPU 91, ROM 92, RAM 93, etc., which are examples of processors. The CPU 91 is the main control unit. ROM 92 stores the OS and various programs. Note that ROM 92 may be replaced with an HDD or SSD. RAM 93 stores programs and various data. The CPU 91, ROM 92, and RAM 93 are connected to each other via a bus 94. The CPU 91, ROM 92, and RAM 93 constitute the control unit 900. That is, the control unit 900 executes control processing related to robot 9, which will be described later, by operating according to the control program stored in ROM 92 and loaded into RAM 93 by the CPU 91.

[0058] ROM92 comprises a control program unit 921, a movement path unit 922, and a voice information unit 923. The control program unit 921 stores a control program for controlling the robot 9. The movement path unit 922 stores the layout of the trajectory Md. The voice information unit 923 stores the voice messages that the robot 9 emits to the customer when it arrives at table Mb in serving mode and clearing mode. In serving mode, for example, the serving robot 9 broadcasts a voice message prompting the customer to move the served items to table Mb, such as "Your food has arrived. Please take it." In clearing mode, for example, the clearing robot 9 broadcasts a voice message prompting the customer to move the dishes to be cleared to the robot 9's tray TR, such as "We have come to collect your dishes. Please place the dishes you used on the tray."

[0059] RAM53 has a mode information unit 931, a position information unit 932, and a destination information unit 933. The mode information unit 931 stores the current mode information of the robot 9. The position information unit 932 stores the current position information of the robot 9 (coordinate information of the position moved from the reference position). The position information stored in the position information unit 932 is the same as the position information stored in the position information unit 3332 related to the robot 9. The destination information unit 933 stores the position information (coordinate information) of the table Mb to which the robot 9 is currently heading (moving). The position information to be stored in the destination information unit 933 is obtained from the position information unit 3232. In other words, the robot 9 determines a route on the trajectory Md stored in the movement path unit 922 based on the position information of the robot 9 stored in the position information unit 932 and the position information of the table Mb to which the robot 9 is currently heading, stored in the destination information unit 933. Furthermore, if the destination information unit 933 stores position information (coordinates (0,0)) indicating the reference position of the waiting space Mc, the robot 9 will move to the waiting space Mc along the trajectory Md.

[0060] The control unit 900 is connected to the display unit 96, the operation unit 97, and the motor 98 via the bus 94 and the controller 95. The display unit 96 displays information to the customer and the person operating the robot 9. The display unit 56 may also display the content of the voice information announced by the voice information unit 923. The operation unit 57 is, for example, a touch panel provided on the display unit 96. The operation unit 57 has an OK button 971. The OK button 971 is operated by the customer when they have picked up all the served items from the table Mb. The OK button 971 is also operated by the customer when they have finished placing the dishes to be returned onto the tray TR. When the OK button 971 is operated, the robot 9 leaves the table Mb and moves towards the waiting space Mc. The motor 98 is the drive source that rotates the wheels for the robot 9 to move.

[0061] The controller 95 controls the display unit 96, the operation unit 57, and the motor 98 based on instructions from the control unit 900. For the sake of explanation, the control performed by the controller 95 will be described below as being performed by the control unit 900.

[0062] Furthermore, the control unit 900 is connected to the communication unit 99 via the bus 94. The communication unit 99 is connected to the station 3 via the communication line NW so as to be able to communicate.

[0063] From here, we will explain the main processes related to ordering and serving, as well as the transmission and reception of information between each device, involving order terminal 1, station 3, serving robot 9, staff terminal 5, and kitchen terminal 8. Figure 12 is a sequence diagram showing the main processes related to ordering and serving, as well as the transmission and reception of information between each device, in chronological order. As shown in Figure 12, order terminal 1 selects the items to be ordered (T1), and when the order button 173 is operated (T2), it transmits order information, including the product code and table number of the selected items, to station 3 (T3).

[0064] Upon receiving the order information, Station 3 stores the received product code in the order information unit 331, associating it with the received table number (T4). Station 3 then transmits cooking instruction information indicating the cooking instructions for the product corresponding to the stored product code to the kitchen terminal 8 (T5). The kitchen terminal 8 displays the product corresponding to the received product code. The cook prepares the displayed product, and when cooking is complete, operates the cooking completion button (not shown). The kitchen terminal 8 then transmits cooking completion information (including the product code) for the instructed product to Station 3 (T6).

[0065] When Station 3 receives information that cooking is complete, it identifies one robot 9 waiting in the waiting space Mc and sends serving instruction information (including location information of the table Mb to which the food will be served) to that robot 9 (T7). The identified robot 9 then moves to the designated table Mb with the food to be served on it (T8).

[0066] When the robot 9 arrives, the customer picks up the served items from table Mb and operates the OK button 971 (T9). The robot 9 then transmits serving completion information (including the product code of the cooked items) to station 3, indicating that serving is complete (T10). Upon receiving the serving completion information, station 3 stores the time information indicating the completion of serving in the serving information unit 33122 (T11). After transmitting the serving completion information to station 3, the robot 9 moves to the waiting space Mc (T12).

[0067] From here, we will explain the main processes of the order terminal 1, station 3, dishwashing robot 9, staff terminal 5, and POS terminal 7, and the transmission and reception of information between each device, when a dishwashing request is made (i.e., when the dishwashing request button 174 is operated). Figure 13 is a sequence diagram showing the main processes of the order terminal 1, station 3, dishwashing robot 9, staff terminal 5, and POS terminal 7, and the transmission and reception of information between each device, in chronological order when a dishwashing request is made. As shown in Figure 13, when the dishwashing request button 174 is operated on the order terminal 1 (T21), the order terminal 1 sends a dishwashing request signal (including the table number) to station 3 requesting the dishwashing to be returned (T22).

[0068] When station 3 receives a dish return request signal (i.e., a dish return request has been made), it stores the dish return request information, flag information "1", in the dish return request unit 3313 (T23). Station 3 then identifies one robot 9 to go and return the dishes (T24). Station 3 then sends dish return request information to the employee terminal 5, indicating that a dish return request has been made (T25). Upon receiving the dish return request information, the employee terminal 5 displays a dish return request message (including the table number of the table Mb that requested the dish return) indicating that a dish return request has been made (T26). The employee becomes aware that a dish return request has been made based on the displayed dish return request message.

