Table-clearing robot system

Abstract

[Problem] To provide a table-clearing robot system capable of enhancing user convenience. [Solution] A table-clearing robot system 100 comprises a table-clearing robot 1 that clears dishes used to serve a meal. The table-clearing robot system 100 further comprises a dish determination means (video camera 8, CPU 11) for determining whether or not the dishes on tables 121-132 used by a user (customer) are empty. The table-clearing robot 1 performs an operation for clearing the dishes when the result of the determination made by the dish determination means is that the dishes are empty. The table-clearing robot 1 comprises an imaging means (video camera 8) for capturing images of the dishes, and the dish determination means determines whether or not the dishes are empty on the basis of the images of the dishes captured by the imaging means. The table-clearing robot 1 has a shelf on which the dishes can be placed, and displays a request for the user to place the dishes on the shelf when the result of the determination made by the dish determination means is that the dishes are empty.

Description

Table Clearing Robot System

[0001] The present invention relates to serving and clearing dishes in food service establishments such as restaurants, and particularly relates to a table clearing robot system that uses a robot.

[0002] In recent years, techniques for serving and clearing dishes using serving robots have been developed to improve operations on the floor inside food service establishments.

[0003] For example, Patent Document 1 discloses a technique that generates table clearing instruction data including serving destination data for which payment has been completed, and transmits the table clearing instruction data to a serving robot.

[0004] Japanese Unexamined Patent Application Publication No. 2024-16330

[0005] With the table clearing technique described in Patent Document 1, the serving robot performs table clearing triggered by customer payment. Therefore, for example, when a customer orders food served on a plurality of plates and finishes the food on some of the plates, the finished plates remain on the table until the customer settles the payment, which often leaves an unpleasant impression on the customer.

[0006] An object of the present invention is to provide a table clearing robot system capable of improving user convenience.

[0007] The table clearing robot system according to a first aspect of the present invention is a table clearing robot system including a table clearing robot that clears plates used for meals, further comprising plate determination means for determining whether or not the plate placed on a table used by a user is empty, wherein the table clearing robot performs an operation for clearing the plate when the determination result of the plate determination means indicates that the plate is empty.

[0008] Preferably, the table clearing robot comprises imaging means for capturing an image of the plate, and the plate determination means determines whether or not the plate is empty based on the image of the plate captured by the imaging means.

[0009] In the table clearing robot system according to a second aspect of the present invention, the table clearing robot has a shelf on which the plate can be placed, and when the determination result of the plate determination means indicates that the plate is empty, the table clearing robot performs display requesting the user to place the plate on the shelf.

[0010] The dish-returning robot system of the present invention makes it possible to improve user convenience.

[0011] This is a perspective view of the dish-returning robot of the dish-returning robot system according to an embodiment of the present invention, viewed from the front right diagonally. This is a perspective view of the dish-returning robot of the dish-returning robot system according to an embodiment of the present invention, viewed from the front left diagonally rear. This is a block diagram showing the overall configuration of the dish-returning robot system according to an embodiment of the present invention. This is a flowchart showing the operation of the dish-returning robot system according to an embodiment of the present invention. This is an explanatory diagram showing the movement of the dish-returning robot of the dish-returning robot system according to an embodiment of the present invention within a store. This is an explanatory diagram showing the display of the touch panel of the dish-returning robot of the dish-returning robot system according to an embodiment of the present invention.

[0012] <Embodiments of the Present Invention> Hereinafter, a dish-returning robot system according to embodiments of the present invention will be described based on the drawings. Figure 1 is a perspective view of the dish-returning robot of the dish-returning robot system according to embodiments of the present invention, viewed from the front right diagonally. Figure 2 is a perspective view of the dish-returning robot of the dish-returning robot system according to embodiments of the present invention, viewed from the front left diagonally rear. Figure 3 is a block diagram showing the overall configuration of the dish-returning robot system according to embodiments of the present invention. Figure 4 is a flowchart showing the operation of the dish-returning robot system according to embodiments of the present invention. Figure 5 is an explanatory diagram showing the movement of the dish-returning robot of the dish-returning robot system according to embodiments of the present invention within the store. Figure 6 is an explanatory diagram showing the display of the touch panel of the dish-returning robot of the dish-returning robot system according to embodiments of the present invention.

[0013] <Detailed Configuration of the Dish-Returning Robot> First, the configuration of the dish-returning robot in the dish-returning robot system according to an embodiment of the present invention will be described.

