Remotely Operated Robot, Remotely Operated Robot Control System, and Remotely Operated Robot Control Method

Abstract

A remote control robot according to an embodiment of the present invention autonomously travels to multiple operation job-executing sites in accordance with a patrol schedule and executes multiple operation jobs at each operation job-executing site, and is provided with a settings acquisition unit and a first switching unit. For each of the multiple operation jobs executed at each operation job-executing site, the settings acquisition unit acquires a setting as to whether to execute autonomous operation or execute manual operation performed by an operator from a remote control terminal. The first switching unit performs switching between operation job execution by autonomous operation and operation job execution by manual operation, on the basis of the acquired setting.

Description

[Technical field]

[0001] An embodiment of the present invention relates to a remote-operated robot, a remote-operated robot control system, and a remote-operated robot control method. [Background technology]

[0002] In recent years, advances in robotics and AI technology have led to the development of autonomous remote-controlled robots that can carry out tasks autonomously. These robots have been put to practical use in certain tasks, improving the efficiency of those tasks.

[0003] For example, Non-Patent Document 1 discloses an example of an automatic reception robot. This automatic reception robot has a camera, a monitor, a microphone, a speaker, and an automatic response function, and automatically responds to visitors (e.g., reception work, etc.) based on an automatic response program stored in a robot control server.

[0004] Non-Patent Document 2 discloses an example of an automatic patrol robot. This automatic patrol robot has a drive unit and an automatic patrol function on the robot side, and performs automatic patrol tasks (patrol, monitoring tasks, etc.) based on patrol schedule information stored in a robot control server.

[0005] On the other hand, in specialized fields such as medicine, robots have not yet reached a level where they can autonomously (fully) perform tasks automatically. Therefore, highly functional manually controlled remotely operated robots are being developed so that operators with specialized skills, such as doctors, can manually operate remote robots to perform advanced and complicated tasks such as remote surgery.

[0006] For example, Non-Patent Documents 3 and 4 disclose examples of highly functional manually controlled remotely operated robots. In such manually controlled remotely operated robots, the robot has a camera and a highly functional arm (manipulator), and an operator directly and manually controls the operation of the remote robot using an operation device connected to a robot operation terminal from a remote location (e.g., remote surgery, etc.). [Prior art documents] [Non-patent literature]

[0007] [Non-Patent Document 1] “Product specifications | Robot | SoftBank” [Online], [Retrieved May 17, 2021], Internet<URL: https: / / www.softbank.jp / robot / consumer / products / spec / > [Non-Patent Document 2] “Unmanned Security and Disinfection Robot “PATORO”” [Online], [Retrieved May 17, 2021], Internet<URL: https: / / www.zmp.co.jp / products / lrb / patoro> [Non-Patent Document 3] “Da Vinchi What is Da Vinci? Robotic Surgery (Da Vinci) Center” [Online], [Retrieved May 17, 2021], Internet<URL: https: / / www.shinyuri-hospital.com / advanced_medical_technology / davinci.html> [Non-Patent Document 4] “Introducing the Da Vinci X Surgical System” [Online], [Retrieved May 17, 2021], Internet <url: https: www.intuitive.com ja-jp - media project intuitive-surgical files pdf davinci-x-japan.pdf?la="ja-JP&hash=3BCA359BBD75CBCB9E5A028153F5D114"> Summary of the Invention [Problem to be solved by the invention]

[0008] In the case of autonomous remote-operated robots such as those disclosed in the above-mentioned non-patent documents 1 and 2, it is possible to remotely control predetermined functions, which is expected to improve efficiency, but the current situation is that they can only be used for routine tasks.

[0009] On the other hand, in the case of manually controlled remotely operated robots as disclosed in the above non-patent documents 3 and 4, although it is possible to perform detailed control (operation) from a distance and has the effect of reducing the constraints on distance, it is impossible to improve the work efficiency itself because the robot cannot be operated remotely unless an operator (doctor, etc.) always operates it directly. Also, since it was developed for advanced and complicated work such as medical care, the device size becomes large and the price becomes expensive, making mass production difficult, and it is difficult to introduce it into normal work.

[0010] Thus, remote-controlled robots are polarized into two types: those suitable for business use with autonomous control, such as the robots disclosed in the above Non-Patent Documents 1 and 2, and those suitable for business use with manual control, such as the robots disclosed in the above Non-Patent Documents 3 and 4. Therefore, when business suitable for autonomous control and business suitable for manual control are mixed, it is difficult to introduce these remote-controlled robots.

[0011] In other words, when using a remote-controlled robot in a task that involves both tasks suitable for autonomous control and tasks suitable for manual control, both autonomous and manual control task functions must be implemented and must be able to be controlled appropriately. For example, the work of a nurse consists of routine tasks such as managing the room temperature in the hospital room and managing the patient's vital data (body temperature, etc.), as well as work that requires careful consideration of the patient. In addition, because the condition of each patient is different, it is necessary to be able to control (switch, etc.) the autonomous and manual control functions for each patient.

[0012] However, such remote-controlled robots have not yet been realized, so in facilities where tasks suitable for autonomous control and tasks suitable for manual control are mixed, such as nursing tasks, the improvement of work efficiency through the use of remote-controlled robots has not been realized.

[0013] The present invention aims to provide a technique that enables remote-controlled robots to be introduced into facilities that have a mixture of tasks suitable for autonomous control and tasks suitable for manual control. [Means for solving the problem]

[0014] In order to solve the above problems, a remote-operated robot according to one embodiment of the present invention is a remote-operated robot that travels autonomously to a plurality of task performance locations according to a patrol schedule and performs a plurality of tasks at each task performance location, and is equipped with a setting acquisition unit that acquires a setting for each of a plurality of tasks to be performed at each task performance location, whether to perform autonomous operation or manual operation by an operator via a remote control terminal, a first switching unit that switches between performing the task by the autonomous operation and performing the task by the manual operation based on the acquired setting, and a notification unit that notifies the remote control terminal when switching to performing the task by the manual operation based on the setting. The multiple tasks performed at each of the task locations are tasks to be performed for a task target, and the remote-controlled robot further includes an absence detection unit that detects whether the task target is absent or not, and a correction unit that, when it is detected that the task target is absent, corrects the patrol schedule so that the task target is placed last in the patrol order. Effect of the Invention

[0015] According to one aspect of the present invention, the remote-operated robot can automatically perform tasks that it can perform autonomously, and only tasks that should be performed manually by an operator can be performed manually from a remote location. This provides technology that makes it possible to introduce remote-operated robots into facilities that have a mixture of tasks suitable for autonomous control and tasks suitable for manual control. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram showing a remote-operated robot control system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram illustrating an example of a functional configuration of the remote-controlled robot according to the first embodiment. [Diagram 3] FIG. 3 is a block diagram showing an example of a functional configuration of the robot control server appearing in FIG. [Figure 4] FIG. 4 is a diagram showing an example of the contents of the tour schedule table in FIG. [Diagram 5] FIG. 5 is a diagram showing an example of the contents of the business function setting table in FIG. [Figure 6] FIG. 6 is a diagram showing an example of the contents of the measurement record table in FIG. [Figure 7] FIG. 7 is a block diagram illustrating an example of a functional configuration of the robot control terminal in FIG. [Figure 8] FIG. 8 is a diagram illustrating an example of a hardware configuration of a computer that realizes the functional configuration of the remote-controlled robot of FIG. [Figure 9] FIG. 9 is a diagram illustrating an example of a hardware configuration of a computer that realizes the functional configuration of the robot control server in FIG. [Figure 10] FIG. 10 is a diagram illustrating an example of a hardware configuration of a computer that realizes the functional configuration of the robot control terminal of FIG. [Figure 11] FIG. 11 is a flowchart showing an example of the operation of the robot control terminal. [Figure 12] FIG. 12 is a flowchart showing an example of the operation of the robot control server. [Figure 13] FIG. 13 is a flowchart showing an example of the operation of the remote-controlled robot. [Figure 14] FIG. 14 is a block diagram showing an example of a functional configuration of a robot control unit in a remote-operated robot according to a second embodiment of the present invention. [Figure 15] FIG. 15 is a diagram showing an example of the contents of a business function setting table in the second embodiment. [Figure 16] FIG. 16 is a diagram showing an example of the contents of a measurement record table in the second embodiment. [Figure 17] FIG. 17 is a flowchart showing an example of the operation of the remote-controlled robot according to the second embodiment. [Figure 18] FIG. 18 is a block diagram showing an example of a functional configuration of a robot control unit in a remote-operated robot according to the third embodiment of the present invention. [Figure 19] FIG. 19 is a flowchart showing an example of the operation of the remote-controlled robot according to the third embodiment. [Figure 20] FIG. 20 is a flowchart showing an example of the operation of the robot control server in the third embodiment. [Figure 21] FIG. 21 is a diagram showing an example of the contents of the recursive schedule table updated by the update process of the recursive schedule table in FIG. [Figure 22] FIG. 22 is a block diagram showing an example of a functional configuration of a robot control unit in a remote-operated robot according to a fourth embodiment of the present invention. [Diagram 23] FIG. 23 is a block diagram showing an example of a functional configuration of a robot control server in the fourth embodiment. [Figure 24] FIG. 24 is a diagram showing an example of the contents of the nurse skill information table in FIG. [Diagram 25] FIG. 25 is a flowchart showing an example of the operation of the remote-controlled robot according to the fourth embodiment. [Figure 26] FIG. 26 is a flowchart showing an example of the operation of the robot control terminal in the fourth embodiment. [Figure 27] FIG. 27 is a flowchart showing an example of the operation of the robot control server in the fourth embodiment. [Figure 28] FIG. 28 is a block diagram showing an example of the functional configuration of a videophone function unit in a remote-controlled robot according to the fifth embodiment of the present invention. [Figure 29] FIG. 29 is a flowchart showing an example of the operation of the remote-operated robot according to the fifth embodiment. [Diagram 30] FIG. 30 is a flowchart showing an example of the operation of the robot control server in the fifth embodiment. [Diagram 31] FIG. 31 is a block diagram showing an example of the functional configuration of a videophone function unit of a robot control terminal in the sixth embodiment of the present invention. [Diagram 32] FIG. 32 is a flowchart showing an example of the operation of the remote-controlled robot according to the sixth embodiment. [Diagram 33] FIG. 33 is a flowchart showing an example of the operation of the robot control terminal in the sixth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following embodiment, the remote-controlled robot 1 performs nursing duties in a hospital, but the present invention can also be applied to duties in other facilities.

[0018] [First embodiment] (composition) FIG. 1 is a schematic diagram showing a remote-operated robot control system according to a first embodiment of the present invention. The remote-operated robot control system includes one or more remote-operated robots 1, a robot control server 2, one or more robot control terminals 3, and one or more access points (referred to as AP in FIG. 1) 4. The remote-operated robot 1, the robot control server 2, the robot control terminals 3, and the access points 4 are connected to a network 5 such as a LAN (Local Area Network). The remote-operated robot control system may also include one or more blood pressure monitors 6.