[0069] Upon receiving information about such a request to clear the table, the staff member can determine whether there is a robot 9 waiting in the waiting area Mc, or the status of robot 9 that has gone to serve food, to determine if there is a robot 9 that can immediately go to clear the table. If the staff member determines that there is no robot 9 that can immediately go to clear the table, the staff member can go to clear the table, without making the customer who requested the table clear wait. In addition, it is possible to monitor whether the robot 9 that has gone to clear the table has successfully reached the table Mb and is actually processing the table clearing.

[0070] Station 3 also transmits dish return instruction information (including the table number of the table Mb where the order terminal 1 that sent the dish return request signal is located) to the robot 9 identified in T24 (T27). Upon receiving the dish return instruction information, robot 9 functions as a dish return robot 9. That is, it determines a route on trajectory Md based on its current location information and the location information of the table Mb it is heading to, and moves to the table Mb where the order terminal 1 that sent the dish return request signal is located (T28). When the dish return robot 9 arrives at the table Mb, the customers seated at the table Mb transfer the dishes from the table Mb to tray TR and operate the OK button 971 (T29). The dish return robot 9 then determines a route on trajectory Md based on its current location information and the location information of the waiting space Mc, and moves to the waiting space Mc (T30). The staff collects the dishes from the dish return robot 9 that has arrived at the waiting space Mc, counting them as they go.

[0071] The employee enters the number of dishes they counted and the table number into their portable employee terminal 5. The employee terminal 5 transmits the entered information of the number of dishes and table number to station 3 (T31).

[0072] Station 3, having received the number of dishes and the table number, adds the number of dishes received to the number of dishes stored in the dish return unit 3314 associated with that table number, and updates the number of dishes stored in the dish return unit 3314 (T32). Station 3 then determines, based on the updated number of dishes, whether the customer is eligible to participate in a lottery to receive a coupon (T33). Station 3 may determine, for example, that the customer is eligible to participate in a lottery to receive a coupon every time the number of dishes increases by 10. Station 3 then transmits the number of dishes added to the dish return unit 3314 and information on whether the customer is eligible to participate in the coupon lottery to the order terminal 1 installed in table Mb of the table number that received the information (T34). Note that in T34, information on the total number of dishes that have been returned so far, which is stored in the dish return unit 3314, may also be transmitted.

[0073] Upon receiving the information from T34, the order terminal 1 displays the number of dishes that have been returned, and if a coupon lottery is possible, it conducts a lottery. If the winner is selected, the coupon information is stored in the coupon information unit 3316 to obtain the coupon, and the coupon is printed by the printer 18 (T35).

[0074] Furthermore, the odds of winning a coupon may be increased as the number of dishes received increases. Customers who receive a large number of dishes have contributed more to clearing their dishes than customers who receive fewer dishes, so their odds of winning a coupon may be increased.

[0075] From here, we will explain the main processes of the order terminal 1, station 3, dish-clearing robot 9, staff terminal 5, and POS terminal 7, and the transmission and reception of information between each device, in relation to the removal of dishes when a payment request is made (i.e., when the payment button 175 is operated). Figure 14 is a sequence diagram showing the main processes of the order terminal 1, station 3, dish-clearing robot 9, staff terminal 5, and POS terminal 7, and the transmission and reception of information between each device, in chronological order when a payment request is made. Note that in Figure 14, the same reference numerals are used for processes etc. that are the same as in Figure 13, and the explanation is omitted or simplified. As shown in Figure 14, when the payment button 175 is operated on the order terminal 1 (T41), the order terminal 1 transmits a payment request signal (including the table number) to station 3 requesting the removal of dishes (T42). This payment request signal means requesting payment for food and drinks, and also includes the meaning of a dish-clearing request signal that requests the removal of dishes remaining on table Mb at the time of payment.

[0076] Station 3, having received the payment request signal (i.e., a request to clear the dishes), performs the processes T23 to T25. The waiter terminal 5, having received the dish clearing request information from T25, performs the process T26. Station 3 also performs the process T27, and the dish clearing robot 9 performs the processes T28 to T30. The waiter terminal 5, having received the number of dishes cleared, performs the process T31, and Station 3, having received the information from T31, performs the processes T32 to T34. The order terminal 1, having received the information from T34, performs the process T35.

[0077] When Station 3 executes the process in T34, it retrieves the accounting information (including the table number of the table Mb being accounted for) related to the food and beverages consumed in the table Mb, which is stored in the accounting information unit 3315 (T43). Station 3 then transmits the retrieved accounting information to the POS terminal 7 (T44). The POS terminal 7 then performs the accounting processing for the table Mb based on the received accounting information (T45).

[0078] From here, we will explain the main processes of the order terminal 1, station 3, dish-clearing robot 9, staff terminal 5, and POS terminal 7, and the transmission and reception of information between each device, regarding the return of dishes after a predetermined time has elapsed since the food was served. Figure 15 is a sequence diagram showing the main processes of the order terminal 1, station 3, dish-clearing robot 9, staff terminal 5, and POS terminal 7, and the transmission and reception of information between each device, in chronological order, when a predetermined time has elapsed since the food was served. In Figure 15, the same reference numerals are used for processes that are the same as those in Figures 13 and 14, and the explanation is omitted or simplified. As shown in Figure 15, station 3 determines whether a predetermined time has elapsed since the food was served for each product, based on the time information stored in the elapsed time unit 33123 (T51). A predetermined time for each product is set in advance in ROM 32 or RAM 33, and it is determined whether the time stored in the elapsed time unit 33123 (time elapsed since serving) has exceeded the predetermined time for that product. The designated time may differ for each product (because the time required to eat each product varies), or the same designated time may be applied to all products.

[0079] When Station 3 determines that a predetermined time has elapsed (i.e., that a request for table return has been made), it stores the flag information "1", which is the table return request information, for the table Mb where the items that have been served have been placed (T23). Station 3 then performs the processes T24-T25. The employee terminal 5, having received the information from T25, performs the process T26. Station 3 also performs the process T27, and the table return robot 9 performs the processes T28-T30. The employee terminal 5, having received the number of returned dishes, performs the process T31, and Station 3, having received the information from T31, performs the processes T32-T34. The order terminal 1, having received the information from T34, performs the process T35.

[0080] Next, we will explain the functional configuration of Station 3 and the employee terminal 5. Figure 16 is a functional block diagram showing the functional configuration of Station 3 and the employee terminal 5. The control unit 300 of Station 3 functions as an acquisition means 301, a identification means 302, an instruction means 303, a transmission means 304, a specific determination means 305, a summation means 306, and a transmission means 307, according to the control program stored in the control program section 341 of the ROM 32.