[0014] In Figure 1, the dish-returning robot 1 used in the dish-returning robot system 100 (see Figure 3) according to an embodiment of the present invention comprises a frame 2, left and right drive wheels 3L (see Figure 2) and 3R, left and right front casters 4L (see Figure 2) and 4R, left and right rear casters 5L (see Figure 2) and 5R, a touch panel 6, shelves 7-1 and 7-2, a video camera 8, a translucent plate 9, and a circuit box 10.

[0015] Frame 2 consists of a lower cubic frame 21 and an upwardly extending frame 22.

[0016] The left front caster 4L is attached to the front left side of the cubic frame 21. The left drive wheel 3L is attached to the center of the left side of the cubic frame 21. The left rear caster 5L is attached to the rear left side of the cubic frame 21.

[0017] The right front caster 4R is attached to the front right side of the cube frame 21. The right drive wheel 3R is attached to the center of the right right side of the cube frame 21. The right rear caster 5R is attached to the rear right side of the cube frame 21.

[0018] A circuit box 10 is mounted inside the cubic frame 21. A route sensor 14 (see Figure 3) is provided on the bottom surface of the circuit box 10. The circuit box 10 houses a CPU 11 (see Figure 3), a communication unit 12 (see Figure 3), and a motor drive circuit 13 (see Figure 3).

[0019] The left and right drive wheels 3L and 3R each have a left motor 15L and a right motor 15R, respectively, located inside them, and are rotated by the left motor 15L and the right motor 15R, respectively.

[0020] In Figure 1, the left and right front casters 4L and 4R are each composed of support brackets 41L and 41R and wheels 42L and 42R, respectively. The support brackets 41L and 41R are fixed to the left and right front sides of the cubic frame 21 and support the wheels 42L and 42R in a manner that allows them to rotate on the horizontal and vertical axes, respectively.

[0021] The left and right rear casters 5L and 5R are each composed of support brackets 51L and 51R and wheels 52L and 52R, respectively. The support brackets 51L and 51R are fixed to the left and right rear sides of the cubic frame 21 and support the wheels 52L and 52R so that they can rotate on the horizontal and vertical axes, respectively.

[0022] The upward-extending frame 22 is composed of left and right upward-extending portions 23L and 23R and horizontal plate-shaped portions 24 and 25 arranged in the horizontal direction.

[0023] The upward extensions 23L and 23R have straight sections that extend straight upwards at the bottom and middle, and a curved section that curves backward at the top.

[0024] The lower ends of the upward extensions 23L and 23R are connected and fixed to the cubic frame 21. The left end of the horizontal plate-shaped section 24 is connected and fixed between the middle section and the curved section of the left upward extension 23L, and the right end is connected and fixed between the middle section and the curved section of the right upward extension 23R.

[0025] The horizontal plate-shaped section 25 is connected and fixed at its left end to the tip of the curved portion of the left upward extension section 23L, and at its right end to the tip of the curved portion of the right upward extension section 23R.

[0026] A translucent plate 9 is attached to the lower and intermediate parts of the upward extensions 23L and 23R. The translucent plate 9 is made of translucent resin formed into a rectangular plate shape.

[0027] A touch panel 6 is attached to the horizontal plate-shaped section 24. A video camera 8 is attached to the horizontal plate-shaped section 25.

[0028] Shelf boards 7-1 are attached to the lower rear sides of the upward extensions 23L and 23R, respectively, via support brackets 71L-1 and 71R-1.

[0029] Shelf boards 7-2 are attached to the middle of the rear of the upward extensions 23L and 23R, respectively, via support brackets 71L-2 and 71R-2.

[0030] Shelves 7-1 and 7-2 are designed for placing plates when clearing the table. Therefore, the upper parts of shelves 7-1 and 7-2 are the lower and upper shelves, respectively.

[0031] <Circuit Configuration of the Dish-Returning Robot System> Next, the circuit configuration of the dish-returning robot system according to an embodiment of the present invention will be described.

[0032] In Figure 3, the dish-returning robot system 100 consists of a dish-returning robot 1, a network 101, an order management device 102, a customer terminal 103, a staff terminal 104, and a kitchen device 105.

[0033] The dish-clearing robot 1, the order management device 102, the customer terminal 103, the staff terminal 104, and the kitchen equipment 105 are connected via a network 101, and information is shared between them.

[0034] The dish-serving robot 1 is equipped with a video camera 8, a touch panel 10, a CPU 11, a communication unit 12, a motor drive circuit 13, a route sensor 14, and a left motor 15L and a right motor 15R.

[0035] The CPU 11, communication unit 12, and motor drive circuit 13 are housed in a circuit box 10 (see Figures 1 and 2).