[0019] The remote-operated robot 1 is a remote-operated robot according to the first embodiment of the present invention. The robot control server 2 stores control information for controlling the operation of each remote-operated robot 1. The robot control terminal 3 is a terminal operated by a nurse, who is an operator, to input the control information in the robot control server 2 and to manually control the remote-operated robot 1. The access point 4 communicates with the remote-operated robot 1, and relays communication between the robot control server 2 and the robot control terminal 3, which are connected to the network 5, and the remote-operated robot 1. The access point 4 is arranged so as to cover the entire movement range of the remote-operated robot 1. In FIG. 1, the movement of the remote-operated robot 1 is represented by a dashed line. The blood pressure monitor 6 has a communication function with the remote-operated robot 1.

[0020] FIG. 2 is a block diagram showing an example of a functional configuration of the remote-controlled robot 1 according to the first embodiment. The remote-operated robot 1 has a remote-operated robot function unit 10 including a robot control unit 11, a function unit storage unit 12, a data transmission unit 13, a videophone function unit 14, and a robot drive control unit 15. Furthermore, the remote-operated robot 1 has various sensors 161, 162, ... as detection units, a camera 171, a monitor 172, a microphone 173, and a speaker 174 as interface units with a user who is a patient, and a drive unit 182 and a simple arm 181 as mechanical units. The drive unit 182 is, for example, a wheel, etc. The simple arm 181 is, for example, a manipulator, etc.

[0021] The robot control unit 11 includes an overall control function unit 111, a patrol management function unit 112, a task function switching function unit 113, and a manual operation notification function unit 114. The overall control function unit 111 controls the overall operation of the remotely operated robot 1. The patrol management function unit 112 controls the patrol operation of the remotely operated robot 1 within a facility. The task function switching function unit 113 controls the switching of tasks performed by the remotely operated robot 1. The manual operation notification function unit 114 notifies the robot control terminal 3 that it is time to switch the remotely operated robot 1 from autonomous control to manual control.

[0022] The function unit storage unit 12 includes business function units (business function unit 121, business function unit 122, ...) corresponding to various businesses. The business function units 121, 122, ... are connected to related external sensors 161, 162, .... For example, the business function unit 121 can be a room temperature measurement function and the sensor 161 can be a room temperature gauge, the business function unit 122 can be a non-contact body temperature measurement function and the sensor 162 can be a non-contact thermometer.

[0023] The data transmission unit 13 includes a transmission / reception function unit 131 that transmits the acquired data to the robot control server 2 .

[0024] The videophone function unit 14 includes a calling function unit 141 and a video / audio communication function unit 142. The calling function unit 141 calls the robot control terminal 3. The video / audio communication function unit 142 is connected to a camera 171, a monitor 172, a microphone 173, and a speaker 174, and performs video / audio communication with the robot control terminal 3.

[0025] The robot drive control unit 15 includes an arm control function unit 151 and a drive control function unit 152. The arm control function unit 151 is connected to a simple arm 181, and controls the movement of the simple arm 181 according to operation information from the robot control terminal 3. The drive control function unit 152 is connected to a drive unit 182 such as wheels, and causes the remotely operated robot 1 to travel autonomously according to a patrol route stored in the robot control server 2. The drive control function unit 152 can also control the drive unit 182 according to operation information from the robot control terminal 3.

[0026] Although not particularly shown, the remotely operated robot 1 may include, as a mechanical part, a camera orientation movement part that changes the orientation of the camera 171. In that case, the robot drive control part 15 may include a camera orientation control function part that controls the camera orientation movement part in accordance with operation information from the robot control terminal 3. This makes it possible, for example, to change the orientation of the camera 171 so that the simple arm 181 is captured in the camera's field of view when the simple arm 181 is moved from the robot control terminal 3.

[0027] FIG. 3 is a block diagram showing an example of a functional configuration of the robot control server 2. As shown in FIG. The robot control server 2 includes a patrol schedule management section 21 and a business function and measurement data management section 22 .

[0028] The visiting schedule management unit 21 manages the schedule (visit schedule) for each remote-operated robot 1 to visit the hospital rooms, using the visiting schedule table 23. That is, the visiting schedule management unit 21 records the visiting schedule of each remote-operated robot 1 input from the robot control terminal 3 in the visiting schedule table 23, and also transmits the corresponding visiting schedule to each remote-operated robot 1.

[0029] The business function / measurement data management unit 22 manages at least one business function setting table 24, at least one measurement record table 25, and an interview content storage unit 26. The business function setting table 24 and the measurement record table 25 are provided, for example, for each hospitalized patient. The business function setting table 24 records the automatic / manual setting contents of various tasks input from the robot control terminal 3. The measurement record table 25 records the measurement data measured and transmitted by the remote-controlled robot 1. The interview content storage unit 26 stores the interview contents input from the robot control terminal 3.

[0030] FIG. 4 is a diagram showing an example of the contents of the tour schedule table 23. As shown in FIG. In the patrol schedule table 23, for example, the number of each hospital room to be patrolled and the patient name are listed in the order of patrol in association with the robot number of the remote-controlled robot 1 under management, the date and time to start the patrol work, and the end of the patrol is listed as [Completed]. Note that the robot numbers are [R01], [R02], ... here, but any number such as a manufacturing number may be used as long as it can uniquely identify each remote-controlled robot 1. Also, in the same figure, A, B, ... represent the patient names, and an example is shown in which one patient exists in one room, but there may be multiple patients. In the case of multiple patients, the bed number, etc. may be listed in addition to the hospital room number.

[0031] FIG. 5 is a diagram showing an example of the contents of the business function setting table 24. As shown in FIG. The task function setting table 24 is provided for each patient, and for each task function to be performed, items such as task number, task function name, and automatic / manual flag are described. Here, the automatic / manual flag is described as [automatic] when the corresponding task function is to be automatically executed for the patient, and [manual] when it is to be manually executed. Of course, other description methods may be used, such as simply expressing automatic / manual with [1] / [0].

[0032] FIG. 6 is a diagram showing an example of the contents of the measurement record table 25. As shown in FIG. The measurement record table 25 is provided for each patient, and lists items such as date, time, room number, room temperature, body temperature, blood pressure, medical interview, remarks, etc. In the medical interview item, it is recorded whether or not a medical interview was conducted between the patient and the nurse at the robot control terminal 3 via the videophone function unit 14. In the remarks item, text entered by the nurse from the robot control terminal 3 can be recorded.

[0033] FIG. 7 is a block diagram showing an example of a functional configuration of the robot control terminal 3. As shown in FIG. The robot control terminal 3 has a robot control terminal functional unit 30 including a patrol schedule / task setting unit 31, a videophone functional unit 32, and a robot operation functional unit 33. Furthermore, the robot control terminal 3 has a keyboard (shown as KB in FIG. 7) / mouse 341, a monitor 342, a camera 343, a microphone 344, a speaker 345, and an operation device 346, which are interface units with a user who is a nurse.

[0034] The tour schedule / task setting unit 31 is connected to a keyboard / mouse 341 and monitor 342, and reads out the settings of the tour schedule table 23, the task function setting table 24, and the contents of the measurement record table 25 in the robot control server 2, and displays them on the monitor 342, allowing nurses to refer to each content. The tour schedule / task setting unit 31 also accepts automatic / manual input of tour schedules and various tasks by nurses operating the keyboard / mouse 341, and transmits the input contents to the robot control server 2, thereby causing the input contents to be reflected in the tour schedule table 23, the task function setting table 24, and the measurement record table 25.

[0035] The videophone function unit 32 is connected to a monitor 342, a camera 343, a microphone 344, and a speaker 345, and includes a call receiving function unit 321 and a video and audio communication function unit 322. The call receiving function unit 321 receives a call from the remote control robot 1, and notifies the nurse of the receipt of the call via the monitor 342 and the speaker 345. The video and audio communication function unit 322 performs video and audio communication with the patient via the remote control robot 1.

[0036] The robot operation function unit 33 is connected to the operation device 346 and includes an arm operation function unit 331 and a movement operation function unit 332 that remotely control the simple arm 181 and the drive unit 182 (wheels, etc.) of the remote controlled robot 1. In addition, when the remote controlled robot 1 includes a camera direction movement unit that changes the direction of the camera 171 as a mechanical unit, the robot operation function unit 33 can include a camera operation function unit 333 that remotely controls it.

[0037] FIG. 8 is a diagram showing an example of a hardware configuration of a computer that realizes the functional configuration of the remote controlled robot 1. As shown in FIG. The remote controlled robot 1 has a hardware processor 101 such as a CPU (Central Processing Unit). In the remote controlled robot 1, a program memory 102, a data memory 103, a communication interface 104, a sensor interface 105, an input / output interface 106, a mechanical unit interface 107, and a clock 108 are connected to the processor 101 via a bus 109. The CPU can execute multiple information processes simultaneously by using a multi-core and multi-threaded one. The processor 101 may also be equipped with multiple CPUs.

[0038] The program memory 102 is a non-transient tangible computer-readable storage medium that is a combination of a non-volatile memory that can be written and read at any time, such as a hard disk drive (HDD) or a solid state drive (SSD), and a non-volatile memory such as a ROM. The program memory 102 stores control programs required for the processor 101 to execute various control processes according to the present embodiment. For example, the robot control unit 11, the function unit storage unit 12, the data transmission unit 13, the videophone function unit 14, and the robot drive control unit 15 can be realized by having the processor 101 read and execute the processing programs stored in the program memory 102. Note that some or all of these processing function units may be realized in various other formats, including integrated circuits such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0039] The data memory 103 is a tangible computer-readable storage medium, for example, a combination of the above-mentioned non-volatile memory and a volatile memory such as a RAM (Random Access Memory). This data memory 103 is used to store various data acquired and created in the course of various processes. For example, the data memory 103 has storage areas secured for a facility map storage unit 1031, a control terminal information storage unit 1032, a temporary storage unit 1033, and the like.

[0040] The temporary storage unit 1033 is a storage area for temporarily storing various data generated in the process in which the processor 101 executes various control processes.

[0041] The facility map storage unit 1031 stores map information such as room layout and bed positions in the hospital. Furthermore, the facility map storage unit 1031 can store information necessary for autonomous driving and autonomous task execution, such as the names of hospitalized patients in beds in each room. Note that this information can be acquired and stored, for example, from a hospital management server (not shown) or the like connected to the network 5. Also, without the facility map storage unit 1031, the information may be acquired by communicating with the hospital management server or the like as necessary, and temporarily stored in the temporary storage unit 1033.

[0042] The control terminal information storage unit 1032 stores information for identifying the robot control terminal 3 that manually controls the remote-controlled robot 1. Based on this information, it becomes possible to communicate with a corresponding robot control terminal 3 from among one or more robot control terminals 3 arranged in various places in the hospital and receive manual control.

[0043] The communication interface 104 is a wireless communication module for transmitting and receiving information between the access point 4 and the sphygmomanometer 6 .