[0081] The acquisition means 301 acquires the table number of the table Mb for which a request for the return of tableware has been made. Specifically, the acquisition means 301 acquires the table number of the table Mb when the request button 174 of the order terminal 1 installed on the table Mb is operated. The acquisition means 301 also acquires the table number of the table Mb when the payment button 175 of the order terminal 1 installed on the table Mb is operated. Furthermore, the acquisition means 301 acquires the table number of the table Mb when it determines that a predetermined amount of time has elapsed since the food was served to the table Mb.

[0082] The identification means 302 identifies a robot 9 that will clear the dishes. Specifically, the identification means 302 identifies a single robot 9 that is capable of clearing dishes and has a standby mode or serving completion mode stored in its memory. When identifying a robot 9 that has a serving completion mode stored in its memory, the robot 9 located closest to the table Mb that will be cleared is identified.

[0083] The instruction means 303 instructs the identified robot 9 to go to the table Mb that has requested the removal of dishes. Specifically, the instruction means 303 has the identified robot 9 memorize the dish removal mode and transmits dish removal instruction information to the table Mb that has requested the removal of dishes.

[0084] The transmission means 304 transmits the acquired table number to the employee terminal 5 in a displayable format. Specifically, the transmission means 304 transmits to the employee terminal 5 in a displayable format the table clearing request information (including the table number) indicating that a table clearing request has been made from table Mb of the acquired table number.

[0085] The identification determination means 305 determines whether the identification means 302 can identify the robot 9 that will clear the dishes. Specifically, the identification determination means 305 determines whether the identification means 302 can identify the robot 9 that will clear the dishes based on whether there is a robot 9 that has a standby mode or a serving completion mode stored in it. If there is a robot 9 that has a standby mode or a serving completion mode stored in it, the identification determination means 305 determines that the identification means 302 can identify the robot 9 that will clear the dishes. If there is no robot 9 that has a standby mode or a serving completion mode stored in it, the identification determination means 305 determines that the identification means 302 cannot identify the robot 9 that will clear the dishes.

[0086] The identification means 302 identifies one dish-clearing robot 9 from among the robots 9 that the identification determination means 305 has determined to be identifiable.

[0087] If the identification determination means 305 determines that it cannot identify the robot 9 that will be clearing the dishes, the transmission means 304 sends a message to the employee terminal 5 indicating that there is no robot 9 going to clear the dishes.

[0088] The counting means 306 counts the number of dishes that have been returned to the table by table number. Specifically, the counting means 306 counts the number of dishes that have been returned to the table by table number based on the number of dishes that have been returned to the table received from the employee terminal 5.

[0089] Based on the number of tableware items tallied by the aggregation means 306, the transmitting means 307 transmits coupon lottery information to the order terminal 1 if it is possible to conduct a lottery for awarding coupons.

[0090] Furthermore, the control unit 500 of the employee terminal 5 functions as a display means 501 by following the control program stored in the control program unit 541 of the ROM 52.

[0091] The display means 501 displays a dish return request message on the display unit 56, indicating that a dish return request has been received from table Mb, which is indicated by the table number received from station 3.

[0092] Next, we will explain the control of the order terminal 1. Figures 17 and 18 are flowcharts showing part of the control process flow for the order terminal 1. As shown in Figure 17, the control unit 100 of the order terminal 1 determines whether the start button 171 has been operated (S11). If it is determined that the start button 171 has been operated (Yes in S11), the control unit 100 displays all the orderable products sold at store M, which are stored in the menu information unit 122, in a selectable format (S12). Then the control unit 100 returns to S11.

[0093] Furthermore, if it is determined that the start button 171 has not been operated (No in S11), the control unit 100 determines whether the product button 172 has been operated (i.e., whether a product has been selected) (S13). If it is determined that the product button 172 has been operated (Yes in S13), the control unit 100 stores the product code of the product in the selected product unit 131 (S14). Then the control unit 100 returns to S11.

[0094] Furthermore, if it is determined that the operation was not performed on the product button 172 (No in S13), the control unit 100 determines whether the order button 173 was operated (S15). If it is determined that the order button 173 was operated (Yes in S15), the control unit 100 transmits order information to station 3, which includes the product code stored in the selected product unit 131 and the table number stored in the table information unit 123 that identifies the table Mb (i.e., the order terminal 1 installed in the table Mb) (S16). The control unit 100 then stores the transmitted order information in the order information unit 132 (S17). The control unit 100 then returns to S11.

[0095] Furthermore, if it is determined that the order button 173 has not been operated (No in S15), the control unit 100 determines whether the dish return request button 174 has been operated (S21). If it is determined that the dish return request button 174 has been operated (Yes in S21), the control unit 100 sends a dish return request signal to station 3, which includes the table number stored in the table information unit 123 (S22).

[0096] Next, the control unit 100 determines whether it has received the number of dishes that have been returned from station 3 (S23). It waits until it receives the number (No in S23), and if it determines that it has received the number of dishes (Yes in S23), the control unit 100 displays the number of dishes that have been received on the display unit 16 (S24). In addition, in S24, the total number of dishes that have been returned so far may also be displayed.

[0097] Next, the control unit 100 determines in S23 whether it has received coupon lottery information (S25). If it determines that it has not received the information, it returns to S11. If it determines that it has received coupon lottery information (Yes in S25), the control unit 100 conducts a lottery to determine whether the coupon is a winner (S26). This lottery is conducted using known lottery techniques, such as spinning a roulette wheel to determine winners and losers. If the coupon is a winner, the control unit 100 stores the coupon information of the winning coupon in the coupon information unit 133 (S27). The control unit 100 then uses the printer 18 to print the coupon information stored in the coupon information unit S133 (S27). The control unit 100 then returns to S11.

[0098] Furthermore, if it is determined that the operation of the dish return request button 174 is not performed (No in S21), the control unit 100 determines whether it has received the number of dishes returned from station 3 (S28). If it determines that it has received the number of dishes (Yes in S28), the control unit 100 executes the processes and makes the determinations in S24 to S27.

[0099] Furthermore, if it is determined that the number of dishes that have been returned to the table has not been received (No. in S28), the control unit 100 determines whether the payment button 175 has been operated, as shown in Figure 18 (S31). If it is determined that the payment button 175 has not been operated (No. in S31), the control unit 100 returns to S11. If it is determined that the payment button 175 has been operated (Yes in S31), the control unit 100 sends a payment request signal to station 3, including the table number stored in the table information unit 123 (S32).

