JP2018161706A - Robot control system and robot control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control system and a robot control device which can have a natural dialogue with a robot at a restaurant.SOLUTION: A robot control system includes: a robot 2 which performs movement in response to a command signal to have a dialogue with a customer visiting a restaurant; an operation terminal 3 which generates the command signal for operating the robot 2; a stay state determination part 342 which determines a stay state in the restaurant of the customer; and a movement control part 345 which makes the robot 2 perform preliminary movement based on the stay state of the customer determined by the stay state determination part 342 before the robot 2 is made to perform movement in response to operation of the operation terminal 3.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot control system and a robot control apparatus.

  In recent years, there are cases where humanoid robots are used as guides for visitors in restaurants and other public facilities. A technology for performing communication (dialogue) with such a robot using a dedicated operation terminal has been studied. According to this technology, a user can enjoy a dialogue with a robot via an operation terminal, or guide information can be obtained. Can be obtained.

  Specifically, providing a service that allows a customer who visits a restaurant to directly or indirectly interact with a robot installed at a table seat of the restaurant via a tablet or the like Can do. In this case, the satisfaction of the eating and drinking service can be improved by presenting a recommended menu or chatting with the customer.

Japanese Patent Laying-Open No. 2015-66623

  However, if there is a long time lag between the time when the user performs a dialogue toward the robot and the time when the robot performs a response speech operation, there is a possibility that the user may feel uncomfortable due to the interruption of the dialogue.

  The present invention has been made in consideration of such points, and an object thereof is to provide a robot control system and a robot control apparatus capable of naturally performing a dialogue with a robot in a restaurant without a sense of incongruity.

  The present invention determines a robot that performs an operation according to a command signal in order to interact with a customer who has visited a restaurant, an operation terminal that generates a command signal for operating the robot, and a staying state of the customer in the restaurant A stay state determination unit, and an operation control unit that causes the robot to perform a pre-operation based on the stay state of the customer determined by the stay state determination unit before causing the robot to perform an operation according to the operation of the operation terminal; A robot control system comprising:

  In the robot control system according to the present invention, the motion control unit may cause the robot to perform a preliminary motion before the robot can execute a motion corresponding to the operation of the operation terminal.

  In the robot control system according to the present invention, the operation according to the operation of the operation terminal includes an interaction operation according to the operation of the operation terminal, and the preliminary operation is a predetermined interaction operation performed by the robot based on the staying state of the customer. May be included.

  In the robot control system according to the present invention, the command signal is generated based on an option for dialogue based on dialogue scenario information selected by a customer visiting the restaurant operating the operation terminal, and is used to operate the operation terminal. The corresponding action includes a dialog action performed by the robot in accordance with the progress of the dialog scenario based on the selected option, and the prior action is a balance between the time until the robot starts the dialog action according to the operation of the operation terminal. Operations may be included.

  In the robot control system according to the present invention, the dialogue operation may include an operation in which the robot speaks in response to an operation of the operation terminal, and the interaction operation may include an operation in which the robot performs a predetermined utterance.

  In the robot control system according to the present invention, the preliminary operation may include an operation of changing at least one of the posture and appearance of the robot.

  In the robot control system according to the present invention, the interactive operation may include an interactive operation related to menu selection of food and drink with a customer who has visited the restaurant.

  In the robot control system according to the present invention, the operation control unit may cause the robot to perform a pre-operation including a common interaction operation according to the staying state of the customer regardless of the selection result of the options.

  In the robot control system according to the present invention, the operation control unit may perform a preliminary operation including a reciprocal operation that changes in accordance with the elapse of the staying time of the customer in the restaurant.

  In the robot control system according to the present invention, the action according to the operation of the operation terminal includes a first action that the robot speaks and a second action that changes at least one of the posture and appearance of the robot prior to the first action. In this case, the preliminary operation may be performed before the robot starts the second operation.

  In the robot control system according to the present invention, the motion control unit may be provided inside the robot or the operation terminal.

  The present invention is a robot control device that transmits a command signal to a robot that performs an operation according to a command signal in order to interact with a customer who has visited a restaurant, and determines a staying state of the customer in the restaurant The robot control apparatus includes an operation control unit that causes the robot to perform a pre-operation based on the determined stay state of the customer before causing the robot to perform an operation corresponding to the operation of the operation terminal that operates the robot.

  ADVANTAGE OF THE INVENTION According to this invention, a natural dialog with a robot can be performed in a restaurant.