[0044] The sensor interface 105 is an input module for connecting the sensors 161, 162, . . . and receiving sensor data.

[0045] The input / output interface 106 is an input / output module for connecting a camera 171 , a monitor 172 , a microphone 173 , and a speaker 174 .

[0046] The mechanical unit interface 107 is an output module for connecting the simple arm unit 181 and the drive unit 182 .

[0047] The clock 108 keeps track of the current date and time.

[0048] FIG. 9 is a diagram showing an example of the hardware configuration of a computer that realizes the functional configuration of the robot control server 2. The robot control server 2 has a hardware processor 201 such as a CPU. In the robot control server 2, a program memory 202, a data memory 203, and a communication interface 204 are connected to the processor 201 via a bus 205. Note that the CPU can execute multiple information processes simultaneously by using a multi-core and multi-threaded one. Also, the processor 201 may be equipped with multiple CPUs.

[0049] The program memory 202 is a non-transient tangible computer-readable storage medium, for example, a combination of a non-volatile memory such as a HDD or SSD that can be written and read at any time, and a non-volatile memory such as a ROM. This program memory 202 stores control programs required for the processor 201 to execute various control processes in this embodiment. For example, the tour schedule management unit 21 and the business function / measurement data management unit 22 can be realized by having the processor 201 read and execute the processing programs stored in the program memory 202. Note that some or all of these processing function units may be realized in various other forms, including integrated circuits such as ASIC or FPGA.

[0050] The data memory 203 is a tangible computer-readable storage medium, for example, a combination of the above-mentioned non-volatile memory and a volatile memory such as a RAM. This data memory 203 is used to store various data acquired and created in the course of various processes. For example, the data memory 203 has storage areas secured for a tour schedule storage unit 2031, a business function setting storage unit 2032, a measurement record storage unit 2033, a medical interview storage unit 2034, a temporary storage unit 2035, and the like.

[0051] The temporary storage unit 2035 is a storage area for temporarily storing various data generated in the process in which the processor 201 executes various control processes.

[0052] The tour schedule storage unit 2031 is a storage area for storing the tour schedule table 23.

[0053] The business function setting storage unit 2032 is a storage area for storing the patient-specific business function setting table 24. Moreover, the measurement record storage unit 2033 is a storage area for storing the patient-specific measurement record table 25.

[0054] The medical interview storage unit 2034 is a storage area that functions as the medical interview content storage unit 26 .

[0055] The communication interface 204 is a wired or wireless communication module for connecting to the network 5 and performing communication via the network 5 .

[0056] FIG. 10 is a diagram showing an example of the hardware configuration of a computer that realizes the functional configuration of the robot control terminal 3. The robot control terminal 3 has a hardware processor 301 such as a CPU. In the robot control terminal 3, a program memory 302, a data memory 303, a communication interface 304, and an input / output interface 305 are connected to the processor 301 via a bus 306. Note that the CPU can execute multiple information processes simultaneously by using a multi-core and multi-threaded one. Also, the processor 301 may be equipped with multiple CPUs.

[0057] The program memory 302 is a non-transient tangible computer-readable storage medium, for example, a combination of a non-volatile memory such as a HDD or SSD that can be written and read at any time, and a non-volatile memory such as a ROM. This program memory 302 stores control programs required for the processor 301 to execute various control processes in this embodiment. For example, the tour schedule / task setting unit 31, the videophone function unit 32, and the robot operation function unit 33 can be realized by having the processor 301 read and execute the processing programs stored in the program memory 302. Note that some or all of these processing function units may be realized in various other forms, including integrated circuits such as ASIC or FPGA.

[0058] The data memory 303 is a tangible computer-readable storage medium, for example, a combination of the above-mentioned nonvolatile memory and a volatile memory such as a RAM. The data memory 303 is used to store various data acquired and created in the course of various processes. For example, the data memory 303 has a temporary storage unit 3031, which is a storage area for temporarily storing various data generated in the course of the processor 301 executing various control processes.

[0059] The communication interface 304 is a wired or wireless communication module for connecting to the network 5 and performing communication via the network 5 .

[0060] The input / output interface 305 is an input / output module for connecting a keyboard / mouse 341 , a monitor 342 , a camera 343 , a microphone 344 , a speaker 345 , and an operation device 346 .

[0061] (operation) Next, the operation of the remote operation robot control system according to the first embodiment will be described.

[0062] Fig. 11 is a flowchart showing an example of the operation of the robot control terminal 3. When the functional configuration of the robot control terminal 3 is realized by a computer as shown in Fig. 10, the program memory 302 stores a processing program required to execute the control processing shown in this flowchart, and the processor 301 executes the program to operate as the robot control terminal functional unit 30 of the robot control terminal 3 as shown in Fig. 7.

[0063] The processor 301 of the robot control terminal 3 first functions as the patrol schedule / task setting unit 31 and determines whether or not there has been a pre-setting operation from the nurse using the keyboard / mouse 341 connected to the input / output interface 305 (step S301). If it is determined that there has been no pre-setting operation (NO in step S301), the processor 301 functions as the call receiving function unit 321 and determines whether or not a call has been received via the communication interface 304, that is, whether or not there has been a call from the remote-controlled robot 1 (step S302). If it is determined that there has been no call (NO in step S302), the processor 301 proceeds to the process of step S301. In this way, the processor 301 waits for a pre-setting operation or a call.

[0064] (1) Pre-settings If it is determined in step S301 that a pre-setting operation has been performed (YES in step S301), the processor 301 acquires pre-setting contents indicating the contents of the pre-setting operation performed by the nurse using the keyboard / mouse 341, and stores the contents in the temporary storage unit 3031 of the data memory 303 (step S303). Then, the processor 301 transmits the pre-setting contents to the robot control server 2 via the communication interface 304 (step S304). After that, the processor 301 proceeds to the process of step S301.

[0065] Fig. 12 is a flowchart showing an example of the operation of the robot control server 2. When the functional configuration of the robot control server 2 is realized by a computer such as that shown in Fig. 9, the program memory 202 stores a processing program required to execute the control processing shown in this flowchart, and the processor 201 executes the program to operate as the robot control server function unit 20 of the robot control server 2 shown in Fig. 3.

[0066] The processor 201 of the robot control server 2 first functions as the tour schedule manager 21 and determines whether or not the preset contents have been received from the robot control terminal 3 via the communication interface 204 (step S201). If it is determined that the preset contents have not been received (NO in step S201), it determines whether or not a schedule acquisition request for requesting transmission of a tour schedule has been received from the remote-controlled robot 1 via the communication interface 204 (step S202). If it is determined that the schedule acquisition request has not been received (NO in step S202), the processor 201 functions as the task function / measurement data manager 22 and determines whether or not a task function acquisition request has been received from the remote-controlled robot 1 via the communication interface 204 (step S203). If it is determined that the task function acquisition request has not been received (NO in step S203), the processor 201 determines whether or not measurement information has been received from the remote-controlled robot 1 via the communication interface 204 (step S204). If it is determined that the measurement information has not been received (NO in step S204), the processor 201 further determines whether or not the medical interview contents have been received from the robot control terminal 3 via the communication interface 204 (step S205). If it is determined that the medical interview contents have not been received (NO in step S205), the processor 201 proceeds to the processing of step S201. In this way, the processor 201 waits for the reception of the preset contents, the schedule acquisition request, the business function acquisition request, the measurement information, or the medical interview contents.

[0067] When it is determined in the above step S201 that the pre-set contents have been received (YES in step S201), the processor 201 stores the received pre-set contents in the recursive schedule storage unit 2031 or the business function setting storage unit 2032 of the data memory 203 (step S206). That is, the processor 201 writes the pre-set contents in the recursive schedule table 23 or the business function setting table 24, or updates the written contents. After that, the processor 201 proceeds to the processing of the above step S201.

[0068] In this way, presetting work is performed between the robot control terminal 3 and the robot control server 2. For example, a nurse uses the robot control terminal 3 to set the patrol schedule of each remote-controlled robot 1 in the patrol schedule table 23 in the robot control server 2, and / or sets the automatic / manual flag to [automatic] or [manual] for each task of the nurse tasks to be performed for each patient in the task function setting table 24 for each patient. For example, for patient A, as shown in FIG. 5, the task function [room temperature measurement] with task number

[0001] and the task function [body temperature measurement] with task number

[0002] are set to [automatic], and the task function [blood pressure measurement] with task number

[0003] and the task function [medical interview] with task number

[0004] are set to [manual].

[0069] (2) Start of patrol operations Fig. 13 is a flowchart showing an example of the operation of the remote controlled robot 1. When the functional configuration of the remote controlled robot 1 is realized by a computer as shown in Fig. 8, a processing program required for executing the control processing shown in this flowchart is stored in the program memory 102, and the processor 101 executes the program to operate as the remote controlled robot functional unit 10 of the remote controlled robot 1 as shown in Fig. 2. Specifically, after being started, the processor 101 executes a control program to function as the robot control unit 11 and perform the following processing.

[0070] The processor 101 of the remotely operated robot 1 first functions as the tour management function unit 112 and acquires the remote tour schedule from the robot control server 2 via the access point 4 through the communication interface 104 (step S101). This is, for example, a process of sending a schedule acquisition request including a robot number identifying the remotely operated robot 1 to the tour schedule management unit 21 of the robot control server 2, receiving the tour schedule returned from the tour schedule management unit 21 through the communication interface 104, and storing it in the temporary storage unit 1033 of the data memory 103.

[0071] 12, when the processor 201 of the robot control server 2 determines that it has received a schedule acquisition request in step S202 (YES in step S202), it returns the tour schedule of the remotely operated robot 1 that made the request via the communication interface 204 (step S207). That is, the processor 201 reads out the tour schedule set for the robot number included in the schedule acquisition request in the tour schedule table 23 stored in the tour schedule storage unit 2031, and transmits it to the remotely operated robot 1. After that, the processor 201 proceeds to the process of step S201.

[0072] Returning to FIG. 13, once the processor 101 of the remote controlled robot 1 has acquired the tour schedule in step S101, it next judges whether or not to start the tour (step S102). This judgement can be made based on whether or not the current date and time measured by the clock 108 has reached the transmission date and start time of the tour schedule. If it is judged not to start the tour (NO in step S102), the processor 101 proceeds to the process of step S101. Note that it is also possible to simply repeat the process of step S102 until the start time of the acquired tour schedule arrives, but since there is a possibility that the tour schedule will be updated between the acquisition of the tour schedule and the start time, the process here returns to the process of step S101.

[0073] When it is determined that a tour should be started (YES in step S102), the processor 101 checks the tour order of the tour schedule stored in the temporary memory unit 1033, and determines whether or not [Complete] is set in the tour order to be carried out (step S103).

[0074] If it is determined that [Complete] is not set (NO in step S103), the processor 101 calculates a movement route to the target patient's location, and functions as the drive control function unit 152 to control the drive unit 182 connected to the mechanical unit interface 107 to move to the patient (step S104). The processor 101 can calculate a movement route from the current location based on the visiting order indicated in the visiting schedule and the information stored in the facility map storage unit 1031.