[0100] Next, the control unit 100 determines whether it has received the number of dishes that have been returned from station 3 (S33). It waits until it receives the number (No in S33), and if it determines that it has received the number of dishes (Yes in S33), the control unit 100 displays the number of dishes that it has received on the display unit 16 (S34).

[0101] Next, the control unit 100 determines in S33 whether it has received coupon lottery information (reward information) (S35). If it determines that it has received coupon lottery information (Yes in S35), the control unit 100 conducts a lottery to determine if the coupon is a winner (S36). If the coupon is a winner, the control unit 100 stores the coupon information of the winning coupon in the coupon information unit S133 (S37). The control unit 100 then uses the printer 18 to print the coupon information stored in the coupon information unit S133 (S37).

[0102] After executing the process in S37, or if it determines that coupon lottery information has not been received (No. in S35), the control unit 100 displays a message on the display unit 16 prompting the user to go to the POS terminal 7 to complete the transaction (S38). The control unit 100 then terminates the process and returns to S11.

[0103] Next, we will explain the control of Station 3. Figures 19 to 21 are flowcharts showing part of the control process flow for Station 3. As shown in Figure 19, the control unit 300 of Station 3 determines whether it has received order information from the order terminal 1 (S41). If it determines that it has received order information (Yes in S41), the control unit 300 stores the received table number in the table number unit 3311 and stores the received product code in the corresponding ordered product unit 3312 (S42). The control unit 300 then sends cooking instruction information to the kitchen terminal 8 for the product related to the product code stored in the ordered product unit 3312 (S43). The control unit 300 then returns to S41.

[0104] Furthermore, if it is determined that the order information was not received from order terminal 1 (No in S41), the control unit 300 determines whether it has received cooking completion information from kitchen terminal 8 (S44). If it is determined that cooking completion information has been received (Yes in S44), the control unit 300 identifies the robot 9 to serve the food (S45). The employee places the cooked food onto one of the robots 9 waiting in the waiting space Mc, and, for example, inputs information (robot number) identifying the robot 9 on which the food is placed from employee terminal 5, and transmits the robot number of that robot 9 to station 3, allowing station 3 to identify the robot 9 to serve the food (S45). Next, the control unit 300 stores the serving mode in the mode information unit 3333 of the identified serving robot 9 (S46). Then the control unit 300 transmits serving instruction information to the identified serving robot 9 (S47). The control unit 300 then returns to S41.

[0105] Furthermore, if it is determined that the information received is not about the completion of cooking (No in S44), the control unit 300 determines whether it has received information about the completion of serving (including the product code and robot number of the served items) (S48). If it has received information about the completion of serving (Yes in S48), the control unit 300 stores the time the information was received in the serving information unit 33122 corresponding to the received product code (S49). The control unit 300 then stores the serving completion mode in the mode information unit 3333 corresponding to the received robot number (S50). The control unit 300 then returns to S41.

[0106] Furthermore, if it is determined that the reception is not for information indicating that the food has been served (No in S48), it is determined whether a dish return request signal has been received from the order terminal 1, as shown in Figure 20 (S51). If it is determined that a dish return request signal has been received (Yes in S51), the acquisition means 301 acquires the table number included in the received dish return request signal and stores dish return request information (for example, flag information "1") indicating that a dish return request has been made in the dish return request unit 3313 corresponding to that table number (S52). The transmission means 304 then transmits the dish return request information, including the acquired table number, to all employee terminals 5 carried by each employee (S53).

[0107] Next, the identification determination means 305 refers to the mode information stored in the mode information unit 3333 and determines whether there is a robot 9 with a standby mode stored (i.e., a robot 9 waiting in the standby space Mc) (whether it can identify a robot 9 waiting in the standby space Mc) (S54). If it determines that there is a robot 9 with a standby mode stored (Yes in S54), the identification means 302 identifies one robot 9 waiting in the standby space Mc (S55). If it determines that there is no robot 9 with a standby mode stored (i.e., no robot 9 waiting in the standby space Mc) (No in S54), the identification determination means 305 refers to the mode information stored in the mode information unit 3333 and determines whether there is a robot 9 with a serving completion mode stored (i.e., a robot 9 that has finished serving) (whether it can identify a robot 9 that has finished serving) (S56). If it is determined that there is a robot 9 in which the serving completion mode is stored (Yes in S56), the identification means 302 identifies the one robot 9 in which the serving completion mode is stored (S57).

[0108] Furthermore, if there are multiple robots 9 that have completed serving mode stored in S56, in S57, based on the current position information of the robots 9 stored in the position information unit 3332 and the position information of the table Mb to which the trays are headed for return stored in the table information unit 323, the robot 9 closest to the table Mb that has requested to be returned is identified.

[0109] When a robot 9 is identified in S55 or S57, the control unit 300 stores the dish-clearing mode in the mode information unit 3333 corresponding to the identified robot 9 (S58). The instruction means 303 then sends dish-clearing instruction information to the identified robot 9, instructing it to go to the table Mb that sent the dish-clearing request signal to handle the dish-clearing (S59).

[0110] Furthermore, if in S56 it is determined that there is no robot 9 with the serving completion mode stored (No. in S56), the transmission means 304 sends message information (unable to return dishes) to the employee terminal 5, including the table number of the table Mb that has requested the dishes be returned, indicating that there is no robot 9 capable of handling the dish return request (S66). Upon receiving this message information, the employee terminal 5 displays the message. Upon seeing the message, the employee can proceed to the table Mb with the displayed table number to handle the dish return.

[0111] The control unit 300, having executed the process in S59, determines whether it has received the number of dishes that have been returned from the employee terminal 5 (S60). It waits until it receives the number (No in S60), and if it determines that it has received the number of dishes that have been returned (Yes in S60), the tallying means 306 adds the received number to the number stored in the returned dish count unit 3314 and stores it (S61). The control unit 300 then determines, based on the number stored in the returned dish count unit 3314, whether the number satisfies the conditions for issuing a coupon (S62). If it determines that the conditions are not met (No in S62), the control unit 300 transmits the received number (the number of dishes that have been returned) to the order terminal 1 (S63). The control unit 300 may also transmit the total number of dishes that have been returned up to that point. The control unit 300 then erases the returned dish request information stored in the returned dish request unit 3313 (i.e., stores the flag "0") (S64).

