Program, information processing apparatus, information processing method, information processing system, meal delivery robot, and terminal device

Abstract

To serve food to a plurality of tables using a food serving robot with a simple configuration.SOLUTION: An information processing device of the present invention includes: food serving information acquisition means for acquiring information about food to be served by a food serving robot provided with a plurality of shelves on which food is placed and information about tables to which the food is served; path determination means for determining a path along which the food serving robot serves the food based on the information about the tables to which the food is served and the priority of the tables in serving the food; shelf determination means for determining a shelf on which the food is placed based on the path, the information about the tables to which the food is served, and the information about the food; shelf information output means for outputting information about the determined shelf and information about the food to be placed on the shelf; loading completion acquisition means for acquiring loading completion information indicating that the food has been placed on the shelf; and path output means for outputting the path to the food serving robot upon acquiring the loading completion information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to the serving of dishes in a restaurant such as a restaurant, and particularly to the serving using a robot.

Background Art

[0002] The serving device described in Patent Document 1 provides a dish on which a dish is placed using a serving vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The serving vehicle described in Patent Document 1 vertically exchanges trays so that the dishes are arranged in the serving order. Therefore, the serving vehicle requires a drive system for vertically moving the tray and a space for vertically exchanging the trays. Therefore, a technology that enables the use of a serving robot with a simpler structure is desired.

[0005] An object of the present invention is to provide a program or the like that enables a serving robot with a simple structure to serve dishes to a plurality of tables.

Means for Solving the Problems

[0006] The program in one embodiment of the present invention causes a computer to execute: a process of acquiring information on dishes served by a food distribution robot provided with a plurality of shelves for placing dishes and information on tables where the dishes are to be served; a process of determining a route for the food distribution robot to serve the dishes based on the information on the tables where the dishes are to be served and the priority of the tables in serving the dishes; a process of determining a shelf for placing the dishes based on the route, the information on the tables where the dishes are to be served, and the information on the dishes; a process of outputting the determined shelf information and the information on the dishes to be placed on the shelf; a process of acquiring mounting completion information indicating that the dishes have been placed on the shelf; and a process of outputting the route to the food distribution robot when the mounting completion information is acquired.

[0007] The information processing apparatus in one embodiment of the present invention includes: a food distribution information acquisition means for acquiring information on dishes served by a food distribution robot provided with a plurality of shelves for placing dishes and information on tables where the dishes are to be served; a route determination means for determining a route for the food distribution robot to serve the dishes based on the information on the tables where the dishes are to be served and the priority of the tables in serving the dishes; a shelf determination means for determining a shelf for placing the dishes based on the route, the information on the tables where the dishes are to be served, and the information on the dishes; a shelf information output means for outputting the determined shelf information and the information on the dishes to be placed on the shelf; a mounting completion acquisition means for acquiring mounting completion information indicating that the dishes have been placed on the shelf; and a route output means for outputting the route to the food distribution robot when the mounting completion information is acquired.

[0008] The information processing method in one embodiment of the present invention includes: acquiring information on dishes served by a food distribution robot provided with a plurality of shelves for placing dishes and information on tables where the dishes are to be served; determining a route for the food distribution robot to serve the dishes based on the information on the tables where the dishes are to be served and the priority of the tables in serving the dishes; determining a shelf for placing the dishes based on the route, the information on the tables where the dishes are to be served, and the information on the dishes; outputting the determined shelf information and the information on the dishes to be placed on the shelf; acquiring mounting completion information indicating that the dishes have been placed on the shelf; and outputting the route to the food distribution robot when the mounting completion information is acquired.

[0009] The above program may be stored in a non-transitory computer-readable storage medium.

[0010] An information processing system according to an aspect of the present invention includes the above-described information processing apparatus, a terminal device that acquires and displays information on a shelf on which dishes are placed from the information processing apparatus and outputs mounting completion information to the information processing apparatus, and a meal delivery robot that acquires a route from the information processing apparatus and delivers dishes along the route.

[0011] Another information processing method according to an aspect of the present invention is such that an information processing apparatus executes the above-described information processing method, a terminal device acquires and displays information on a shelf on which dishes are placed from the information processing apparatus and outputs mounting completion information to the information processing apparatus, and a meal delivery robot acquires a route from the information processing apparatus and delivers dishes along the route.

[0012] A meal delivery robot according to an aspect of the present invention acquires information on dishes to be delivered by a meal delivery robot provided with a plurality of shelves on which dishes are placed and information on a table to which dishes are delivered, determines a route along which the meal delivery robot delivers dishes based on the information on the table to which dishes are delivered and the priority of the table in dish delivery, determines a shelf on which dishes are placed based on the route, the information on the table to which dishes are delivered, and the information on the dishes, outputs the determined shelf information and the information on the dishes to be placed on the shelf, acquires mounting completion information indicating that the dishes have been placed on the shelf, and when the mounting completion information is acquired, acquires a route from an information processing apparatus that outputs a route to the meal delivery robot and delivers dishes along the route.

[0013] In one aspect of the present invention, a terminal device acquires information on dishes served by a meal distribution robot provided with a plurality of shelves for placing dishes and information on the tables where the dishes are distributed, and determines the route for the meal distribution robot to distribute the dishes based on the information on the tables where the dishes are distributed and the priority of the tables in the dish distribution. Then, based on the route, the information on the tables where the dishes are distributed, and the information on the dishes, it determines the shelves for placing the dishes, outputs the information on the determined shelves and the information on the dishes to be placed on the shelves, acquires the mounting completion information indicating that the dishes have been placed on the shelves, and when the mounting completion information is acquired, it acquires and displays the information on the determined shelves and the information on the dishes to be placed on the shelves from the information processing device that outputs the route to the meal distribution robot, and outputs the mounting completion information to the information processing device.