[0075] In this way, for example, if the remote-controlled robot 1 has the robot number [R01], after starting up, it refers to the patrol schedule table 23 in the robot control server 2 to confirm the patrol start time and patrol order of its own robot, and when the start time arrives, it starts patrol work by automatic driving using the drive unit 182, and heads to make the rounds of patient A in room 101, which is patrol order 1.

[0076] (3) Performing business functions When the processor 101 arrives at the target patient, the processor 101 functions as the service function switching function unit 113 and acquires the service function setting contents set for the relevant patient from the robot control server 2 via the access point 4 through the communication interface 104 (step S105). This is a process in which, for example, a service function acquisition request including the patient name identifying the relevant patient is sent to the service function and measurement data management unit 22 of the robot control server 2, the service function setting contents returned from the service function and measurement data management unit 22 are received through the communication interface 104, and stored in the temporary storage unit 1033 of the data memory 103.

[0077] 12, when the processor 201 of the robot control server 2 determines that a business function acquisition request has been received in the above step S203 (YES in step S203), it returns the business function setting contents of the patient to the remote-controlled robot 1 that made the request via the communication interface 204 (step S208). That is, the processor 201 identifies the business function setting table 24 corresponding to the patient name included in the business function acquisition request from among the multiple patient business function setting tables 24 stored in the business function setting storage unit 2032, reads out the contents, and transmits them to the remote-controlled robot 1. After that, the processor 201 proceeds to the process of the above step S201.

[0078] Returning to Fig. 13, when the processor 101 of the remote controlled robot 1 acquires the task function setting contents in the above step S105, it next judges whether all the task functions in the task function setting contents stored in the temporary storage unit 1033 have been performed, that is, whether the task for the patient has been completed (step S106). If it is judged that the task has not yet been completed (NO in step S106), the processor 101 functions as the manual operation notification function unit 114 and judges whether [automatic] is set as the automatic / manual flag for the task function to be performed next (step S107). In other words, the processor 101 judges whether it is time for the remote controlled robot 1 to switch from autonomous control to manual control.

[0079] (3-1) Execution of automated business functions If it is determined that [Auto] is set (YES in step S107), the processor 101 functions as the business function unit 121 for performing the set business function unit among the multiple business function units 121, 122, ... in the function unit storage unit 12, for example, the business function [room temperature measurement] with business number

[0001] , and automatically performs the measurement (step S108).

[0080] Then, the processor 101 functions as the transmission / reception function unit 131 to transmit the measurement information including the patient name, the business function, and the measurement result to the robot control server 2 via the access point 4 through the communication interface 104 (step S109). After that, the processor 101 proceeds to the process of step S106.

[0081] 12, when the processor 201 of the robot control server 2 determines that the measurement information has been received in the above step S204 (YES in step S204), it stores the measurement information (step S209). That is, the processor 201 records the measurement result in the corresponding business function of the measurement record table 25 corresponding to the patient name in the received measurement information from among the measurement record tables 25 of multiple patients stored in the measurement record storage unit 2033. After that, the processor 201 proceeds to the process of the above step S201.

[0082] In this way, for example, when the remote-controlled robot 1 with robot number [R01] arrives at room 101, it refers to the task function setting contents in the task function setting table 24 for patient A in the robot control server 2, and starts the task function [room temperature measurement] for task number

[0001] . Since the task function setting table 24 for patient A lists task number

[0001] as [automatic], the remote-controlled robot 1 with robot number [R01] simply operates the room temperature measurement function, which is the task function unit 121, measures the room temperature, and transmits the result to the robot control server 2. Then, the robot control server 2, which receives the measurement result from the remote-controlled robot 1 with robot number [R01], records the result in the measurement record table 25 for patient A.

[0083] After that, by repeating the process from step S106, the remote-controlled robot 1 with robot number [R01] starts the task function [body temperature measurement] of the next task number

[0002] . Since the task number

[0002] in the task function setting table 24 for patient A is also described as [automatic], in this case too, the remote-controlled robot 1 with robot number [R01] operates the body temperature measurement function, which is the task function section 122, measures the body temperature of patient A, and transmits the result to the robot control server 2. Then, the robot control server 2, which receives the measurement result from the remote-controlled robot 1 with robot number [R01], records the result in the measurement record table 25 for patient A.

[0084] (3-2) Execution of manual and automated business functions When it is determined in step S107 that [Auto] is not set, that is, [Manual] is set (NO in step S107), the processor 101 functions as the business function switching function unit 113 and determines whether or not the control by the robot control terminal 3 has already been switched to (step S110). When it is determined that the control by the robot control terminal 3 has not yet been switched to (NO in step S110), the processor 101 functions as the calling function unit 141 and calls the robot control terminal 3 via the access point 4 by the communication interface 104 (step S111). At this time, the processor 101 calls a specific terminal from among the multiple robot control terminals 3 based on the information that identifies the robot control terminal 3 that manually controls the remote control robot 1, which is stored in the control terminal information storage unit 1032. Note that the number of robot control terminals 3 to be called is not limited to one. Then, the processor 101 determines whether or not there is a response from the robot control terminal 3 (step S112). If it is determined that there is no response (NO in step S112), the processor 101 continues the process of step S111 and waits for a response from the robot control terminal 3.

[0085] As shown in FIG. 11, when the processor 301 of the robot control terminal 3 determines in step S302 that a call has been made from the remote-controlled robot 1 (YES in step S302), it functions as the call receiving function unit 321 and notifies the nurse of the call (step S305). This notification can be made by the monitor 342 and the speaker 345 connected to the input / output interface 305. The processor 301 then determines whether or not there has been a response operation from the nurse (step S306). If it is determined that there has been no response operation (NO in step S306), the processor 301 continues the process of this step S306. In this way, it waits for a response operation from the nurse. The response operation is not limited to the operation of the keyboard / mouse 341 connected to the input / output interface 305, but may also include a predetermined keyword voice of the nurse acquired by the microphone 344, a predetermined gesture of the nurse acquired by the camera 343, or the like.

[0086] Then, when it is determined that the nurse has performed a response operation (YES in step S306), the processor 301 transmits a response to the remote-controlled robot 1 that has made the call via the communication interface 304 (step S307).

[0087] Returning to FIG. 13, when the processor 101 of the remote control robot 1 judges that there is a response in the above step S112 (YES in step S112), it functions as the task function switching function unit 113 and switches to control by the robot control terminal 3 (step S113). After that, the processor 101 transmits the task content to be performed by manual operation to the robot control terminal 3 via the access point 4 through the communication interface 104 (step S114). Then, the processor 101 judges whether or not the remote operation content has been received from the robot control terminal 3 through the access point 4 through the communication interface 104 (step S115). When it judges that the remote operation content has not been received (NO in step S115), the processor 101 continues the process of this step S115. In this way, it waits for the nurse to perform the remote operation.

[0088] 11, after transmitting a response to the remote-controlled robot 1 in step S307, the processor 301 of the robot control terminal 3 notifies the nurse of the task content transmitted from the remote-controlled robot 1 via the monitor 342 connected to the input / output interface 305 (step S308). Here, the processor 301 determines whether the transmitted task content is the end of remote control (step S309).

[0089] If the task content is not the end of remote operation, the nurse who has confirmed the notification of the task content will perform an operation according to the task content. That is, when remotely operating the simple arm 181, the driving unit 182, and the camera 171 of the remote-operated robot 1, the nurse operates the operation device 346. When interviewing a patient, the nurse operates the monitor 342, the camera 343, the microphone 344, and the speaker 345 on the robot control terminal 3 side in correspondence with the camera 171, the monitor 172, the microphone 173, and the speaker 174 of the remote-operated robot 1.

[0090] Therefore, when it is determined that the remote operation is not to be ended (NO in step S309), the processor 101 functions as the robot operation function unit 33 or the video / audio communication function unit 142, and receives and acquires the operation contents of the operation device 346 or the monitor 342, the camera 343, the microphone 344, and the speaker 345 connected to the input / output interface 305 (step S310). Then, the processor 301 transmits the acquired operation contents to the remote control robot 1 via the communication interface 304 (step S311). Furthermore, the processor 301 determines whether the acquired operation contents were a medical interview (step S312). When it is determined that the operation contents were not a medical interview (NO in step S312), the processor 101 proceeds to the process of the above step S308.

[0091] Returning to FIG. 13, when the processor 101 of the remotely operated robot 1 determines in step S115 that it has received remote operation content from the robot control terminal 3 (YES in step S115), it functions as the robot drive control unit 15 and executes the remote operation content (step S116). That is, the processor 101 drives the simple arm 181 and the drive unit 182 connected to the mechanical unit interface 107 according to the received remote operation content. Then, the processor 101 determines whether or not it is necessary to transmit the measurement result to the robot control server 2 as a result of the remote operation (step S117). When it is determined that it is necessary to transmit the measurement result to the robot control server 2 (YES in step S117), the processor 101 proceeds to the process of step S109. Then, the processor 101 transmits the measurement result to the robot control server 2 in step S109, and proceeds to the process of step S106.

[0092] For example, when the remote-controlled robot 1 with the robot number [R01] starts the task function [blood pressure measurement] with the task number

[0003] by referring to the task function setting contents of the task function setting table 24 for patient A in the robot control server 2, the task function setting table 24 for patient A records that the task number

[0003] is [manual]. In this case, the remote-controlled robot 1 switches the control of the function from autonomous control to manual control and calls the nurse on the robot control terminal 3 side. Then, after the nurse responds on the robot control terminal 3, the nurse is notified that it is the nurse's turn to measure blood pressure as a task to be performed by manual control, and the control right of the remote-controlled robot 1 with the robot number [R01] is transferred to the robot control terminal 3. The nurse operates the simple arm 181, the camera 171, the drive unit 182, etc. of the remote-controlled robot 1 with the robot number [R01] by the robot operation function unit 33 of the robot control terminal 3, attaches the blood pressure monitor 6 to the arm of the patient A, and measures the blood pressure. Since the sphygmomanometer 6 has a communication function with the remote-controlled robot 1, the measurement result is transmitted from the remote-controlled robot 1 to the robot control server 2, and the robot control server 2 records the result in the measurement record table 25 for patient A.

[0093] 11, when the processor 301 of the robot control terminal 3 determines in step S312 that the inquiry is a medical inquiry (YES in step S312), the processor 301 functions as the tour schedule / task setting unit 31 and accepts an input operation of the inquiry contents via the keyboard / mouse 341 (step S313). Then, the processor 101 transmits the inquiry contents to the robot control server 2 via the communication interface 304 (step S314). After that, the processor 301 proceeds to the process of step S308.

[0094] 12, when the processor 201 of the robot control server 2 determines that the medical interview content has been received in the above step S205 (YES in step S205), the processor 201 functions as the business function and measurement data management unit 22 and stores the received medical interview content in the medical interview content storage unit 26 of the medical interview storage unit 2034 (step S210). After that, the processor 201 proceeds to the process of the above step S201.