[0112] Furthermore, if it is determined that the number meets the conditions for issuing a coupon (Yes in S62), the transmitting means 307 transmits coupon lottery information to the order terminal 1, along with information on the number of dishes that have been returned, indicating that a lottery for issuing coupons will be held (S65). The control unit 300 then executes the process in S64.

[0113] Furthermore, if in S51 it is determined that no table return request signal has been received from the order terminal 1 (No in S51), the control unit 300 refers to the elapsed time unit 33123 to determine if there are any items that have been served for a predetermined amount of time (S67). If it is determined that there are items that have been served for a predetermined amount of time (Yes in S67), it is possible that the consumption of those items has been completed, so even if there is no table return request, the table return robot 9 is dispatched to the table Mb where the items were served. In other words, if the control unit 300 determines that there are items that have been served for a predetermined amount of time (Yes in S67), it obtains the table number of the table Mb from the order information unit 331 in order to handle the table return for that table Mb, and stores table return request information (for example, flag information "1") indicating that a table return request has been made in the table return request unit 3313 corresponding to that table number (S52). The transmission means 304 then sends a message to all employee terminals 5 carried by each employee, indicating that a table clearing request has been received, including the acquired table number (S53). The control unit 300 then executes the processes in S54 to S66.

[0114] Furthermore, if it is determined that no items have been served for a predetermined amount of time (No in S67), the control unit 300 determines whether it has received a payment request signal from the order terminal 1, as shown in Figure 21 (S71). If it is determined that a payment request signal has been received (Yes in S71), the acquisition means 301 acquires the table number included in the received table return request signal and stores table return request information (for example, flag information "1") indicating that a table return request has been made in the table return request unit 3313 corresponding to the table number (S72). The transmission means 304 then transmits the table return request information, including the acquired table number, to all employee terminals 5 carried by each employee (S73).

[0115] Next, the identification determination means 305 refers to the mode information stored in the mode information unit 3333 and determines whether there is a robot 9 with a standby mode stored (i.e., a robot 9 waiting in the standby space Mc) (whether it can identify a robot 9 waiting in the standby space Mc) (S74). If it determines that there is a robot 9 with a standby mode stored (Yes in S74), the identification means 302 identifies one robot 9 waiting in the standby space Mc (S75). If it determines that there is no robot 9 with a standby mode stored (i.e., no robot 9 waiting in the standby space Mc) (No in S74), the identification determination means 305 refers to the mode information stored in the mode information unit 3333 and determines whether there is a robot 9 with a serving completion mode stored (i.e., a robot 9 that has finished serving) (whether it can identify a robot 9 that has finished serving) (S76). If it is determined that there is a robot 9 in which the serving completion mode is stored (Yes in S76), the identification means 302 identifies the one robot 9 in which the serving completion mode is stored (S77).

[0116] Furthermore, if there are multiple robots 9 that have completed serving mode stored in S76, in S77, based on the position information of the current position of the robot 9 heading to return the trays stored in the position information unit 3332 and the position information of the table Mb stored in the table information unit 323, the robot 9 closest to the table Mb that has requested to be returned is identified.

[0117] When a robot 9 is identified in S75 or S77, the control unit 300 stores the dish-clearing mode in the mode information unit 3333 corresponding to the identified robot 9 (S78). The instruction means 303 then sends dish-clearing instruction information to the identified robot 9, instructing it to go to the table Mb that sent the dish-clearing request signal to handle the dish-clearing (S79).

[0118] Furthermore, if in S76 it is determined that there is no robot 9 with the serving completion mode stored (No. in S76), the transmission means 304 sends message information (unable to return dishes) to the employee terminal 5, including the table number of the table Mb that has requested the dishes be returned, indicating that there is no robot 9 capable of handling the dish return request (S88). Upon receiving this message information, the employee terminal 5 displays the message. After reading the message, the employee can proceed to the table Mb with the displayed table number to handle the dish return.

[0119] The control unit 300, having executed the process in S79, determines whether it has received the number of dishes that have been returned from the employee terminal 5 (S80). It waits until it receives the number (No in S80), and if it determines that it has received the number of dishes that have been returned (Yes in S80), the tallying means 306 adds the received number to the number stored in the returned dish count unit 3314 and stores it (S81). The control unit 300 then determines, based on the number stored in the returned dish count unit 3314, whether the number satisfies the conditions for issuing a coupon (S82). If it determines that the conditions are not met (No in S82), the control unit 300 transmits the received number (number of dishes that have been returned) to the order terminal 1 (S83). The control unit 300 then erases the returned dish request information stored in the returned dish request unit 3313 (i.e., stores the flag "0") (S84).

[0120] Furthermore, if it is determined that the number meets the conditions for issuing a coupon (Yes in S82), the transmitting means 307 transmits coupon lottery information to the order terminal 1, indicating that a lottery for coupon is to be held along with the number of dishes that have been returned (S85). Then the control unit 300 executes the process in S84.

[0121] Having executed the process in S84, the control unit 300 obtains accounting information related to the table Mb for which an accounting request was made from the accounting information unit 3315 (S86). The control unit 300 then transmits the obtained accounting information to the POS terminal 7 (S87). The POS terminal 7 executes the accounting process related to the table Mb based on the received accounting information. If a coupon printed from the printer 18 is presented at that time, the POS terminal 7 executes the accounting process that applies the coupon (for example, by deducting the amount written on the coupon). The control unit 300 then finishes processing and returns to S41.

[0122] Furthermore, if in S71 it is determined that no accounting request signal has been received (No. in S71), the control unit 300 determines whether it has received arrival information from the robot 9 indicating that it has arrived at the standby space Mc (reference position) (S89). If it is determined that no arrival information has been received (No. in S89), it returns to S41. If it is determined that arrival information has been received (Yes in S89), the control unit 300 stores the standby mode in the mode information unit 3333 (S90). Then the control unit 300 returns to S41.

[0123] The control of robot 9 will now be explained. Figure 22 is a flowchart showing the flow of the control process for robot 9. As shown in Figure 22, the control unit 900 of robot 9 determines whether it has received serving instruction information (including location information of table Mb to be served) from station 3 (S91). If it determines that it has received serving instruction information (Yes in S91), the control unit 900 stores the serving mode in the mode information unit 931 (S92). The serving robot 9, having stored the serving mode, becomes a serving mode specification. The control unit 900 then sets (stores) the location information of table Mb to be served in the destination information unit 933 (S93). Next, the control unit 900 moves the serving robot 9 to the table Mb (S94). Upon arrival at the table Mb, the control unit 900 announces to the customer that they can pick up the served items (S95). The announcement is made by voice, display on the display unit 96, or both.