Advantages of the Invention

[0014] According to the present invention, it is possible to achieve the effect that a meal distribution robot with a simple structure can distribute dishes to a plurality of tables.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0016] Embodiments of the present invention will be described with reference to the drawings. However, the information processing apparatus in the embodiments is not limited to the description in the drawings.

[0017] <First Embodiment> The first embodiment will be described with reference to the drawings. In the following description, the information processing apparatus outputs a path for serving a dish to a serving robot that places the dish on a shelf and serves it on a table. The serving robot serves the dish along the path. Therefore, the information processing apparatus realizes the functions described below as a combination of hardware such as a processor and a program executed by the processor. The serving robot includes a plurality of shelves as shelves for placing dishes. Note that the method of placing the dishes placed on the shelves of the serving robot on the table is not particularly limited. For example, a customer seated at the table may pick up the dish, or the serving robot may place the dish on the table using an arm or the like.

[0018] Furthermore, in the operations described below, in addition to the food delivery robot, the information processing device outputs information to a terminal device or the like and acquires information from the terminal device or the like. For example, the information processing device may output information to a kitchen display (KD: Kitchen Display) or a touch panel provided on a cooking table for placing the completed dishes, a touch panel provided on the food delivery robot, and a store server or the like. Hereinafter, the touch panel provided on the cooking table is referred to as "KTP (Kitchen Touch Panel)", and the touch panel provided on the food delivery robot is referred to as "RTP (Robot Touch Panel)". Alternatively, the information processing device may acquire information from the KTP, RTP, and store server or the like. In the following description of the information processing device, the KTP, RTP, and store server are used for explanation as appropriate, but these are merely examples and do not limit the operation of the information processing device. Note that the KTP and RTP may be a tablet terminal including a touch panel, a notebook computer, or the like. The store server may be, for example, a management server that manages the operations of the entire store including accounting, or a server that realizes an order entry system (OES: Order Entry System) that manages the entire cooking process including cooking and food delivery.

[0019] The configuration of the information processing device 10 in the first embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing an example of the configuration of the information processing device 10 in the first embodiment. The information processing device 10 includes a food delivery information acquisition unit 130, a route determination unit 140, a shelf determination unit 150, a shelf information output unit 160, a mounting completion acquisition unit 170, and a route output unit 180.

[0020] The food delivery information acquisition unit 130 acquires information on the dishes to be delivered by a food delivery robot provided with a plurality of shelves for placing dishes and information on the tables to which the dishes are to be delivered. For example, the food delivery information acquisition unit 130 may acquire information on the dishes to be delivered and information on the tables to which the dishes are to be delivered input by a cook or a food delivery staff on the KTP. Alternatively, the food delivery information acquisition unit 130 may acquire information on the dishes to be delivered and information on the tables to which the dishes are to be delivered from the store server.

[0021] The route determination unit 140 determines the route for the serving robot to serve the dishes based on the information of the tables where the dishes are to be served and the priority of the tables in dish serving. For example, the route determination unit 140 may rearrange the information of the tables where the dishes are to be served in the order of the table priorities, and determine the order of the rearranged table information as the route. For example, assume that there are 11 tables from table A to K where the dishes are to be served. Further, assume that the table priorities are in the order from table A to K. And assume that the cooking of the dishes is completed in the order of table C, E, and A. In this case, the route determination unit 140 acquires table C, E, and A as the information of the tables where the dishes are to be served. Then, the route determination unit 140 rearranges table C, E, and A in the order of priority, and outputs the table information in the order of table A - C - E as the route. The serving robot may refer to, for example, the map information in the store and serve the dishes to the tables along the route, that is, the determined order of the tables. The map information in the store is, for example, information such as the initial position of the serving robot on the serving floor, the positions of the tables, and the passages through which the serving robot can pass. Note that the initial position of the serving robot may be the position of the dish table where the cook places the completed dishes, or the position where other items to be served along with the dishes such as cutlery or tickets are loaded, or the waiting position for serving after loading the dishes, etc., and is not particularly limited. Note that the route determination unit 140 may save the table priorities in advance, or may acquire the table priorities from a store server or the like when determining the route.

[0022] In determining the route, the route determination unit 140 may use other information. For example, the route determination unit 140 may use map information. Note that the route determination unit 140 may store map information in advance. For example, a store clerk may set map information in the information processing apparatus 10 in advance. Alternatively, the route determination unit 140 may acquire map information from the store server. Then, based on the map information, the route determination unit 140 determines the route that the food delivery robot moves from the initial position to the table with the highest priority. Then, the route determination unit 140 determines the route that the food delivery robot moves from the table with the highest priority to the table with the lowest priority in the order of the priority of the tables. In this way, in addition to the information of the tables where the dishes are to be served and the priority of the tables in the dish service, the route determination unit 140 may determine the route using other information such as map information.

[0023] The route determination unit 140 may determine the route for the food delivery robot to return to the initial position. For example, the route determination unit 140 may determine the route to return from the table where the last dish is served to the initial position of the food delivery robot. Alternatively, the route determination unit 140 may determine a route that avoids places where congestion is expected, such as in front of the drink bar or salad bar.