[0095] For example, if the next task to be performed in the task function setting table 24 for patient A is the task function [medical interview] with task number

[0004] , the nurse uses the videophone function of the robot control terminal 3 to interview patient A via the videophone function unit 14 on the remote-controlled robot 1 with robot number [R01], and inputs the contents of the interview using the keyboard / mouse 341. The input contents are sent to the robot control server 2, and the robot control server 2 stores the input contents separately as a medical interview record for patient A.

[0096] (4) Move to the next room In this manner, the processor 101 of the remote-controlled robot 1 sequentially performs the task contents acquired from the task function setting table 24 by autonomous control or manual control. Then, when it is determined that the task for the patient has been completed in step S106 of Fig. 13 (YES in step S106), the processor 101 proceeds to the process of step S103. At this time, although not shown in the figure, the processor 101 transmits the task contents of the remote-controlled task to the robot control terminal 3.

[0097] Then, in step S103, the processor 101 checks the next visiting order from the visiting schedule stored in the temporary memory unit 1033, and if the visiting order to be performed is not set to [Complete], the processor 101 proceeds to the processing of step S104 and moves to the next patient.

[0098] For example, when the remote-controlled robot 1 with robot number [R01] completes all tasks listed in the task function setting table 24 for patient A, it determines that the tasks for patient A are finished and moves on to the patrol task for patient B in room 102, which is tour order 2 in the patrol schedule table, and executes the tasks based on the task function setting table 24 for patient B.

[0099] (5) Termination of Patrol Services If it is determined in step S103 that [Complete] is set (YES in step S103), this means that all patients to be visited have been visited, and so processor 101 proceeds to the process of step S101.

[0100] In this way, the patrol work ends when the patrol order in the patrol schedule table for the remote-controlled robot 1 ends. In this case, the processor 101 may function as the drive control function unit 152 and cause the drive unit 182 to move the remote-controlled robot 1 to a specified waiting location.

[0101] In the first embodiment as described above, the remote-operated robot 1 is a remote-operated robot that travels autonomously to a plurality of task execution locations such as hospital rooms according to a patrol schedule and performs a plurality of tasks at each task execution location, and includes a task function switching function unit 113 that can be provided by the processor 101. The task function switching function unit 113 operates as a setting acquisition unit, and acquires from the robot control server 2 a setting as to whether to perform an autonomous operation or a manual operation by an operator such as a nurse from a remote control terminal for each of a plurality of tasks to be performed at each task execution location, which are described in the task function setting table 24. The task function switching function unit 113 also operates as a first switching unit, and switches between task execution by autonomous operation and task execution by manual operation based on the acquired setting.

[0102] Therefore, according to the first embodiment, the remote-operated robot 1 can automatically perform tasks that it can perform autonomously, and only tasks that should be performed manually by an operator such as a nurse can be performed manually from a remote location. This makes it possible to introduce the remote-operated robot 1 into facilities that have a mixture of tasks suitable for autonomous control and tasks suitable for manual control, and makes it possible to achieve greater efficiency in tasks using the remote-operated robot 1.

[0103] In the first embodiment, the remote-operated robot control system includes a remote-operated robot 1 that autonomously travels to a plurality of task execution locations such as hospital rooms according to a patrol schedule and performs a plurality of tasks at each task execution location, a robot control terminal 3 that manually operates the remote-operated robot 1, and a robot control server 2 accessed by the remote-operated robot 1 and the robot control terminal 3. The robot control server 2 includes a patrol schedule table 23 as a schedule storage unit that stores the patrol schedule, and a task function setting table 24 as a task storage unit that stores settings for each of the plurality of tasks performed at each of the task execution locations, such as whether to perform an autonomous operation or a manual operation by an operator such as a nurse from the robot control terminal 3. The robot control terminal 3 also includes a patrol schedule / task setting unit 31 that can be provided by the processor 101. The patrol schedule / task setting unit 31 operates as a pre-setting unit and performs settings for the patrol schedule and each of the plurality of tasks in the robot control server 2 prior to the start of operation of the remote-operated robot 1. The remote-controlled robot 1 also includes a task function switching function unit 113 that can be provided by the processor 101. The task function switching function unit 113 operates as a setting acquisition unit and acquires settings for the patrol schedule and each of the multiple tasks from the robot control server 2. The task function switching function unit 113 also operates as a first switching unit and switches between task execution by autonomous operation and task execution by manual operation based on the acquired settings.

[0104] In this way, the task function setting table 24 is pre-set to control tasks suitable for automation autonomously, and to control tasks suitable for manual control, such as directly taking the patient's temperature, measuring blood pressure, and questioning the patient, manually. The remote-operated robot 1 performs the tasks in order based on the state set in the task function setting table 24, and when it is the turn of a manually controlled task, a remote operator is called, the function is switched to manual operation, and the operator manually performs only the tasks that should be performed manually from a remote location. This makes it possible to use the remote-operated robot 1 in facilities where tasks suitable for autonomous control and tasks suitable for manual control are mixed.

[0105] [Second embodiment] Next, a second embodiment of the present invention will be described. This embodiment is adapted to handle the case where the patient to be measured is asleep during the rounds. In the following description, the same reference symbols as those used in the first embodiment are used for the same parts, and the description thereof will be omitted.

[0106] FIG. 14 is a block diagram showing an example of the functional configuration of the robot control unit 11 in the remote-controlled robot 1 according to the second embodiment. The robot control unit 11 in this embodiment includes a sleep determination function unit 115 in addition to the configuration in the first embodiment. The sleep determination function unit 115 has a function of automatically checking the state of the patient to be measured before executing the business function and determining whether the patient is asleep or awake. Whether the patient is asleep can be determined in a composite manner based on the image of the patient taken by the camera 171 and the voice of the patient acquired by the microphone 173. For example, information such as the patient lying on the bed, eyes closed, and numerical display of the bi-tile measuring device can be obtained from the image, and a specific pattern seen during sleep, such as breathing or snoring, can be obtained from the voice.

[0107] FIG. 15 is a diagram showing an example of the contents of the task function setting table 24 created for each patient in the robot control server 2 in the second embodiment. In this embodiment, the task function setting table 24 includes option flag 1 and option flag 2 in addition to the same items as in the first embodiment. These option flags are set with [*]. Setting option flag 1 indicates that if the patient is awake, the function can be switched to manual execution even if it is an automatic execution target function. Setting option flag 2 indicates that the task content can be skipped if the patient is asleep or the like, and manual execution is not appropriate.

[0108] 16 is a diagram showing an example of the contents of the measurement record table 25 created for each patient in the robot control server 2 in the second embodiment. If the patient is asleep, for example, [sleep] is entered in the remarks field to indicate that. Also, for the results of tasks that were not performed, a symbol indicating that, for example, [-] is entered.

[0109] 17 is a flowchart showing an example of the operation of the remote-controlled robot 1 according to the second embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the remote control robot 1 moves to the patient in step S104, the processor 101 of the remote control robot 1 functions as a sleep determination function unit 115 to check the patient's condition and confirm whether the patient being measured is asleep or not, and stores the confirmation result in the temporary memory unit 1033 (step S121).

[0110] Thereafter, the processor 101 acquires the business function setting contents set for the corresponding patient from the robot control server 2 in the above step S105, and judges whether or not the business for the patient has been completed in the above step S106. If the business has not yet been completed, then in step S107 it is judged whether or not the automatic / manual flag is set to [automatic].

[0111] If it is determined that [Auto] is set (YES in step S107), in this embodiment, the processor 101 functions as the sleep determination function unit 115 and determines whether or not option flag 1 is set for the task function to be performed (step S122). If it is determined that option flag 1 is not set (NO in step S122), the process proceeds to step S108 and the measurement is automatically performed.

[0112] On the other hand, when it is determined that the option flag 1 is set (YES in step S122), the processor 101 functions as the sleep determination function unit 115 and determines whether or not the patient is asleep (step S123). For this determination, the confirmation result of whether or not the patient is asleep stored in the temporary storage unit 1033 can be used. When it is determined that the patient is asleep (YES in step S123), the processor 101 proceeds to the process of step S108 and automatically executes the measurement.

[0113] On the other hand, when it is determined that the user is not asleep (NO in step S123), the processor 101 proceeds to the process of step S110. That is, even if the function is an automatic execution target function, the processor 101 switches the function to manual execution.

[0114] Furthermore, if it is determined in step S107 that [Auto] is not set, that is, that [Manual] is set (NO in step S107), in this embodiment, the processor 101 functions as the sleep determination function unit 115 and determines whether option flag 2 is set for the task function to be executed (step S124). If it is determined that option flag 2 is not set (NO in step S124), the process proceeds to step S110.

[0115] On the other hand, when it is determined that the option flag 2 is set (YES in step S124), the processor 101 determines whether or not the patient is asleep (step S125). For this determination, the confirmation result of whether or not the patient is asleep stored in the temporary storage unit 1033 can be used. When it is determined that the patient is not asleep (NO in step S125), the processor 101 proceeds to the process of the above step S110.

[0116] Furthermore, if it is determined that the patient is asleep (YES in step S125), the processor 101 transmits the measurement information, including the patient's name, business function, and measurement result, to the robot control server 2 via the access point 4 through the communication interface 104 (step S126). In this case, the measurement result indicates that the measurement was not performed. The processor 101 then proceeds to the processing of step S106 above. The robot control server 2 that receives such measurement information records [-] in the corresponding measurement item in the measurement record table 25 for the corresponding patient, and also records [sleep] in the remarks item, indicating that the patient was asleep.

[0117] As described above, in the second embodiment, the tasks performed at each task location such as a hospital room are tasks performed for task subjects such as hospitalized patients, and the task function switching function unit 113 as a setting acquisition unit further acquires a setting of whether or not the task subject can perform the task while sleeping, which is described as an option flag 2 in the task function setting table 24, for each of the tasks performed at each task location. The remote control robot 1 also includes a sleep determination function unit 115 that can be provided by the processor 101. The sleep determination function unit 115 operates as a sleep detection unit and detects whether or not the task subject is sleeping. Furthermore, the sleep determination function unit 115 operates as a selection unit and, when it is detected that the task subject is sleeping, selects and performs a task that the task subject can perform while sleeping based on the setting acquired by the task function switching function unit 113.

[0118] Therefore, according to the second embodiment, it is possible to achieve the same effect as the first embodiment, and it is also possible to perform only tasks that will not wake up the person being worked on, thereby preventing the sleep of the person being worked on from being disturbed.

[0119] Furthermore, according to the second embodiment, the sleep determination function unit 115 operates as a measurement information recording unit, and records in the measurement record table of the robot control server 2 that the task execution subject was asleep and which tasks could not be executed as a result. Having confirmed this, an operator such as a nurse can execute the tasks that could not be executed by himself / herself, or re-incorporate them into the patrol schedule of the remote-controlled robot 1 and have the remote-controlled robot 1 execute them after a period of time.