[0124] Next, the control unit 900 determines whether the OK button 971 has been pressed by the customer (S96), waits until it is pressed (No in S96), and if it determines that the OK button 971 has been pressed (Yes in S96), the control unit 900 sends delivery completion information to station 3 (S97). The control unit 900 then stores the delivery completion mode in the mode information unit 931 (S98). The control unit 900 then starts moving the robot 9 to the waiting space Mc (reference position) (S99).

[0125] The control unit 900 then determines whether it has received the dish return instruction information while moving to the standby space Mc (between storing the dish return completion mode and returning to the standby space Mc) (S100). If it determines that it has not received the dish return instruction information (No in S100), the control unit 900 determines whether it has arrived at the standby space Mc (S101). If it determines that it has not arrived, it returns to S100; if it determines that it has arrived (Yes in S100), the control unit 900 stops the robot 9 from moving (S102). The control unit 900 then stores the standby mode in the mode information unit 931 (S103). The control unit 900 then transmits arrival information to station 3 indicating that it has arrived at the standby space Mc (S104). The control unit 900 then returns to S91.

[0126] Furthermore, if it is determined that no serving instruction information has been received (No. in S91), the control unit 900 determines whether a dish return instruction signal has been received from station 3 (S110). That is, the control unit 900 determines whether the robot 9 waiting in the standby space Mc has received a dish return instruction signal (S110). If it is determined that no dish return instruction signal has been received (No. in S110), the control unit 900 returns to S91, and if it is determined that a dish return instruction signal has been received (Yes in S110), the control unit 900 stores the dish return mode in the mode information unit 931 (S111). The dish return robot 9, having stored the dish return mode, enters dish return mode specifications. The control unit 900 then sets (stores) the location information of the table Mb to which the dish return is to be made in the destination information unit 933 (S112). Next, the control unit 900 moves the dish return robot 9 to the table Mb (S113). Upon arriving at the table Mb, the control unit 900 announces to the customer that they should place the dishes to be returned onto the tray TR (S114). The announcement may be made by voice, by display on the display unit 96, or both.

[0127] Next, the control unit 900 determines whether the OK button 971 has been pressed by the customer (S115), waits until it is pressed (No in S115), and if it determines that the OK button 971 has been pressed (Yes in S115), the control unit 900 moves the robot 9 to the waiting space Mc (reference position) (S116). Then the control unit 900 executes the processes in S103 and S104 and returns to S91. Also, if it determines in S100 that it has received a dish return instruction (i.e., the dish return instruction was received while moving to the waiting space Mc after serving was completed) (Yes in S100), the control unit 900 executes the determinations and processes in S111 to S116.

[0128] Next, we will explain the control of the employee terminal 5. Figure 23 is a flowchart showing the flow of the control process for the employee terminal 5. As shown in Figure 23, the control unit 500 of the employee terminal 5 determines whether it has received a table return request information from station 3 (S121). If it determines that it has received a table return request information (Yes in S121), the display means 501 displays a table return request message on the display unit 56, which includes a message indicating that a table return request has been made and the table number of the table Mb that made the request (S122). The control unit 500 then returns to S121.

[0129] Furthermore, if it is determined that no table return request information has been received (No in S121), the control unit 500 determines whether it has received information that table return is not possible (S123). If it is determined that information that table return is not possible has been received (Yes in S123), the display means 501 displays a table return impossible message on the display unit 56, indicating that there is no robot 9 that can respond to the table return request, and the table number of the table Mb that made the table return request (S124). The control unit 500 then returns to S121.

[0130] Furthermore, if it is determined that the information received is not that the dishes cannot be returned (No. in S123), the control unit 500 determines whether the number of dishes to be returned has been entered (S125). The employee collects the dishes that the robot 9 has transported to the waiting space Mc and enters the number of collected dishes into the employee terminal 5. If it is determined that the number of dishes to be returned has been entered (Yes in S125), the control unit 500 transmits the entered information on the number of dishes to be returned to station 3 (S126). Then the control unit 500 returns to S121. Also, if it is determined that the number of dishes to be returned has not been entered (No. in S125), the control unit 500 returns to S121.

[0131] According to this first embodiment, when a request is made to clear dishes (including a request to clear dishes due to a payment request), or when a predetermined amount of time has elapsed since the food was served, if there is a robot 9 in standby mode or a robot 9 in serving completion mode, the control unit 300 of station 3 sends a clearing instruction to the robot 9 and directs the robot 9 to clear the dishes. The control unit 300 also sends clearing request information to the employee terminal 5 indicating that a clearing request has been made. Upon receiving the clearing request information, the employee terminal 5 displays a clearing request message corresponding to the clearing request information. Such a station 3 can issue clearing instructions not only to the robot 9 waiting in the standby space Mc, but also to the robot 9 performing the serving. Furthermore, employees who see the clearing request message displayed on the employee terminal 5 they carry can monitor the robot 9's response to clearing the dishes. In addition, employees can be aware of the presence or absence of a robot 9 capable of clearing dishes, and since a message indicating that clearing dishes is not possible is displayed, they can clear dishes on behalf of a robot 9 if there is no robot 9 capable of doing so.

[0132] (Second Embodiment) Next, we will describe the second embodiment. In the first embodiment, robot 9 was used as both a serving robot 9 and a dish-clearing robot 9. In the second embodiment, however, the serving robot 9 and the dish-clearing robot 9 are distinguished, with the serving robot 9 being a serving-only robot that only performs serving, and the dish-clearing robot 9 being a dish-clearing-only robot that only performs dish-clearing. The second embodiment will be described below using Figures 24 to 27. In the second embodiment, the same drawings as in the first embodiment will not be described. Also, in Figures 24 to 27, the same configurations and controls as in the first embodiment will be simplified or omitted.

[0133] Figure 19 is common to the second embodiment as well. Figures 24 and 25 are diagrams relating to the control of station 3 in the second embodiment. Figure 24 corresponds to Figure 20 in the first embodiment. In Figure 24, the decision in S56 and the processing in S57 performed in Figure 20 are not performed. That is, in the second embodiment, the decision of whether robot 9 is in serving completion mode and the control to identify one robot 9 in serving completion mode are not performed. Also, if there is no robot 9 in standby mode (No. in S54), the processing in S66 is performed. The other configurations (controls) in Figure 24 are the same as in Figure 20.