[0024] When a customer moves a dish from the food delivery robot to the table, it is desirable for the food delivery robot to stop at the position of the table while moving the dish from the food delivery robot to the table. Therefore, the route determination unit 140 may determine a route including the stop position of the food delivery robot at each table. Note that, for example, for the completion of the movement of the dish to the table, the customer may operate the RTP to notify the food delivery robot of the completion of the movement of the dish. Alternatively, based on information from a weight sensor provided on the shelf or a camera, the food delivery robot may determine the completion of the movement of the dish. Alternatively, the store server may analyze an image in the store, determine that the dish has been moved to the table, and notify the food delivery robot.

[0025] The route determination unit 140 may change the route in response to an instruction from a store clerk or the like. For example, the information processing apparatus 10 may display the determined route on the KTP or RTP and inquire of the store clerk whether the route is acceptable. When changing the route, the route determination unit 140 may obtain a change instruction from the store clerk from the KTP or RTP and change the route. Then, when approval is obtained from the store clerk, the information processing apparatus 10 may execute operations of a shelf determination unit 150 and the like described below. Note that the store clerk may instruct the information processing apparatus 10 to change the route in consideration of, for example, the congestion state in the store.

[0026] The shelf determination unit 150 determines a shelf on which to place a dish based on the route, information on the table to which the dish is to be served, and information on the dish. For example, the shelf determination unit 150 may determine the shelf so as to place the dishes to be served to each table from the upper shelf in the order of passage of the tables on the route determined by the route determination unit 140. FIG. 2 is a diagram showing an example of a food delivery robot. In FIG. 2, the food delivery robot includes a three-tier shelf as an example of a shelf for placing dishes. However, the food delivery robot is not limited to three tiers and may include a shelf with less than three tiers or a shelf with four or more tiers. The food delivery robot in FIG. 2 includes an RTP and wheels for movement as other configurations. The RTP is connected to the information processing apparatus 10 and the like via wireless communication such as a wireless LAN (Local Area Network). The wheels are rotated by a motor (not shown) or the like to move the food delivery robot. Then, for example, the shelf determination unit 150 determines the topmost shelf as the shelf on which to place the dish to be served to the first table on the route. For example, when the route is table A - C - E, the shelf determination unit 150 determines the topmost shelf as the shelf on which to place the dish to be served to table A. The shelf determination unit 150 determines the middle shelf as the shelf on which to place the dish to be served to the second table on the route. For example, when the route is table A - C - E, the shelf determination unit 150 determines the middle shelf as the shelf on which to place the dish to be served to table C. Then, the shelf determination unit 150 determines the bottommost shelf as the shelf on which to place the dish to be served to the last table on the route. For example, when the route is table A - C - E, the shelf determination unit 150 determines the bottommost shelf as the shelf on which to place the dish to be served to table E.

[0027] When there are many dishes served on one table and they cannot be placed on a single-tier shelf, the shelf determination unit 150 may determine a multi-tier shelf as the shelf for placing the dishes served on one table. Alternatively, when dishes served on multiple tables are placed on a single-tier shelf, the shelf determination unit 150 may determine a single-tier shelf as the shelf for placing the dishes served on multiple tables. The shelf determination unit 150 may determine the shelf based on tableware such as dishes or plates. Tableware with a certain height, such as a pot, has a higher center of gravity and is more likely to fall over compared to a flat plate. Also, generally, during movement, the upper shelf of the food delivery robot has larger vibrations such as lateral swaying than the lower shelf. Therefore, when tableware with a high center of gravity is placed on the upper shelf, such tableware is more likely to fall over during the movement of the food delivery robot. Alternatively, when heavy tableware such as a large plate is placed on the upper shelf, the center of gravity of the entire food delivery robot becomes higher, so the food delivery robot is more likely to fall over when contacting people. Thus, the shelf determination unit 150 may determine to place tableware such as large plates and pots on the lower shelf of the food delivery robot. The shelf determination unit 150 may change the shelf for mounting the dishes based on instructions from a store clerk or the like.

[0028] The shelf information output unit 160 outputs the information of the determined shelf and the information of the dishes to be placed on that shelf. For example, the shelf information output unit 160 may output the information of the determined shelf and the information of the dishes to be placed on that shelf to the KTP or the RTP. The store clerk may refer to the shelf information and the dish information displayed on the KTP or the RTP and place the dishes on the shelf.

[0029] The loading completion acquisition unit 170 acquires loading completion information indicating that the cooking has been placed on the shelf. For example, when the store clerk finishes placing the cooking on the shelf, the clerk may touch the completion button displayed on the KTP or RTP to transmit the loading completion information to the loading completion acquisition unit 170. Alternatively, the loading completion acquisition unit 170 may determine the completion of loading of the cooking based on the weight sensor provided on the shelf or the information from the camera. Alternatively, the store server may analyze the image within the store to determine whether the loading is complete, generate the loading completion information if it is complete, and output the loading completion information to the loading completion acquisition unit 170.

[0030] When the route output unit 180 acquires the loading completion information, it outputs a route to the food delivery robot. In addition to the route, the route output unit 180 may output information on the cooking placed on the shelf and information on the table to which the cooking is to be delivered.