[0120] [Third embodiment] Next, a third embodiment of the present invention will be described. This embodiment is adapted to handle cases where a patient to be measured is absent during a round for reasons such as going to the toilet. In the following description, the same reference symbols as those used in the first embodiment are used for the same parts, and description thereof will be omitted.

[0121] 18 is a block diagram showing an example of the functional configuration of the robot control unit 11 in the remote-controlled robot 1 according to the third embodiment. In addition to the configuration in the first embodiment, the robot control unit 11 in this embodiment includes a presence determination function unit 116. The presence determination function unit 116 has a function of determining whether the patient to be measured is present in the room before executing a business function, and, if the patient is not present, correcting the patrol schedule in the robot control server 2. Whether the patient is present in the room can be determined based on an image of the inside of the hospital room captured by a camera 171.

[0122] 19 is a flowchart showing an example of the operation of the remote-controlled robot 1 according to the third embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the remote control robot 1 moves to the patient in step S104, the processor 101 of the remote control robot 1 functions as the presence determination function unit 116 to confirm whether the patient to be measured is present in the room or not, and stores the confirmation result in the temporary storage unit 1033 (step S131).

[0123] Then, the processor 101 determines whether or not a patient is present in the room (step S132). If it is determined that the patient is present in the room (YES in step S132), the processor 101 proceeds to the process of step S105 and acquires the business function setting contents set for the corresponding patient from the robot control server 2.

[0124] On the other hand, if it is determined that the patient is not present in the room, that is, absent (NO in step S132), the processor 101 transmits absence information to the robot control server 2 via the access point 4 through the communication interface 104 (step S133). The absence information includes information identifying the absent patient, such as the patient's name. The processor 101 then proceeds to the processing of step S103. That is, the processor 101 skips the task for the absent patient and moves on to the round task for the next patient.

[0125] 20 is a flowchart showing an example of the operation of the robot control server 2 in the third embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the processor 201 of the robot control server 2 determines in the above step S205 that the medical interview contents have not been received (NO in step S205), the processor 201 further functions as the tour schedule manager 21 and determines whether or not absence information has been received from the remote-controlled robot 1 via the communication interface 204 (step S221). When it determines that absence information has not been received (NO in step S221), the processor 201 proceeds to the process of the above step S201.

[0126] On the other hand, if it is determined that absence information has been received (YES in step S222), the processor 201 updates the tour schedule table 23 stored in the tour schedule storage unit 2031 (step S222). After that, the processor 201 proceeds to the process of step S201.

[0127] FIG. 21 is a diagram showing an example of the contents of the tour schedule table 23 updated by the update process of the tour schedule table 23 in step S222. For example, assume that absence information indicating that the measurement target patient A was absent is received from the remote-controlled robot 1 with the robot number [R01]. In this case, the processor 101 functioning as the tour schedule management unit 21 rewrites the description of the item at the end of the tour order for the remote-controlled robot 1 in the tour schedule table 23, which is tour order 4 in this case, from [Completed] to [101:A] indicating the corresponding patient A. Furthermore, the processor 201 shifts the end of the tour schedule table 23 by one column, that is, adds an item for tour order 5 and writes [Completed]. By updating the tour schedule table 23 in this way, it is possible to make the remote-controlled robot 1 with the robot number [R01] make a final visit to the absent patient.

[0128] As described above, in the third embodiment, the tasks performed at each task location such as a hospital room are tasks performed for task subjects such as hospitalized patients, and the remote-controlled robot 1 further includes a presence determination function unit 116 that can be provided by the processor 101. The presence determination function unit 116 operates as an absence detection unit and detects whether the task subject is absent or not. Furthermore, the presence determination function unit 116 operates as a correction unit and corrects the patrol schedule of the remote-controlled robot 1 shown in the patrol schedule table 23 in the robot control server 2 when it is detected that the task subject is absent.

[0129] Therefore, according to the third embodiment, it is possible to achieve the same effect as the first embodiment, and in the case where the person to whom the work is to be performed is absent, the patrol schedule can be automatically reorganized so that the work can be performed for that person again later.

[0130] [Fourth embodiment] Next, a fourth embodiment of the present invention will be described. In this embodiment, a nurse is identified and automatic / manual operation can be switched according to the nurse's skill level. In the following description, the same reference symbols as those used in the first embodiment are used for the same parts, and the description thereof will be omitted.

[0131] 22 is a block diagram showing an example of the functional configuration of the robot control unit 11 in the remote-operated robot 1 according to the fourth embodiment. In addition to the configuration in the first embodiment, the robot control unit 11 in this embodiment includes an operating nurse confirmation function unit 117. The operating nurse confirmation function unit 117 has a function of confirming the skill level of a nurse who is attempting to remotely operate the remote-operated robot 1 from the robot control terminal 3.

[0132] 23 is a block diagram showing an example of the functional configuration of the robot control server 2 in the fourth embodiment. In addition to the configuration in the first embodiment, the robot control server 2 in this embodiment has a nurse skill information table 27 connected to the business function / measurement data management unit 22. A storage area for this nurse skill information table 27 can be secured in the data memory 203.

[0133] In this embodiment, the business function setting table 24 includes an item of option flag 1 as described in the third embodiment.

[0134] 24 is a diagram showing an example of the contents of the nurse skill information table 27. In the nurse skill information table 27, the skill level of each nurse is recorded in association with a nurse number that uniquely identifies each nurse. Here, the nurse skill indicates the operation ability of the remote-controlled robot 1 using the robot control terminal 3, and does not mean the ability to perform nursing duties as a nurse.

[0135] 25 is a flowchart showing an example of the operation of the remote-controlled robot 1 according to the fourth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. If it is determined in step S107 above that the automatic / manual flag is set to [automatic] (YES in step S107), in this embodiment, the processor 101 functions as the operating nurse confirmation function unit 117 and determines whether or not option flag 1 is set for the business function to be performed (step S141). If it is determined here that option flag 1 is not set (NO in step S141), the process proceeds to step S108 above and the measurement is automatically performed.

[0136] On the other hand, if it is determined that option flag 1 is set (YES in step S141), the processor 101 determines whether or not control has already been switched to by the robot control terminal 3 in the above step S110, and if it is determined that control has not yet been switched to by the robot control terminal 3, then in the above step S111, the processor 101 calls the robot control terminal 3 via the access point 4 using the communication interface 104.

[0137] In this embodiment, the processor 101 determines whether or not a nurse number has been received from the robot control terminal 3 via the communication interface 104 (step S142). If it is determined that a nurse number has not been received (NO in step S142), the processor 101 continues the process of step S142. In this manner, the processor 101 waits for the nurse number to be transmitted from the robot control terminal 3.

[0138] 26 is a flowchart showing an example of the operation of the robot control terminal 3 in the fourth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. After notifying the nurse of the call in step S305, in this embodiment, the processor 301 of the robot control terminal 3 determines whether or not the nurse has responded by inputting a nurse number (step S341). If it is determined that the nurse has not input a nurse number (NO in step S341), the processor 301 continues the process of step S341. In this way, the processor 301 waits for the nurse to input the nurse number.

[0139] If it is determined that a nurse number has been input (YES in step S341), the processor 301 transmits the input nurse number to the calling remote-controlled robot 1 via the communication interface 304 (step S342).

[0140] 25, if the processor 101 of the remote controlled robot 1 determines that a nurse number has been received in step S142 above (YES in step S142), it acquires the skill level of the nurse with that nurse number from the robot control server 2 via the access point 4 through the communication interface 104 (step S143). This is a process in which, for example, a nurse skill inquiry including the nurse number is sent to the business function and measurement data management unit 22 of the robot control server 2, the nurse skill level returned from the business function and measurement data management unit 22 is received through the communication interface 104, and stored in the temporary storage unit 1033 of the data memory 103.

[0141] 27 is a flowchart showing an example of the operation of the robot control server 2 in the fourth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the processor 201 of the robot control server 2 determines in the above step S205 that the medical interview contents have not been received (NO in step S205), it further determines whether or not a nurse skill inquiry has been received from the remote control robot 1 via the communication interface 204 (step S241). When it determines that a nurse skill inquiry has not been received (NO in step S241), the processor 201 proceeds to the process of the above step S201.

[0142] On the other hand, if it is determined that a nurse skill inquiry has been received (YES in step S241), the processor 201 returns the nurse skill level corresponding to the nurse number included in the received nurse skill inquiry via the communication interface 204 (step S242). That is, the processor 201 reads the skill level of the nurse corresponding to the nurse number included in the nurse skill inquiry from the nurse skill information table 27, and transmits it to the remote control robot 1. The processor 201 then proceeds to the processing of step S201 above.

[0143] 25, once the processor 101 of the remote control robot 1 has acquired the nurse skill level in step S143, it then determines whether the nurse's skill level is "low skill" (step S144). If it is determined that the nurse's skill level is not "low skill", that is, is "high skill" (NO in step S144), the processor 101 proceeds to the process of step S113.

[0144] As shown in FIG. 26, after transmitting the nurse number to the remote control robot 1 in the above step S342, the processor 301 of the robot control terminal 3 judges whether or not it has received the task content transmitted from the remote control robot 1 (step S343). If it has judged that the task content has not been received (NO in step S343), the processor 301 further judges whether or not it has received the automatic measurement notification transmitted from the remote control robot 1 (step S344). If it has judged that the automatic measuring device has not been received (NO in step S344), the processor 301 further judges whether or not it has received the nurse change request transmitted from the remote control robot 1 (step S345). If it has judged that the nurse change request has not been received (NO in step S345), the processor 301 proceeds to the process of the above step S343. In this way, the processor 301 waits for the task content, the automatic measurement notification, or the nurse change request to be transmitted from the remote control robot 1.

[0145] Then, when it is determined in step S343 that the automatic measuring device has been received (YES in step S344), the processor 301 proceeds to the process of step S308. In this way, even if the function is an automatic execution target function, if the skill level of the nurse is [high skill], the function is switched to manual execution.

[0146] Returning to FIG. 25, when the processor 101 of the remote control robot 1 judges in the above step S144 that the skill level of the nurse is [low skill] (YES in step S144), the processor 101 further judges whether the option flag 1 is set for the task function to be performed (step S145). Here, when it is judged that the option flag 1 is set (YES in step S145), the task is a task content that can be automatically executed, so the processor 101 transmits an automatic measurement notification to the robot control terminal 3 via the communication interface 104 and the access point 4 (step S146). This automatic measurement notification indicates that the measurement, which is the function content, will be automatically executed, and requests that another nurse take over because the skill level of the nurse is low. After that, the processor 101 proceeds to the process of the above step S108 and automatically executes the measurement.

[0147] 26, when the processor 301 of the robot control terminal 3 determines in step S344 that the automatic measurement notification has been received (YES in step S344), it notifies the nurse of the receipt of the automatic measurement notification via the monitor connected to the input / output interface 305 (step S346). That is, it displays on the monitor 342 that the remote-controlled robot 1 will automatically perform the measurement and that there is a request for a change of nurse. Thereafter, the processor 301 proceeds to the process of step S341 and waits for the change of nurse.