It is a block diagram which shows the robot control system by 1st Embodiment. It is a block diagram which shows a scenario control part in the robot control system by 1st Embodiment. It is a flowchart which shows the operation example of the robot control system by 1st Embodiment. It is a figure which shows the process of the prior operation | movement based on a stay state in the operation example of the robot control system by 1st Embodiment. In the operation example of the robot control system according to the first embodiment, it is a diagram illustrating an example of a dialogue with a pre-operation during a period from sitting to ordering. In the operation example of the robot control system by 1st Embodiment, it is a figure which shows another example of the dialogue with the prior operation in the period from a seating to an order. FIG. 7A is a diagram showing an example of dialogue during the period from ordering to food provision in the operation example of the robot control system according to the first embodiment, and FIG. It is a figure which shows the example of a dialogue with the prior operation | movement following). FIG. 8A is a diagram illustrating an example of a dialogue during a period from provision of food and drink to the end of eating and drinking in the operation example of the robot control system according to the first embodiment, and FIG. It is a figure which shows the example of a dialogue with the prior operation following a). FIG. 9A is a diagram showing a display example of options in the operation example of the robot control system according to the second embodiment, and FIG. 9B is an example of the preliminary operation following FIG. 9A. FIG. 9C is a diagram showing an example of the second operation following FIG. 9B, and FIG. 9D is an example of the first operation following FIG. 9C. FIG. It is a block diagram which shows the robot control system by 3rd Embodiment. It is a block diagram which shows the robot control system by 4th Embodiment.

  Hereinafter, the configuration and operation of a robot control system and a robot control apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. In addition, embodiment shown below is an example of embodiment of this invention, This invention is limited to these embodiment, and is not interpreted. In the drawings referred to in this embodiment, the same portions or portions having similar functions are denoted by the same reference symbols or similar reference symbols, and repeated description thereof may be omitted. In addition, the dimensional ratio in the drawing may be different from the actual ratio for convenience of explanation, or a part of the configuration may be omitted from the drawing.

(First embodiment)
FIG. 1 is a block diagram showing a robot control system 1 according to the first embodiment. As shown in FIG. 1, the robot control system 1 includes a robot 2, an operation terminal 3 which is an example of a robot control device, a handy terminal 4, and a store system 5 such as a POS (point of sales) system. The robot control system 1 is a system for a restaurant customer (hereinafter referred to as a user) to interact with the robot 2 via an operation terminal 3 that operates the robot 2. The robot 2 in the example of FIG. 1 is a machine having a human-like appearance and interactive function, that is, a humanoid. Note that the robot 2 may have a dissimilar appearance to humans such as animals and characters. Further, the robot 2 may be a virtual robot based on an image displayed on the display unit 35. The robot 2 may be a general-purpose robot that can be programmed in posture, motion, or the like, or may be a robot developed for the robot control system 1.

(Robot 2)
As shown in FIG. 1, the robot 2 includes a robot drive unit 21 and a robot control unit 22 that is an example of a drive control unit. The robot 2 is driven by electric power supplied from a commercial power source. The robot 2 may be a battery-driven type such as a battery.

  The robot drive unit 21 includes, for example, an actuator that drives a part of the robot 2 having a degree of freedom, such as a body part, an arm part, a neck part, an eyeball part, a buttocks part, or a mouth part, and a voice output that outputs the speech voice of the robot 2 And a lighting device for lighting the eyeball portion of the robot 2. By driving the robot drive unit 21 as necessary, the robot 2 speaks, the posture of the robot 2 is changed, or the appearance of the robot 2 is changed (for example, an eyeball unit). Can be turned on with a predetermined lighting color. A drive control signal for controlling the drive of the robot drive unit 21 is input from the robot control unit 22 to the robot drive unit 21. The robot drive unit 21 is driven according to the drive control signal.

  The robot control unit 22 receives a robot control command, which is an example of a command signal, from the operation terminal 3. The robot control unit 22 generates the drive control signal described above based on the received robot control command, and outputs the generated drive control signal to the robot drive unit 21. That is, the robot 2 can operate according to the robot control command to interact with the customer who has visited the restaurant. There are various types of robot control commands depending on the type and control content of the robot drive unit 21 whose drive is to be controlled. For example, the robot control command includes a command for controlling the posture, position, and lighting state of the robot 2 and a command for causing the robot 2 to speak. The command for causing the robot 2 to speak includes data indicating the content of the speech (robot side scenario data described later).