[0031] Note that when the food delivery robot acquires the route, it starts delivering the cooking. If the route includes the stop position at the table, the food delivery robot may stop at the stop position. And when it has acquired the information on the cooking placed on the shelf and the information on the table to which the cooking is to be delivered, when the food delivery robot arrives at the table to which the cooking is to be delivered, it may display on the RTP the information on the cooking to be delivered to that table and the information on the shelf of the cooking to be delivered to that table. And then, for example, when the RTP detects the input of the completion of the movement of the cooking from the customer, the food delivery robot may move to the next table.

[0032] Considering the efficiency of the meal delivery robot, it is desirable for the meal delivery robot to start meal delivery with as many dishes loaded as possible. For example, when loading dishes for each table on each shelf, it is desirable for the meal delivery robot to start meal delivery when the dishes for the same number of tables as the number of shelves are completed. Therefore, for example, when the cooking of the dishes to be served on the same number of tables as the number of shelves is completed, the information processing device 10 may start operating. For example, when the cooking of the dishes to be served on the same number of tables as the number of shelves is completed, a store employee may operate the KTP to instruct the information processing device 10 to start the operation. However, considering the waiting time of customers, there may be cases where it is more appropriate for the meal delivery robot to deliver dishes with some shelves empty. Therefore, the information processing device 10 may start operating when the cooking of the dishes to be served on a number of tables less than the number of shelves is completed based on an instruction from a store employee or the like. In this case as well, for example, a store employee may operate the KTP to instruct the information processing device 10 to start the operation.

[0033] Figure 3 is a flowchart showing an example of the operation of the information processing device 10. The meal delivery information acquisition unit 130 acquires information on the dishes to be delivered by a meal delivery robot provided with a plurality of shelves for loading dishes and information on the tables to which the dishes are to be delivered (step S201). The route determination unit 140 determines the route for delivering the dishes based on the information on the tables to which the dishes are to be delivered and the priority of the tables in the dish delivery (step S202). The shelf determination unit 150 determines the shelf on which the dishes are to be loaded based on the route, the information on the tables to which the dishes are to be delivered, and the information on the dishes (step S203). The shelf information output unit 160 outputs the determined shelf information and the information on the dishes to be placed on the shelf (step S204). The loading completion acquisition unit 170 acquires loading completion information indicating that the dishes have been loaded onto the shelf (step S205). When the loading completion information is acquired, the route output unit 180 outputs the route to the meal delivery robot (step S206).

[0034] The information processing apparatus 10 includes a meal distribution information acquisition unit 130, a route determination unit 140, a shelf determination unit 150, a shelf information output unit 160, a mounting completion acquisition unit 170, and a route output unit 180. The meal distribution information acquisition unit 130 acquires information on the dishes to be distributed by a meal distribution robot provided with a plurality of shelves on which the dishes are placed, and information on the tables to which the dishes are distributed. The route determination unit 140 determines the route for the meal distribution robot to distribute the dishes based on the information on the tables to which the dishes are distributed and the priority of the tables in the meal distribution. The shelf determination unit 150 determines the shelf on which the dish is to be placed based on the route, the information on the table to which the dish is distributed, and the information on the dish. The shelf information output unit 160 outputs the information on the determined shelf and the information on the dish to be placed on the shelf. The mounting completion acquisition unit 170 acquires mounting completion information indicating that the dish has been placed on the shelf. When the mounting completion acquisition unit 170 acquires the mounting completion information, the route output unit 180 outputs the route to the meal distribution robot.

[0035] In this way, based on the dishes to be distributed and the table information, the information processing apparatus 10 determines the route for the meal distribution robot to distribute the dishes, and outputs the information on the shelf on which the dish is to be placed along the determined route and the information on the dish to be placed on that shelf. Therefore, the store clerk can place the dishes on the shelves in the order of distribution by referring to the output information without checking the tables to which the dishes are distributed. In this way, even when distributing dishes to a plurality of tables, the information processing apparatus 10 can realize the distribution of dishes using a meal distribution robot with a simple structure such as a meal distribution robot equipped with fixed shelves. Further, the information processing apparatus 10 reduces the workload of the store clerk for checking the shelves where the dishes are to be placed.

[0036] Furthermore, when the loading of the dishes is completed, the information processing device 10 outputs a route to the food delivery robot. The food delivery robot delivers the dishes along the route. As described above, the dishes are placed, for example, from the upper shelf in the order of the tables where the dishes are to be delivered. Therefore, the customer can pick up the dishes from the uppermost shelf among the shelves on which the dishes are placed, for example, from the food delivery robot at each table. Therefore, the customer can pick up the dishes without checking the shelf on which the ordered dishes are placed. In this way, the information processing device 10 can also reduce the burden on the customer, such as checking the dish shelves, in the delivery of dishes using a food delivery robot with a simple structure, such as a food delivery robot equipped with fixed shelves. Note that the food delivery robot may acquire the information of the dishes corresponding to the table and the information of the shelf of the dishes from the information processing device 10, and display the dishes to be delivered to the table on the RTP at the table to be served.