[0134] Figure 25 corresponds to Figure 21 of the first embodiment. In Figure 25, the decision in S76 and the processing in S77 that were performed in Figure 21 are not performed. That is, in the second embodiment, the decision of whether robot 9 is in serving completion mode and the control to identify one robot 9 in serving completion mode are not performed. Also, if there are no robots 9 in standby mode (No. in S74), the processing in S88 is performed. The other configurations (controls) in Figure 25 are the same as in Figure 20.

[0135] Figure 26 is a flowchart showing the control of the serving robot 9 in the second embodiment. Figure 26 is a diagram showing the control of the serving robot 9 in Figure 22. That is, in Figure 26, the serving robot 9 executes the processes S91 to S104 in Figure 22. However, after executing the process S98, instead of S99 to S102 in Figure 22, the control unit 900 moves to the standby position (S131). Note that if it is determined in S91 that it has not received a serving instruction (No. in S91), the control unit 900 goes into standby mode.

[0136] Figure 27 is a flowchart showing the control of the dish-returning robot 9. Figure 27 is a diagram showing the control of the serving robot 9 in Figure 22. That is, in Figure 26, the serving robot 9 executes the processes S110 to S116 in Figure 22. If it is determined that it has not received a dish-returning instruction (No. in S110), the control unit 900 goes into standby mode.

[0137] According to this second embodiment, when a request is made to clear dishes (including a request to clear dishes due to a payment request), or when a predetermined amount of time has elapsed since the food was served, if there is a robot 9 in standby mode, the control unit 300 of station 3 sends a clearing instruction to the robot 9 and directs the robot 9 to clear the dishes. The control unit 300 also sends clearing request information to the employee terminal 5 indicating that a clearing request has been made. The employee terminal 5, upon receiving the clearing request information, displays a corresponding message. Such a station 3 can issue clearing instructions to the robot 9 waiting in the standby space Mc. In addition, employees can monitor the robot 9's handling of clearing dishes by looking at the display on the employee terminal 5 they carry. Furthermore, employees can be aware of the presence or absence of a robot 9 capable of clearing dishes, and can perform the task of clearing dishes in place of a robot 9 if there is no robot 9 capable of doing so.

[0138] As described above, the station 3 of the embodiment includes an acquisition means 301 for acquiring a table number indicating the table Mb that has requested the return of dishes, an identification means 302 for identifying a robot 9 that will return the dishes, an instruction means 303 for instructing the identified robot 9 to go to table Mb to return the dishes, and a transmission means 304 for transmitting the acquired table number to the employee terminal 5 so that it can be displayed.

[0139] In this embodiment, when a request is made to clear the dishes, station 3 identifies a robot 9 that is to go and clear the dishes, sends a clearing instruction to the robot 9, and directs the robot 9 to handle the dish clearing. Station 3 also sends the table number of the table Mb that made the request to clear the dishes to the employee terminal 5.

[0140] Station 3 displays the table number on the employee terminal 5 carried by the employee, allowing the employee to monitor the robot 9's table clearing process. Furthermore, the employee can determine whether a robot 9 capable of clearing tables is available, enabling them to perform the task themselves if no robot 9 is available.

[0141] Furthermore, the station 3 of the embodiment includes an acquisition means 301 for acquiring a table number indicating a table Mb that has been served for a predetermined amount of time; an identification means 302 for identifying a robot 9 that is responsible for clearing dishes; an instruction means 303 for instructing the identified robot 9 to go to table Mb to clear the dishes; and a transmission means 304 for transmitting the acquired table number to the employee terminal 5 so that it can be displayed.

[0142] In this embodiment, station 3 identifies a robot 9 that is to go and clear the dishes after a predetermined time has elapsed since the food was served, sends a clearing instruction to the robot 9, and directs the robot 9 to handle the clearing. Station 3 also sends the table number of the table Mb that requested the dishes to be cleared to the employee terminal 5.

[0143] Station 3 displays the table number on the employee terminal 5 carried by the employee, allowing the employee to monitor the robot 9's table clearing process. Furthermore, the employee can determine whether a robot 9 capable of clearing tables is available, enabling them to perform the task themselves if no robot 9 is available.

[0144] Furthermore, the system of the embodiment is a system having a station 3 and a staff terminal 5, wherein the station 3 includes an acquisition means 301 for acquiring a table number indicating a table Mb that has requested the return of dishes, an identification means 302 for identifying a robot 9 that will return the dishes, an instruction means 303 for instructing the identified robot 9 to go to table Mb to return the dishes, and a transmission means 304 for transmitting the acquired table number to the staff terminal 5 in a displayable format, and the staff terminal 5 includes a display means 501 for displaying a message indicating that a request for the return of dishes has been received from table Mb indicated by the table number received from the station 3.

[0145] In this embodiment of the system, when a request for tableware is received, station 3 identifies a robot 9 that is to go and clear the tableware, sends a clearing instruction to the robot 9, and directs the robot 9 to handle the table clearing. Station 3 also sends the table number of the table Mb that requested the tableware to be cleared to the employee terminal 5. The employee terminal 5 then displays the table number on the employee terminal 5 carried by the employee.

[0146] Therefore, staff members who see the display can monitor the clearing of tables by Robot 9. Furthermore, staff members can determine whether or not Robot 9 is capable of clearing tables, and if no Robot 9 is available, they can perform the task in its place.

[0147] Furthermore, the system of the embodiment is a system having a station 3 and a staff terminal 5, wherein the station 3 includes an acquisition means 301 for acquiring a table number indicating a table Mb for which a predetermined amount of time has elapsed since the food was served, an identification means 302 for identifying a robot 9 that performs table clearing, an instruction means 303 for instructing the identified robot 9 to proceed to table Mb for clearing, and a transmission means 304 for transmitting the acquired table number to the staff terminal 5 in a displayable format, and the staff terminal 5 includes a display means 501 for displaying a message indicating that the staff terminal will perform table clearing on the table Mb indicated by the table number received from the station 3.

[0148] In this embodiment of the system, when a predetermined time has elapsed since the food was served, station 3 identifies a robot 9 that is to go and collect the dishes, sends a dish-collection instruction to the robot 9, and directs the robot 9 to collect the dishes. Station 3 also sends the table number of the table Mb that requested the dishes to be collected to the employee terminal 5. Station 3 also causes the employee terminal 5, which is carried by the employee, to display the table number.