[0036] The CPU 11 controls the dish-serving robot 1 and communicates with the network 101 via the communication unit 12.

[0037] Furthermore, the CPU 11 makes various decisions based on the video captured by the video camera 8, as described later, and controls the touch panel 10 and the motor drive circuit 13.

[0038] The motor drive circuit 13 supplies drive power to the left motor 15L and the right motor 15R based on control from the CPU 11, and controls the forward rotation, reverse rotation, and rotational speed of the left motor 15L and the right motor 15R.

[0039] The left motor 15L and the right motor 15R rotate the left and right drive wheels 3L and 3R, respectively (see Figures 1 and 2).

[0040] When both the left motor 15L and the right motor 15R rotate in the forward direction at the same rotational speed, the dishwashing robot 1 moves forward.

[0041] When both the left motor 15L and the right motor 15R rotate in reverse at the same rotational speed, the table clearing robot 1 moves backward.

[0042] When the left motor 15L rotates forward and the right motor 15R rotates in reverse, the table clearing robot 1 rotates to the right.

[0043] When the left motor 15L rotates in reverse and the right motor 15R rotates forward, the table clearing robot 1 rotates to the left.

[0044] The route sensor 14 detects magnetism via a magnetic tape attached to the floor 110 (see FIG. 5) of a restaurant, and the table clearing robot 1 travels along the magnetic tape along traveling routes 141 and 142 (see FIG. 5).

[0045] The order management device 102 manages the cooking status and accounting of menus ordered in the restaurant.

[0046] The customer terminal 103 is a touch panel disposed on customer tables 121 to 132. The staff terminal 104 is a terminal carried by staff.

[0047] The kitchen device 105 is composed of a kitchen display 106 and a kitchen printer 107.

[0048] <Operation of Table Clearing Robot System> Hereinafter, the empty plate collection operation of the table clearing robot 1 in the table clearing robot system 100 will be described.

[0049] First, as shown in FIG. 4, in step S1, the table clearing robot 1 departs from in front of the cooking return stand 111 (see FIG. 5) inside the restaurant, and uses the route sensor 14 to travel along the magnetic tape and patrol the traveling routes 141 and 142 (see FIG. 5) between the customer tables 121 to 132.

[0050] Next, in step S2, the CPU 11 of the table clearing robot 1 recognizes plates on the customer tables 121 to 132 based on images captured by the video camera 8.

[0051] Next, in step S3, the CPU 11 of the dish-returning robot 1 determines whether the plate recognized in step S2 is empty or not. If the plate is not empty, it returns to the process in step S1; if the plate is empty, it proceeds to the process in step S4.

[0052] Here, the CPU 11 of the dish-clearing robot 1 directly determines whether each plate is empty or not. In this case, the determination method is, for example, to determine that a plate is empty if the white area in the image of the plate is 90% or more.

[0053] In step S4, the CPU 11 of the dish-returning robot 1 displays the image shown in Figure 6(a) on the touch panel 10 as a dish collection indicator.

[0054] In Figure 6(a), the touch panel 10 screen 201 displays an image 202 with the text "Please place the empty plate on the shelf" for 10 seconds.

[0055] Once the customer has finished eating the food on their plate, they place the empty plate on shelf 7-1 or shelf 7-2.

[0056] After this, the CPU 11 of the dish-returning robot 1 displays the image shown in Figure 6(b) on the touch panel 10 as a dish collection indicator.

[0057] In Figure 6(a), the screen 201 of the touch panel 10 displays an image 203 with the text "When you have placed all the empty plates, please press the button below" and a button 204 indicating that all plates have been placed.

[0058] Next, in step S5, the CPU 11 of the dish-clearing robot 1 determines whether or not it has collected all the empty plates from a table. In this case, the CPU 11 of the dish-clearing robot 1 determines that it has not collected all the empty plates until the "all plates" button 204 is pressed, and returns to the process in step S4. When the "all plates" button 204 is pressed, it determines that it has collected all the empty plates and proceeds to the process in step S6.

[0059] In step S6, the dish-clearing robot 1 moves in reverse along the magnetic tape within the restaurant using the route sensor 14, following routes 141 and 142 between customer tables 121 to 132, and moves in front of the cooking return counter 111 (see Figure 5).

[0060] The restaurant staff move the empty plates on shelf 7-1 or shelf 7-2 to the cooking return counter 111, thus concluding the empty plate collection operation.