[0037] The information processing device 10 may execute an operation corresponding to clearing the table. For example, in response to a case where the customer has finished eating the dishes, the food delivery information acquisition unit 130 may acquire the information of the table where the dishes are to be cleared. For example, the food delivery information acquisition unit 130 may acquire the information of the table where the dishes are to be cleared from the KTP operated by a store clerk or the like. Alternatively, in a case where the customer operates a touch panel provided on the table to request settlement from the store server, the food delivery information acquisition unit 130 may acquire the information of the table where the customer has finished eating the dishes from the store server. Then, the route determination unit 140 determines the clearing route of the food delivery robot based on the information of the table where the dishes are to be cleared. Also in this case, the route determination unit 140 may include the information of the stop position at the table where the dishes are to be cleared in the clearing route. Then, the route output unit 180 outputs the clearing route to the food delivery robot. The food delivery robot moves along the clearing route. In this case, a store clerk or the like may load the dishes and cutlery of the dishes that have been eaten onto the food delivery robot. Note that when the customer has finished eating the dishes, the customer heads for the cash register and the exit. Therefore, the route determination unit 140 may determine a clearing route that avoids the passage for the customer to return, such as the passage from the table where the dishes are to be cleared to the cash register and the exit.

[0038] <Second Embodiment> The information processing apparatus 10 may include a configuration for determining the priority of the tables. FIG. 4 is a block diagram showing an example of the configuration of the information processing apparatus 11 including a configuration for determining the priority of the tables. The information processing apparatus 11 includes, in addition to the configuration of the information processing apparatus 10, a distance acquisition unit 110 and a priority determination unit 120.

[0039] The distance acquisition unit 110 acquires the distance between the food delivery robot and the table, and the mutual distance between the tables. For example, the distance acquisition unit 110 acquires the distance between the food delivery robot and the table, and the mutual distance between the tables from the distance sensors installed on the food delivery robot and the table. The distance sensor is, for example, a laser distance sensor or an ultrasonic sensor. The distances acquired by the distance acquisition unit 110 will be described with reference to the drawings. FIG. 5 is a diagram showing the food delivery robot 20 and the table 40 used for the description. FIG. 5 includes one food delivery robot 20 and eleven tables 40. In FIG. 5, the food delivery robot 20 is located at the cooking table 32 where the cooked dishes are placed as an initial position. Further, the food delivery robot 20 moves along the passage surrounded by the tables 40 as shown by the arrow in FIG. 5 in order to deliver the food. This is to shorten the moving distance of the food delivery robot 20, particularly the moving distance for delivering food to the five tables 40 on the right side of FIG. 5. However, FIG. 5 does not limit the path of the food delivery robot 20. The food delivery robot 20 may use, for example, a path that moves to the left side of the table 40 as a path to the table 40 in the lower left part of FIG. 5.

[0040] FIG. 6 is a diagram showing an example of distances related to the meal delivery robot 20. In FIG. 6, the distances between the meal delivery robot 20 and the 11 tables 40 are shown using 11 arrows. As shown in FIG. 5, the meal delivery robot 20 moves along a passage surrounded by the tables 40. Therefore, in FIG. 6, as the position of the table 40, the position on the passage side surrounded by the table 40 is used instead of the center of the table 40 or the like. FIG. 7 is a diagram showing an example of distances related to the table 40. In FIG. 7, the distances between the table 40 in the upper left and the other tables 40 are shown using 11 arrows. Similar to FIG. 6, in FIG. 7 as well, as the position of the table, the position on the passage side surrounded by the table 40 is used instead of the center of the table 40 or the like.

[0041] The priority determination unit 120 determines the priority of the tables based on the distances. For example, the priority determination unit 120 may determine the priority of the tables to be proportional to the distances. For example, the priority determination unit 120 may determine, as the priority of the table 40, a priority proportional to the distance from the meal delivery robot 20 shown in FIG. 6. The priority determination unit 120 may determine the priority of other tables 40 using the priorities set for at least some of the tables 40. For example, the priority determination unit 120 may set the highest priority for the table 40 to be moved to first based on an instruction from a store clerk or the like. For example, in FIG. 5, the table 40 in the upper left is the table 40 where the meal delivery robot 20 first moves. Therefore, the priority determination unit 120 may determine the priority so that the priority of the table 40 in the upper left is the highest based on an instruction from a store clerk or the like. Then, the priority determination unit 120 may determine the priority of other tables 40 corresponding to the distance from the table 40 in the upper left. For example, in FIG. 7, the table 40 closest to the table 40 in the upper left is the table 40 in the upper center. Therefore, the priority determination unit 120 may determine, for example, the second highest priority as the priority of the table 40 in the upper center.

[0042] Then, the route determination unit 140 determines a route using the priority determined by the priority determination unit 120. Since the other configurations and operations are the same as those in the first embodiment, detailed descriptions thereof are omitted.

[0043] As described above, the information processing apparatus 11 determines the priority of the table 40 based on the distances between the food delivery robot 20 and the table 40. For example, the information processing apparatus 11 determines the priority of the table 40 such that the moving distance of the food delivery robot 20 is minimized. Therefore, the information processing apparatus 11 can determine a route, for example, such that the moving distance to the table 40 where the food delivery robot 20 delivers food is shortened. Further, the information processing apparatus 11 can determine a shelf for placing dishes corresponding to such a route. Then, the information processing apparatus 10 outputs the determined route and shelf information. Therefore, the store clerk can place the dishes on the shelf in the order of the tables 40 where the food delivery robot 20 delivers food along a route with a short moving distance for food delivery. Further, the food delivery robot 20 can deliver food at the shortest distance.

[0044] <Hardware Configuration> Next, the hardware configurations of the information processing apparatuses 10 and 11 will be described. Each component of the information processing apparatuses 10 and 11 may be configured by a hardware circuit. Alternatively, in the information processing apparatuses 10 and 11, each component may be configured using a plurality of devices connected via a network. For example, the information processing apparatuses 10 and 11 may be configured using cloud computing. Alternatively, in the information processing apparatuses 10 and 11, a plurality of components may be configured by one piece of hardware. Alternatively, the information processing apparatuses 10 and 11 may be realized as a computer device including a processor (CPU: Central Processing Unit), a read-only memory (ROM: Read Only Memory), a random access memory (RAM: Random Access Memory), and a network interface.