[0149] Therefore, staff members who see the display can monitor the clearing of tables by Robot 9. Furthermore, staff members can determine whether or not Robot 9 is capable of clearing tables, and if no Robot 9 is available, they can perform the task in its place.

[0150] Although embodiments of the present invention (the first and second embodiments) 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 variations can be implemented 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 variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents.

[0151] For example, in this embodiment, coupons are printed and issued from the printer 18. However, the invention is not limited to this; for example, coupon information may be sent to the POS terminal 7 along with accounting information, so that the coupon can be automatically applied when accounting is performed at the POS terminal 7.

[0152] In this embodiment, orders for products are placed using an order terminal 1 installed on table Mb. However, the invention is not limited to this; for example, a mobile device (for example, a mobile device carried by the customer) linked to the table number of the table Mb where the customer is seated, after installing dedicated application software, may be used as the order terminal 1.

[0153] In this embodiment, the table number of table Mb for which a table return request was made is displayed on the employee terminal 5, which is an example of a display device. However, the invention is not limited to this, and a display panel or the like, installed in a location easily visible to the employees of store M, may also be used as a display device.

[0154] In this embodiment, coupon lottery information for awarding coupons was used as an example of reward information. However, the reward information is not limited to this, and may also be information that awards coupons without a lottery, for example. It may also be reward information other than coupons (for example, information that awards points).

[0155] The program executed on Station 3 in this embodiment is provided as an installable or executable file recorded on a computer-readable recording medium such as a CD-ROM, flexible disk (FD), CD-R, or DVD (Digital Versatile Disk).

[0156] Furthermore, the program executed on Station 3 of the embodiment may be stored on a computer connected to a network such as the Internet and provided by downloading it via the network. Alternatively, the program executed on Station 3 of the embodiment may be provided or distributed via a network such as the Internet.

[0157] Furthermore, the program to be executed on station 3 of the embodiment may be pre-installed and provided in ROM or the like. [Explanation of Symbols]

[0158] 1. Order terminal 3 stations 5. Staff terminal 7 POS terminals 9 Robots 56 Display section 80 Systems 90 System 100 Control Unit 123 Table Information Section 132 Order Information Department 133 Coupon Information Department 174. Request to return the tray button 175 Checkout button 300 Control Unit 301 Acquisition method 302 Specific means 303 Instruction means 304 Transmission method 305 Specific judgment means 306 Aggregation methods 307 Means of transmission 323 Table Information Section 331 Order Information Department 333 Robot Information Department 500 Control Unit 501 Display means 531 Order Information Department 532 Robot Information Department 900 Control Unit 932 Location Information Department 933 Destination Information Department 3231 Table number section 3232 Location Information Department 3311 Table number section 3312 Order Item Department 3313 Meal request department 3314 Several portions of lower meals 3316 Coupon Information Department 3331 Robot Number Section 3332 Location Information Department 33123 Elapsed time section Mb Table McDonald's waiting area [Prior art documents] [Patent Documents]

[0159] [Patent Document 1] Japanese Patent Publication No. 2024-102650

Claims

1. A means for obtaining table information indicating the table for which a request for the return of tableware has been made, A means for identifying a robot that performs the task of clearing away the aforementioned dishes, An instruction means for instructing the identified robot to go to the table to return the dishes, A transmission means for transmitting the acquired table information so that it can be displayed on a display device visible to the staff, A dish return instruction device equipped with a dish return device.

2. A means for acquiring table information that indicates a table where a predetermined amount of time has elapsed since the food was served, A means for identifying a robot that clears dishes, An instruction means for instructing the identified robot to go to the table to return the dishes, A transmission means for transmitting the acquired table information so that it can be displayed on a display device visible to the staff, A dish return instruction device equipped with a dish return device.

3. The aforementioned display device is a terminal carried by the store clerk. The dish return instruction device according to claim 1 or 2.

4. The system further comprises a determination means for determining whether the identification means can identify the robot, The identification means identifies one robot from the robots that the identification determination means has determined can be identified. If the identification determination means determines that it cannot identify the robot, the transmission means transmits a message indicating that there is no robot going to return the tray. The dish return instruction device according to claim 3.

5. The aforementioned robot is a robot that serves and clears food and drinks. The aforementioned identification means identifies the robot that is not serving food. The dish return instruction device according to claim 4.

6. A counting means for counting the number of dishes that have been returned to the table according to the table information, A means for transmitting information on rewards that can be awarded according to the total number of tableware items, A dish return instruction device according to claim 1 or 2, comprising:

7. A computer as a dish return instruction device, A means for obtaining table information indicating the table for which a request for the return of tableware has been made, A means for identifying a robot that performs the task of clearing away the aforementioned dishes, An instruction means for instructing the identified robot to go to the table to return the dishes, A transmission means for transmitting the acquired table information so that it can be displayed on a display device visible to the staff, A program that can be made to function.

8. A computer as a dish return instruction device, A means for acquiring table information that indicates a table where a predetermined amount of time has elapsed since the food was served, A means for identifying a robot that clears dishes, An instruction means for instructing the identified robot to go to the table to return the dishes, A transmission means for transmitting the acquired table information so that it can be displayed on a display device visible to the staff, A program that can be made to function.

9. A system comprising a dish return instruction device and a display device visible to the staff, The aforementioned dish return instruction device, A means for obtaining table information indicating the table for which a request for the return of tableware has been made, A means for identifying a robot that performs the task of clearing away the aforementioned dishes, An instruction means for instructing the identified robot to go to the table to return the dishes, A transmission means for transmitting the acquired table information so that it can be displayed on the display device, Equipped with, The aforementioned display device is A display means that displays a message indicating that a request to return a dish has been made from the table indicated by the table information received from the dish return instruction device. A system equipped with this feature.

10. A system comprising a dish return instruction device and a display device visible to the staff, The aforementioned dish return instruction device, A means for acquiring table information that indicates a table where a predetermined amount of time has elapsed since the food was served, A means for identifying a robot that clears dishes, An instruction means for instructing the identified robot to go to the table to return the dishes, A transmission means for transmitting the acquired table information so that it can be displayed on the display device, Equipped with, The aforementioned display device is A display means that displays a message indicating that a dish return process will be performed for the table indicated by the table information received from the dish return instruction device. A system equipped with this feature.

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