[0061] <Configuration and Effects of the Embodiment> The configuration and effects of the embodiment of the present invention will be summarized below. The dish clearing robot system 100 is a dish clearing robot system that includes a dish clearing robot 1 that clears dishes used for a meal, and further includes a dish discrimination means (video camera 8, CPU 11) that determines whether or not the dishes on the tables 121 to 132 used by the user (customer) are empty, and the dish clearing robot 1 performs an operation to clear the dishes when the discrimination result of the dish discrimination means is that the dishes are empty.

[0062] The dish-clearing robot 1 is equipped with an imaging means (video camera 8) for capturing images of the plates, and the plate discrimination means determines whether the plates are empty or not based on the images of the plates captured by the imaging means.

[0063] The dish-clearing robot 1 has a shelf (the upper side of shelf board 7-1 or shelf board 7-2) on which the plates can be placed, and when the plate discrimination means determines that the shelf is empty, it displays a message to the user requesting them to place the plates on the shelf (image 202 of the text "Please place empty plates on the shelf.").

[0064] According to the dish-clearing robot system 100 of this embodiment of the present invention, the dish-clearing robot 1 performs the operation to clear the dishes when the determination result of the dish determination means becomes empty. For example, if a customer orders food served on multiple plates and finishes eating the food on some of the plates, the dishes on which the food has been finished can be cleared immediately. Therefore, the dish-clearing robot system 100 of this embodiment of the present invention can give customers a good impression and improve user (customer) convenience.

[0065] Furthermore, the dish-returning robot 1 shown in the embodiment of the present invention can be applied to either a robot that has the function of returning dishes but does not serve dishes, or a robot that has the functions of both serving and returning dishes.

[0066] Furthermore, the dish-clearing robot 1 shown in the embodiment of the present invention can be used not only for clearing dishes in restaurants, but also for clearing dishes at event venues and in private homes. Therefore, it can be applied to a variety of users, not just customers in restaurants, but also family members and visitors.

[0067] Furthermore, the method for detecting the patrol route of the dish-clearing robot 1 shown in the embodiment of the present invention is not limited to detecting the magnetism of the magnetic tape using the route sensor 14, but may also be used to detect the patrol route by, for example, image recognition of the customer tables 121 to 132.

[0068] Furthermore, in the embodiment of the present invention, the movement of the dishwashing robot 1 may be achieved using wheeled movement with left and right drive wheels 3L (see Figure 2) and 3R, or by using other methods of movement such as walking with legs.

[0069] Therefore, the systems, means, methods, etc. of the present invention can be modified in various ways without altering the essence of the invention.

[0070] For example, it is possible to combine two or more systems into one, or conversely, to configure and connect one system with two or more other systems.

[0071] Furthermore, the above-described embodiment is merely one of the best possible forms or forms that come close to it at present.

[0072] The dish-clearing robot system of the present invention can be effectively used in restaurants, event venues, and general households.

[0073] 1: Dish-receiving robot system 2: Frame 3L, 3R: Left and right drive wheels 4L, 4R: Left and right front casters 5L, 5R: Left and right rear casters 6: Touch panel 7-1, 7-2: Shelf 8: Video camera 9: Translucent plate 10: Circuit box 11: CPU 12: Communication unit 13: Motor drive circuit 14: Route sensor 15L: Left motor 15R: Right motor 21: Cube frame 22: Upward extension frame 23L, 23R: Left and right upward extensions 24, 25: Horizontal plate rod-shaped part 41L, 41R: Support bracket 42L, 42R: Wheel 51L, 51R: Support bracket 52L, 52R: Wheel 71L-1, 71R-1, 71L-2, 71R-2: Support bracket 100: Dish-receiving robot system 101: Network 102 : Order management device 103 : Customer terminal 104 : Staff terminal 105 : Kitchen equipment 110 : Floor 121-132 : Tables 141, 142 : Patrol route 201 : Screens 202, 203 : Image 204 : Button with all items on it

Claims

1. A dish-clearing robot system comprising a dish-clearing robot that clears away dishes used for a meal, further comprising a dish discrimination means for determining whether or not the dishes on the table used by the user are empty, wherein the dish-clearing robot performs an action to clear away the dishes when the discrimination result of the dish discrimination means is that the dishes are empty.

2. The dish-returning robot system according to claim 1, wherein the dish-returning robot comprises an imaging means for capturing images of the plates, and the dish discrimination means determines whether or not the plates are empty based on the images of the plates captured by the imaging means.

3. The dish-returning robot system according to claim 1, wherein the dish-returning robot has a shelf on which the plates can be placed, and when the determination result of the plate determination means is empty, it displays a message to the user requesting that the plates be placed on the shelf.

Images