[0045] FIG. 8 is a block diagram showing the configuration of a computer device 600 which is an example of the hardware configuration of information processing devices 10 and 11. The computer device 600 includes a CPU 610, a ROM 620, a RAM 630, a storage device 640, and a network interface 650.

[0046] The CPU 610 reads a program from at least one of the ROM 620 and the storage device 640. Then, based on the read program, the CPU 610 controls the RAM 630, the storage device 640, and the network interface 650. And the computer device 600 realizes functions as a distance acquisition unit 110, a priority determination unit 120, a meal delivery information acquisition unit 130, a route determination unit 140, a shelf determination unit 150, a shelf information output unit 160, a mounting completion acquisition unit 170, and a route output unit 180. Thus, the information processing devices 10 and 11 may realize functions as a combination of hardware and software.

[0047] Also, the CPU 610 may read a program included in a recording medium 690 storing a program readable by a computer, using a recording medium reading device (not shown). Alternatively, the CPU 610 may receive a program from an external device (not shown) via the network interface 650, save it in the RAM 630 or the storage device 640, and operate based on the saved program.

[0048] The ROM 620 stores programs and fixed data executed by the CPU 610. The ROM 620 is, for example, a programmable ROM (P-ROM) or a flash ROM. The RAM 630 temporarily stores programs and data executed by the CPU 610. The RAM 630 is, for example, a dynamic RAM (D-RAM). The storage device 640 stores data and programs that the computer device 600 stores long-term. Also, the storage device 640 may operate as a temporary storage device for the CPU 610. The storage device 640 is, for example, a hard disk device, a solid state drive (SSD), or a disk array device.

[0049] The ROM 620 and the storage device 640 are non-transitory recording media. On the other hand, the RAM 630 is a transitory recording media. And the CPU 610 is operable based on programs stored in the ROM 620, the storage device 640, and the RAM 630. That is, the CPU 610 is operable using either the non-transitory recording media or the transitory recording media. When realizing each function, the CPU 610 may use at least one of the RAM 630 and the storage device 640 as a temporary storage medium for programs and data.

[0050] The network interface 650 relays data exchange with other devices such as the meal delivery robot 20 via a network. The network interface 650 is, for example, a LAN card. Furthermore, the network interface 650 may use wireless, not limited to wired.

[0051] The computer device 600 configured in this way executes the operations of the configurations in the information processing devices 10 and 11 and realizes the functions as the information processing devices 10 and 11.

[0052] <Example of System> Referring to the drawings, an example of a system using information processing apparatuses 10 and 11 will be described using information processing apparatus 11. Note that in the following description, information processing apparatus 10 may operate by omitting operations related to distance. FIG. 9 is a block diagram showing an example of an information processing system 60 using information processing apparatus 11. Information processing system 60 includes information processing apparatus 11, a food delivery robot 20, a KTP30 which is an example of a terminal device operated by a store clerk, and a table 40. The food delivery robot 20 includes a plurality of shelves 21, an RTP22, and a distance sensor 50. Note that the RTP22 may operate as a terminal device operated by a store clerk instead of the KTP30 in at least some operations. The table 40 includes a distance sensor 50. Note that FIG. 9 shows, for reference, a dish 31 and a cooking table 32 on which the completed dish 31 is placed.

[0053] The information processing apparatus 11 acquires the distance between the food delivery robot 20 and the table 40 and the mutual distance between the tables 40 from the distance sensor 50. Then, the information processing apparatus 11 determines the priority of the table 40 based on the distance. Then, the information processing apparatus 11 acquires information on the dish 31 to be served and information on the table 40 on which the dish 31 is to be served from the KTP30. Then, the information processing apparatus 10 determines a route for the food delivery robot 20 to serve the dish 31 based on the information on the table 40 on which the dish 31 is to be served and the priority of the table 40. Then, the information processing apparatus 10 determines a shelf 21 on which to place the dish 31 based on the route, the information on the table 40 on which the dish 31 is to be served, and the information on the dish 31. The information processing apparatus 10 outputs the determined information on the shelf 21 and the information on the dish 31 to be placed on the shelf 21 to the KTP30 or the RTP22.

[0054] KTP30 or RTP22 displays the information of the shelf 21 and the information of the dish 31 to be placed on the shelf 21. The store clerk refers to the displayed information and places the dish 31 on the shelf 21. Then, the store clerk operates KTP30 or RTP22 to output the mounting completion information to the information processing device 10. The information processing device 10 acquires the mounting completion information indicating that the dish 31 has been placed on the shelf 21 from KTP30 or RTP22. When the mounting completion information is acquired, the information processing device 10 outputs a route to the food delivery robot 20. The food delivery robot 20 delivers the dish 31 along the route. When the food delivery robot 20 moves to the table 40 along the route, the customer moves the dish 31 from the food delivery robot 20 to the table 40.

[0055] Some or all of the above embodiments may be described as follows in the following supplementary notes, but are not limited thereto.