[0148] Returning to Fig. 25, if the processor 101 of the remote controlled robot 1 determines in the above step S145 that the option flag 1 is not set (NO in step S145), it transmits a nurse change request to the robot control terminal 3 via the access point 4 through the communication interface 104 (step S147). In other words, if the option flag 1 is not set, it means that the task is determined in the above step S107 to be a task that requires manual execution, so the processor 101 requests the robot control terminal 3 to change to a nurse with a high level of operating skill. The processor 101 then proceeds to the processing of the above step S142.

[0149] 26, when the processor 301 of the robot control terminal 3 determines that a nurse change request has been received in step S345 (YES in step S345), the monitor connected to the input / output interface 305 notifies the nurse of the receipt of the nurse change request (step S347). That is, the request for changing the nurse is displayed on the monitor 342. The processor 301 then proceeds to the process of step S341 and waits for the nurse to be changed.

[0150] For example, if the nurse who responds to the call notification from the remote-controlled robot 1 is a nurse with nurse number [N002] as shown in Figure 24, this nurse is a [low-skill] nurse. Here, if option flag 1 is set for the task [body temperature measurement] with task number

[0002] as shown in Figure 15, it would be possible to switch to manual operation by the nurse to measure, but since the operating skill level of the responding nurse is low, automatic measurement is performed. Then, a request is made to switch to a nurse with a higher level of operating skill.

[0151] On the other hand, if a nurse with the high skill level, nurse number [N001], responds to the call notification from the remote control robot 1 as shown in FIG. 24, the measurement is switched to manual operation by the nurse.

[0152] In this embodiment, the nurse skill level is divided into two stages, high and low, but it is of course possible to set multiple stages. In this case, automatic measurement / manual measurement can be set for each stage.

[0153] As described above, in the fourth embodiment, the tasks include tasks that can be performed both autonomously and manually, such as measuring body temperature, and the remote-operated robot 1 has an operating nurse confirmation function unit 117 that can be provided by the processor 101. The operating nurse confirmation function unit 117 operates as a level acquisition unit and acquires the operation skill level of the remote-operated robot 1 of the operator, such as a nurse, described in the nurse skill information table 27 from the robot control server 2. In addition, the operating nurse confirmation function unit 117 operates as a second switching unit and switches between performing the task by autonomous operation and performing the task by manual operation according to the acquired operation skill level for tasks that can be performed both autonomously and manually.

[0154] Therefore, according to the fourth embodiment, it is possible to achieve the same effects as the first embodiment, and also to enable switching according to the operation skill level of an operator such as a nurse.

[0155] [Fifth embodiment] Next, a fifth embodiment of the present invention will be described. This embodiment is adapted to accommodate the addition of an automatic analysis function for the contents of a medical interview. In the following description, the same reference symbols as those used in the first embodiment are used for the same parts, and the description thereof will be omitted.

[0156] 28 is a block diagram showing an example of the functional configuration of the videophone function unit 14 in the remote-controlled robot 1 according to the fifth embodiment. The videophone function unit 14 in this embodiment includes a medical interview analysis function unit 143 in addition to the configuration in the first embodiment. The medical interview analysis function unit 143 has a function of automatically recording and automatically analyzing the content of the conversation between the patient and the nurse during the medical interview.

[0157] 29 is a flowchart showing an example of the operation of the remote-controlled robot 1 according to the fifth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the processor 101 of the remote control robot 1 determines in step S115 that the remote control contents have been received from the robot control terminal 3 (YES in step S115), the processor 101 executes the remote control contents in step S116. Here, the processor 101 functions as the medical interview analysis function unit 143 and determines whether or not the remote control contents include a medical interview, i.e., a conversation (step S151). When the processor 101 determines that the remote control contents do not include a conversation (NO in step S151), the processor 101 proceeds to processing in step S154, which will be described later.

[0158] On the other hand, if it is determined that the content includes a conversation (YES in step S151), processor 101 records the content of the conversation in temporary storage unit 1033 (step S152). Then, processor 101 analyzes the recorded content of the conversation, and stores the analysis result in temporary storage unit 1033 (step S153).

[0159] After that, the processor 101 determines whether or not the conversation analysis result is stored in the temporary storage unit 1033 (step S154). If it is determined that the conversation analysis result is not stored (NO in step S154), the processor 101 proceeds to the process of step S109 and transmits measurement information such as blood pressure to the robot control server 2.

[0160] On the other hand, if it is determined that the conversation analysis result is stored (YES in step S154), the processor 101 transmits the stored conversation analysis result to the robot control server 2 via the access point 4 through the communication interface 104 (step S155). Here, the processor 101 includes information for identifying the patient, such as the patient's name, in the conversation analysis result to be transmitted. After that, the processor 101 proceeds to the process of step S106.

[0161] 30 is a flowchart showing an example of the operation of the robot control server 2 in the fifth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the processor 201 of the robot control server 2 determines in the above step S205 that the medical interview contents have not been received from the robot control terminal 3 (NO in step S205), it further determines whether or not the conversation analysis contents have been received from the remote-controlled robot 1 via the communication interface 204 (step S251). When it determines that the conversation analysis contents have not been received (NO in step S251), the processor 201 proceeds to the processing of the above step S201.

[0162] On the other hand, if it is determined that the conversation analysis content has been received (YES in step S251), the received conversation analysis content is stored in the medical interview content storage unit 26 of the medical interview storage unit 2034 (step S252). At this time, the processor 201 identifies the measurement record table 25 for the patient based on the patient name etc. included in the conversation analysis content, and enters "Yes" in the medical interview item. After that, the processor 201 proceeds to the process of step S201.

[0163] As described above, in the fifth embodiment, the tasks performed at each task execution location such as a hospital room include tasks such as interviewing that require conversation between a task execution subject such as an inpatient and an operator such as a nurse, and the remote control robot 1 further includes a video / audio communication function unit 142 and an interview analysis function unit 143 that can be provided by the processor 101. The video / audio communication function unit 142 operates as a videophone unit and performs video / audio communication with the robot control terminal 3 using the camera 171, the monitor 172, the microphone 173, and the speaker 174 when performing a task that requires conversation. The interview analysis function unit 143 operates as a conversation recording unit and records the conversation between the task execution subject and the operator by video / audio communication. In addition, the interview analysis function unit 143 operates as an analysis unit and analyzes the contents of the recorded conversation. In addition, the interview analysis function unit 143 operates as a storage unit and stores the analysis result in the interview content storage unit 26 of the robot control server 2.

[0164] Therefore, according to the fifth embodiment, it is possible to achieve the same effect as the first embodiment, and at the same time, it is possible to automatically generate and save the contents of the medical interview from the conversation between the subject of the task and the operator, thereby saving the operator the trouble of inputting the contents of the medical interview.

[0165] [Sixth embodiment] Next, a sixth embodiment of the present invention will be described. In this embodiment, when the remote-controlled robot 1 starts an automatic task, the nurse is notified of the task execution status, and the nurse can monitor the operation of the remote-controlled robot 1 during the autonomous operation. In the following description, the same reference symbols as those used in the first embodiment are used for the same parts, and the description thereof will be omitted.

[0166] 31 is a block diagram showing an example of the functional configuration of the videophone function unit 32 of the robot control terminal 3 in the sixth embodiment. The videophone function unit 32 in this embodiment includes a manual operation request function unit 323 in addition to the configuration in the first embodiment. The manual operation request function unit 323 has a function for the nurse to monitor the situation during the autonomous operation of the remote controlled robot 1. That is, the image captured by the camera 171 of the remote controlled robot 1 is displayed on the monitor 342, and the sound captured by the microphone 173 of the remote controlled robot 1 is played on the speaker 345.

[0167] 32 is a flowchart showing an example of the operation of the remote-controlled robot 1 according to the sixth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the remote controlled robot 1 moves to the patient in step S104, the processor 101 of the remote controlled robot 1 functions as the calling function unit 141 and transmits an arrival notification to the robot control terminal 3 via the communication interface 104 and the access point 4 (step S161). Then, the processor 101 judges whether or not a start instruction has been received from the robot control terminal 3 via the communication interface 104 (step S162). If it is judged that a start instruction has not been received (NO in step S162), the processor 101 continues the process of this step S162. In this way, the processor 101 waits for a start instruction to be transmitted from the robot control terminal 3.

[0168] 33 is a flowchart showing an example of the operation of the robot control terminal 3 in the sixth embodiment. In this figure, some of the same parts as in the first embodiment are omitted. When the processor 301 of the robot control terminal 3 determines in the above step S301 that there is no preset operation (NO in step S301), in this embodiment, it functions as the call receiving function unit 321 and determines whether there is an arrival notification from the remote control robot 1 via the communication interface 304 (step S361). When it determines that there is no arrival notification (NO in step S361), the processor 301 proceeds to the processing of the above step S301. In this way, the processor 301 waits for a preset operation or an arrival notification.

[0169] If it is determined in step S361 that there is an arrival notification (YES in step S361), the processor 301 notifies the nurse that the remote-controlled robot 1 has arrived at the patient's location via the monitor 342 and / or speaker 345 connected to the input / output interface 305 (step S362). After that, the processor 301 functions as the manual operation request function unit 323 and determines whether or not there is a start instruction input from the nurse via the keyboard / mouse 341 connected to the input / output interface 305 (step S363). If it is determined that there is no start instruction input (NO in step S363), the processor 301 continues the process of this step S363. In this way, the processor 301 waits for a start instruction input from the nurse.

[0170] Then, when it is determined that a start instruction has been input (YES in step S363), the processor 301 transmits the start instruction to the remote-controlled robot 1 via the communication interface 304 (step S364).

[0171] Returning to FIG. 32, if the processor 101 of the remotely operated robot 1 determines that it has received a start instruction in step S162 above (YES in step S162), it functions as a video and audio communication function unit 142 and establishes video and audio communication with the robot control terminal 3 via the access point 4 through the communication interface 104 (step S163).

[0172] As shown in FIG. 33, after sending the start instruction in step S364, the processor 301 of the robot control terminal 3 also functions as a video and audio communication function unit 322 and establishes video and audio communication via the communication interface 304 in response to the process of establishing video and audio communication of the remote controlled robot 1 (step S365).

[0173] Thereafter, the processor 301 determines whether or not a manual operation request has been input from the nurse via the keyboard / mouse 341 connected to the input / output interface 305 (step S366). If it is determined that a manual operation request has not been input (NO in step S366), the processor 301 proceeds to the processing of step S302 above to determine whether or not a call has been made from the remote control robot 1. If the processor 301 determines in step S302 above that a call has not been made from the remote control robot 1, it proceeds to the processing of this step S366. In this way, the processor 301 waits for a manual operation request to be input from the nurse or for a call from the remote control robot 1.