[0056] (Supplementary Note 1) A process of acquiring the information of the dish to be delivered by the food delivery robot provided with a plurality of shelves for placing dishes and the information of the table for delivering the dish; A process of determining the route for the food delivery robot to deliver the dish based on the information of the table for delivering the dish and the priority of the table in the delivery of the dish; A process of determining the shelf for placing the dish based on the route, the information of the table for delivering the dish, and the information of the dish; A process of outputting the determined shelf information and the information of the dish to be placed on the shelf; A process of acquiring the mounting completion information indicating that the dish has been placed on the shelf; A process of outputting a route to the food delivery robot when the mounting completion information is acquired; A program for causing a computer to execute.

[0057] (Supplementary Note 2) A process of acquiring the distance between the food delivery robot and the table and the mutual distance between the tables; A process of determining the priority of the table based on the distance; The program described in Supplementary Note 1 for causing a computer to execute.

[0058] (Appendix 3) The process of determining the priority uses the priority set in at least some of the tables to determine the priority of other tables. The program described in Appendix 2.

[0059] (Appendix 4) The process of obtaining information on the table to be lowered, Based on the information on the table to be lowered, the process of determining the lowering path of the food delivery robot, The process of outputting the lowering path to the food delivery robot, The program described in any one of Appendices 1 to 3 to be executed by a computer.

[0060] (Appendix 5) The process of determining the lowering path determines a lowering path that avoids the passage for the customer to return. The program described in Appendix 4.

[0061] (Appendix 6) Meal delivery information acquisition means for acquiring information on the meals to be delivered by a meal delivery robot provided with a plurality of shelves for placing meals and information on the table to which the meals are to be delivered, Route determination means for determining the route by which the meal delivery robot delivers the meal based on the information on the table to which the meal is to be delivered and the priority of the table in the meal delivery, Shelf determination means for determining the shelf on which the meal is to be placed based on the route, the information on the table to which the meal is to be delivered, and the information on the meal, Shelf information output means for outputting the determined shelf information and the information on the meal to be placed on the shelf, Mounting completion acquisition means for acquiring mounting completion information indicating that the meal has been placed on the shelf, Route output means for outputting the route to the meal delivery robot when the mounting completion information is acquired, An information processing apparatus including.

[0062] (Appendix 7) Distance acquisition means for acquiring the distance between the meal delivery robot and the table and the mutual distance between the tables, Priority determination means for determining the priority of a table based on distance, The information processing apparatus according to Supplementary Note 6, further including

[0063] (Supplementary Note 8) Obtain information on the dishes served by a food distribution robot provided with a plurality of shelves for placing dishes and information on the tables to which the dishes are distributed, Based on the information on the tables to which the dishes are distributed and the priority of the tables in the distribution of the dishes, determine the route for the food distribution robot to distribute the dishes, Based on the route, the information on the tables to which the dishes are distributed, and the information on the dishes, determine the shelves for placing the dishes, Output the determined shelf information and the information on the dishes to be placed on the shelf, Obtain mounting completion information indicating that the dishes have been placed on the shelf, When the mounting completion information is obtained, output the route to the food distribution robot Information processing method.

[0064] (Supplementary Note 9) Obtain the distance between the food distribution robot and the tables and the mutual distance between the tables, Determine the priority of the tables based on the distance, The information processing method according to Supplementary Note 8.

[0065] (Supplementary Note 10) The information processing apparatus according to Supplementary Note 6, A terminal device that obtains and displays the information on the shelves for placing dishes from the information processing apparatus and outputs the mounting completion information to the information processing apparatus, A food distribution robot that obtains the route from the information processing apparatus and distributes the dishes along the route, An information processing system including

[0066] (Supplementary Note 11) The information processing apparatus according to Supplementary Note 7, A terminal device that obtains and displays the information on the shelves for placing dishes from the information processing apparatus and outputs the mounting completion information to the information processing apparatus, A distance sensor that outputs the distance between the tables and the food distribution robot to the information processing apparatus, A food delivery robot that acquires a route from an information processing device and delivers food along the route, An information processing system including the above.

[0067] (Appendix 12) The information processing device executes the information processing method described in Appendix 8, The terminal device acquires and displays information on the shelf for placing food from the information processing device, and outputs installation completion information to the information processing device The food delivery robot acquires a route from the information processing device and delivers food along the route, An information processing method.

[0068] (Appendix 13) The information processing device executes the information processing method described in Appendix 9, The terminal device acquires and displays information on the shelf for placing food from the information processing device, and outputs installation completion information to the information processing device, The distance sensor outputs the distance between the table and the food delivery robot to the information processing device, The food delivery robot acquires a route from the information processing device and delivers food along the route, An information processing method.

[0069] (Appendix 14) The food delivery robot with multiple shelves for placing food acquires information on the food to be delivered and information on the table where the food is to be delivered, Based on the information on the table where the food is to be delivered and the priority of the table in food delivery, the food delivery robot determines the route for delivering the food, Based on the route, the information on the table where the food is to be delivered, and the information on the food, the shelf for placing the food is determined, The determined shelf information and the food information to be placed on the shelf are output, Installation completion information indicating that the food has been placed on the shelf is acquired, When the installation completion information is acquired, the route is output to the food delivery robot The food delivery robot acquires a route from the information processing device and delivers food along the route A food delivery robot.

[0070] (Appendix 15) Obtain information on the dishes served by a meal delivery robot provided with a plurality of shelves for placing dishes and information on the tables where the dishes are to be served, Based on the information on the tables where the dishes are to be served and the priority of the tables in meal delivery, determine the route for the meal delivery robot to deliver the dishes, Based on the route, the information on the tables where the dishes are to be served, and the information on the dishes, determine the shelves for placing the dishes, Output the determined shelf information and the information on the dishes to be placed on the shelves, Obtain the loading completion information indicating that the dishes have been placed on the shelves, When the loading completion information is obtained, output the route to the meal delivery robot Obtain and display the shelf information determined by the information processing device and the information on the dishes to be placed on the shelves, and output the loading completion information to the information processing device Terminal device.

[0071] Although the present invention has been described with reference to the embodiments above, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

Explanation of Reference Numerals

[0072] 10 Information processing device 11 Information processing device 20 Meal delivery robot 21 Shelf 22 RTP 30 KTP 31 Dish 32 Dish table 40 Table 50 Distance sensor 60 Information processing system 110 Distance acquisition unit 120 Priority determination unit 130 Meal delivery information acquisition unit 140 Route determination unit 150 Shelf determination unit 160 Shelf information output unit 170 Loading completion acquisition unit 180 Route Output Unit 600 Computer Device 610 CPU 620 ROM 630 RAM 640 Storage Device 650 Network Interface 690 Recording Medium

Claims

1. A process of obtaining information on the dishes to be served by a serving robot provided with a plurality of shelves for placing dishes and information on the table where the dishes are to be served; A process of determining a route for the serving robot to serve the dishes based on the information on the table where the dishes are to be served and the priority of the table in serving the dishes; A process of determining the shelf on which the dishes are to be placed based on the route, the information on the table where the dishes are to be served, and the information on the dishes; A process of outputting the determined shelf information and the information on the dishes to be placed on the shelf; A process of obtaining mounting completion information indicating that the dishes have been placed on the shelf; A process of outputting the route to the serving robot when the mounting completion information is obtained; A program for causing a computer to execute the above.

2. A process of obtaining the distance between the serving robot and the table and the mutual distance between the tables; A process of determining the priority of the table based on the distance; The program according to claim 1 for causing a computer to execute the above.

3. In the process of determining the priority, the priority of other tables is determined using the priority set for at least some of the tables. The program according to claim 2.

4. A process of obtaining information on the table for taking down the served dishes; A process of determining a route for the serving robot to take down the served dishes based on the information on the table for taking down the served dishes; A process of outputting the route for taking down the served dishes to the serving robot; The program according to any one of claims 1 to 3 for causing a computer to execute the above.

5. In the process of determining the route for taking down the served dishes, the route for taking down the served dishes that avoids the passage for customers to return is determined. The program according to claim 4.

6. A serving information acquisition means for obtaining information on the dishes to be served by a serving robot provided with a plurality of shelves for placing dishes and information on the table where the dishes are to be served; A route determination means for determining a route for the serving robot to serve the dishes based on the information on the table where the dishes are to be served and the priority of the table in serving the dishes; A shelf determination means for determining the shelf on which the dishes are to be placed based on the route, the information on the table where the dishes are to be served, and the information on the dishes; A shelf information output means for outputting the determined shelf information and the information on the dishes to be placed on the shelf; Mounting completion acquisition means for acquiring mounting completion information indicating that the cooking has been placed on the shelf; Route output means for outputting the route to the food distribution robot when the mounting completion information is acquired; An information processing apparatus including the same.

7. Obtain information on the food to be distributed by a food distribution robot provided with a plurality of shelves for placing food, and information on the table where the food is to be distributed, Based on the information on the table where the food is to be distributed and the priority of the table in the distribution of the food, determine the route for the food distribution robot to distribute the food, Based on the route, the information on the table where the food is to be distributed, and the information on the food, determine the shelf on which the food is to be placed, Output the determined shelf information and the information on the food to be placed on the shelf, Obtain mounting completion information indicating that the food has been placed on the shelf, When the mounting completion information is acquired, output the route to the food distribution robot An information processing method.

8. The information processing apparatus according to claim 6, A terminal device that acquires and displays the information on the shelf on which the food is to be placed from the information processing apparatus, and outputs the mounting completion information to the information processing apparatus; A food distribution robot that acquires the route from the information processing apparatus and distributes the food along the route; An information processing system including the same.

9. Obtain information on the food to be distributed by a food distribution robot provided with a plurality of shelves for placing food, and information on the table where the food is to be distributed, Based on the information on the table where the food is to be distributed and the priority of the table in the distribution of the food, determine the route for the food distribution robot to distribute the food, Based on the route, the information on the table where the food is to be distributed, and the information on the food, determine the shelf on which the food is to be placed, Output the determined shelf information and the information on the food to be placed on the shelf, Obtain mounting completion information indicating that the food has been placed on the shelf, When the mounting completion information is acquired, output the route to the food distribution robot Acquire the route from the information processing apparatus and distribute the food along the route A food distribution robot.

10. Obtain information on the food to be distributed by a food distribution robot provided with a plurality of shelves for placing food, and information on the table where the food is to be distributed, Based on the information on the table where the food is to be distributed and the priority of the table in the distribution of the food, determine the route for the food distribution robot to distribute the food, Based on the route, the information of the table for serving the dish, and the information of the dish, determine the shelf on which the dish is to be placed, Output the information of the determined shelf and the information of the dish to be placed on the shelf, Obtain mounting completion information indicating that the dish has been placed on the shelf, When the mounting completion information is obtained, output the route to the serving robot Obtain and display the information of the shelf determined by the information processing device and the information of the dish to be placed on the shelf, and output the mounting completion information to the information processing device Terminal device.

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