[0174] Returning to Fig. 32, if the processor 101 of the remote-controlled robot 1 establishes video / audio communication with the robot control terminal 3 in step S163, the process proceeds to step S105, where it acquires the task function setting contents set for the patient from the robot control server 2. If it is determined in step S106 that the task for the patient has not been completed, and if it is determined in step S107 that the automatic / manual flag is set to [automatic], the processor 101 automatically performs measurement in step S108. Then, the processor 101 transmits the measurement information to the robot control server 2 in step S109, and the process proceeds to step S106. In this way, the remote-controlled robot 1 performs the task by autonomous operation.

[0175] In parallel with the above series of processes, the processor 101 waits to receive a manual operation request from the robot control terminal 3 via the access point 4 through the communication interface 104. That is, the processor 101 determines whether or not there has been a manual operation request from the robot control terminal 3 (step S164). If it is determined that there has been no manual operation request (NO in step S164), the processor 101 continues the process of this step S164.

[0176] The autonomous operation of the remote-controlled robot 1 is monitored by the robot control terminal 3 through the established video and audio communication. If the nurse determines that it is necessary to switch to manual operation, for example if an abnormality occurs, the nurse inputs a request for manual operation via the keyboard / mouse 341 of the robot control terminal 3.

[0177] 33, the processor 301 of the robot control terminal 3 determines that a manual operation request has been input from the nurse in step S366 (YES in step S366). In this case, the processor 301 transmits the manual operation request to the remote-controlled robot 1 via the communication interface 304 (step S367). After that, the processor 301 proceeds to the process of step S310.

[0178] Returning to FIG. 32, if the processor 101 of the remotely operated robot 1 determines in step S164 that a manual operation request has been made from the robot control terminal 3 (YES in step S164), it proceeds to the processing of step S113 and switches to control by the robot control terminal 3.

[0179] As described above, in the sixth embodiment, the remote controlled robot 1 further includes a video and audio communication function unit 142 that can be provided by the processor 101. The video and audio communication function unit 142 operates as a videophone unit, and performs video and audio communication with the robot control terminal 3 when starting a task to be performed by autonomous operation. The task function switching function unit 113, which operates as a first switching unit, switches to manual operation in response to a manual operation request from the robot control terminal 3 during autonomous operation.

[0180] Therefore, according to the sixth embodiment, it is possible to achieve the same action and effect as the first embodiment, and the operator can monitor the remote-operated robot 1 operating autonomously from the robot control terminal 3 and switch the remote-operated robot 1 to manual operation if necessary.

[0181] [Other embodiments] It should be noted that the present invention is not limited to the above-described embodiment.

[0182] For example, the second to sixth embodiments have been described above as independent embodiments, but they may of course be combined as appropriate.

[0183] In addition, the robot control server 2 may be configured in one of the robot control terminals 3, or may be configured in another server device such as a hospital management server (not shown) connected to the network 5.

[0184] Furthermore, the flow of each process described with reference to the flowchart is not limited to the procedure described, and the order of some steps may be changed, some steps may be performed simultaneously in parallel, and the process content of some steps may be modified. For example, the remote-controlled robot 1 is configured to obtain the contents of the business function setting table related to each patient when it arrives at the patient, but it may also be configured to obtain the contents of the business function setting table related to each patient to be visited at the start of the rounds all at once.

[0185] The methods described in each embodiment can be stored as a processing program (software means) that can be executed by a calculator (computer) on a recording medium such as a magnetic disk (floppy disk, hard disk, etc.), an optical disk (CD-ROM, DVD, MO, etc.), a semiconductor memory (ROM, RAM, flash memory, etc.), and can also be distributed by transmitting it via a communication medium. The programs stored on the medium side include a setting program that configures the software means (including not only execution programs but also tables and data structures) that the calculator executes within the computer. The computer that realizes this device reads the program recorded on the recording medium, and in some cases, configures the software means by the setting program, and executes the above-mentioned processing by controlling the operation of the software means. The recording medium referred to in this specification is not limited to a recording medium for distribution, but also includes a storage medium such as a magnetic disk or semiconductor memory provided inside the computer or in a device connected via a network.

[0186] In short, this invention is not limited to the above-mentioned embodiment, and various modifications can be made in the implementation stage without departing from the gist of the invention. Moreover, each embodiment may be implemented in combination as appropriate as possible, in which case the combined effect can be obtained. Furthermore, the above-mentioned embodiment includes inventions at various stages, and various inventions can be extracted by appropriate combinations of the disclosed constituent elements. [Explanation of symbols]

[0187] 1. Remote-controlled robot 2. Robot control server 3…Robot control terminal 4. Access point 5. Network 6. Blood pressure monitor 10...Remote control robot function unit 11...Robot control unit 12...Functional unit storage section 13...Data transmission section 14...Videophone function section 15...Robot drive control unit 20...Robot control server function section 21…Patrol Schedule Management Department 22…Business Functions / Measurement Data Management Department 23…Patient Schedule Table 24…Business function setting table 25…Measurement record table 26...Interview content storage section 27...Nurse skills information table 30...Robot control terminal function unit 31…Patrol Schedule and Business Setting Department 32...Videophone function section 33...Robot operation function unit 101, 201, 301…processors 102,202,302…Program memory 103, 203, 303…Data memory 104, 204, 304...Communication Interface 105...Sensor interface 106,305... Input / Output Interface 107…Mechanical interface 108...Clock 109, 205, 306… Bus 111…Overall control function section 112...Visit management function department 113...Business function switching function unit 114...Manual operation notification function section 115…Sleep determination function unit 116…Occupancy determination function unit 117...Operation nurse confirmation function section 121, 122…Business Functions Department 131...Transmitting and receiving function unit 141...Call function unit 142...Video and audio communication function unit 143…Interview analysis function department 151...Arm control function unit 152...Drive control function unit 161,162…Sensor 171,343…camera 172,342…Monitor 173,344…Mike 174,345…Speaker 181...Simple arm part 182...Drive unit 1031…Facility map memory section 1032...control terminal information storage unit 1033,2035,3031...Temporary storage 2031…Patrol schedule memory section 2032…Business function setting memory unit 2033…Measurement record memory section 2034...Interview memory section 321…Call receiving function unit 322...Video and audio communication function unit 323...Manual operation request function section 331...Arm operation function section 332...Movement operation function section 333...Camera operation function section 341…Keyboard / Mouse 346…Operation device< / url:>

Claims

1. A remote-controlled robot that autonomously travels to a plurality of work locations according to a patrol schedule and performs a plurality of tasks at each of the work locations, A setting acquisition unit that acquires a setting as to whether to perform an autonomous operation or a manual operation by an operator from a remote control terminal for each of a plurality of tasks performed at each task execution location; a first switching unit that switches between performing a task by the autonomous operation and performing a task by the manual operation based on the acquired setting; a notification unit that notifies the remote control terminal when switching to the manual operation based on the setting; A remote-controlled robot comprising: The plurality of tasks performed at each task execution location are tasks to be performed on task execution targets, The remote controlled robot comprises: An absence detection unit that detects whether the person to whom the task is to be performed is absent; a modification unit that modifies the visiting schedule when it is detected that the task execution target is absent, so that the task execution target is placed last in the visiting order; A remote-controlled robot further comprising:

2. The setting acquisition unit further acquires a setting as to whether or not each of a plurality of tasks performed at each task execution location can be performed while the task execution target person is asleep, The remote controlled robot comprises: a sleep detection unit that detects whether the task execution target person is asleep; The remote-operated robot according to claim 1, further comprising a selection unit that, when it is detected that the task subject is asleep, selects and performs a task that can be performed by the task subject while asleep based on the acquired settings.

3. the plurality of tasks includes a task capable of both the autonomous operation and the manual operation, The remote controlled robot comprises: a level acquisition unit that acquires an operation skill level of the operator of the remote-controlled robot; 3. The remote-operated robot according to claim 1 or 2, further comprising: a second switching unit that switches between performing the task by the autonomous operation and performing the task by the manual operation for a task for which both the autonomous operation and the manual operation are possible, depending on the acquired operation skill level.

4. The plurality of tasks performed at each of the task execution locations includes a task that requires a conversation between the task execution target and the operator, The remote controlled robot comprises: a videophone unit for performing video and audio communication with the control terminal when performing the task requiring conversation; a conversation recording unit that records a conversation between the task execution target and the operator through the audio-video communication; an analysis unit for analyzing the content of the recorded conversation; The remote-operated robot according to claim 1 , further comprising: a storage unit that stores a result of the analysis.

5. The remote-controlled robot further includes a videophone unit for performing video and audio communication with the control terminal, when starting a task to be performed by the autonomous operation, starting the video and audio communication between the videophone unit and the control terminal; 5. The remote-operated robot according to claim 1, wherein the first switching unit switches to the manual operation in response to a manual operation request from the control terminal during the autonomous operation.

6. A remote-operated robot control system comprising: a remote-operated robot that autonomously travels to a plurality of task execution locations according to a patrol schedule and performs a plurality of tasks at each task execution location; a control terminal that manually operates the remote-operated robot; and a control server that is accessed by the remote-operated robot and the control terminal, The control server includes: a schedule storage unit that stores the tour schedule; a task memory unit that stores a setting for each of the plurality of task execution locations, as to whether to perform an autonomous operation or a manual operation by an operator operating the control terminal, for each of the plurality of tasks executed at the task execution location; the control terminal includes a pre-setting unit that sets the patrol schedule in the control server and sets each of the plurality of tasks before starting an operation of the remote-controlled robot; The remote controlled robot comprises: a setting acquisition unit that acquires settings for the tour schedule and each of the plurality of tasks from the control server; a first switching unit that switches between performing a task by the autonomous operation and performing a task by the manual operation based on the acquired setting; a notification unit that notifies the control terminal when switching to the task execution by the manual operation based on the setting, The plurality of tasks performed at each task execution location are tasks to be performed on task execution targets, The remote controlled robot comprises: An absence detection unit that detects whether the person to whom the task is to be performed is absent; a modification unit that modifies the visiting schedule when it is detected that the task execution target is absent, so that the task execution target is placed last in the visiting order; The remote-operated robot control system further comprises:

7. A method for controlling a remote-controlled robot that includes a processor and a memory, autonomously travels to a plurality of task execution locations according to a patrol schedule, and performs a plurality of tasks at each task execution location, comprising: The processor acquires a setting as to whether to perform an autonomous operation or a manual operation by an operator operating from a remote control terminal for each of a plurality of tasks performed at each task execution location; The processor switches between performing the task by the autonomous operation and performing the task by the manual operation based on the acquired setting; notifying the remote control terminal when the processor switches to the manual operation based on the setting; A remote-controlled robot control method comprising: The plurality of tasks performed at each task execution location are tasks to be performed on task execution targets, The processor detects whether the person to whom the business is to be performed is absent; When the processor detects that the person to whom the work is to be performed is absent, the processor modifies the visiting schedule so that the person to whom the work is to be performed is placed last in the visiting order; The remote-operated robot control method further comprises:

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