  The robot control unit 22 includes, for example, at least one memory that stores software such as an application program and an operating system that operates the application program, and a CPU (Central Processing Unit) that executes the software stored in the memory. The drive control signal may be generated by the CPU executing software stored in the memory.

(Operation terminal 3)
The operation terminal 3 is carried (i.e., held) by the user for operation, and is, for example, a tablet terminal having a touch function. In addition, the operation terminal 3 may be a smartphone, a desktop display type terminal, or the like. As illustrated in FIG. 1, the operation terminal 3 includes an orientation sensor 31 and a motion generation unit 32. The operation terminal 3 is driven by electric power supplied from the built-in battery. The direction sensor 31 detects the direction of the operation terminal 3. The direction sensor 31 outputs a direction detection signal indicating the detected direction of the operation terminal 3 to the motion generation unit 32.

  Based on the direction detection signal from the direction sensor 31, the motion generation unit 32 generates a robot control command for controlling the posture of the robot 2 so as to face the direction in which the operation terminal 3 exists. The motion generation unit 32 transmits the generated robot control command to the robot control unit 22 by wireless communication such as WiFi, for example. The robot control unit 22 receives the robot control command from the motion generation unit 32 and outputs a drive control signal corresponding to the received robot control command to the robot drive unit 21, thereby determining the direction in which the operation terminal 3 exists. The drive of the robot drive unit 21 is controlled so that the robot 2 faces. Thereby, since the user can interact with the robot 2 in a state of facing the robot 2, the user can naturally interact with the robot 2 without a sense of incongruity, and satisfaction of the interaction can be improved.

  As shown in FIG. 1, the operation terminal 3 has a scenario DB as a configuration for performing dialogue between the user and the robot 2 using the dialogue scenario information, in addition to the motion generation unit 32 described above. (Database) 33, scenario control unit 34, display unit 35, input unit 36 such as a touch panel, and audio output unit 37.

  The scenario DB 33 stores a plurality of pieces of dialogue scenario information for carrying out a dialogue between the user and the robot 2. The dialogue scenario information includes a plurality of dialogue scenarios. The dialogue scenario is a story of dialogue exchanged between the user and the robot 2. A customer who enters a restaurant changes a plurality of staying states after entering the restaurant and before leaving the store. Therefore, a separate dialogue scenario is accumulated for each transition state in the scenario DB. Further, when a customer selects a specific option from among a plurality of options while the dialog scenario executed in a certain stay state is in progress, there may be a case of switching to another dialog scenario. Each dialogue scenario is composed of robot-side scenario data that the robot 2 uses for dialogue (ie, utterance) and user-side scenario data that the user uses for dialogue (ie, selection on the operation terminal 3). The user-side scenario data is data that collects user-side options and the like for the utterances of the robot 2 in each dialogue scenario. The user-side scenario data is used for displaying options and the like on the display unit 35 of the operation terminal 3 in accordance with the progress of the conversation scenario. The user can select a specific option from the displayed options using the input unit 36. Then, different (lower) robot-side scenario data different from each other are associated with each of the dialogue scenario options shown in the user-side scenario data. That is, the dialogue scenario information has a tree structure in which robot-side scenario data and user-side scenario data are alternately coupled as nodes. In the tree structure, a predetermined series of nodes ranging from the highest level to the lowest level are managed as basic scenarios used for typical dialogue, for example, and the other node groups are managed as correction scenarios for correcting the basic scenarios. May be.

  The dialogue scenario information is divided into a plurality of scenario groups according to status data indicating the staying state of the user in the restaurant, that is, the operation state.

  The status data in the example of FIG. 1 includes a first state indicating that the user has been seated, a second state indicating that the user has ordered food and drink, and a third state indicating that the ordered food and beverage has been provided to the user. A state, the 4th state which shows that the food and drink provided by the user were completed, and each state of the 5th state which shows that the user completed accounting are shown. The status data is not limited to this, and the status data may include a leaving state indicating that the user has left the seat, a conversation state in which the users are having a conversation, or a state in which the user has ordered dessert after eating. . Thus, the status data is information indicating the state of the user that changes with the passage of time.

  In addition, the dialogue scenario information in the example of FIG. 1 includes a first scenario group used for dialogue in the period from sitting to order, a second scenario group used for dialogue in the period from order to food provision, and food and drink. It is divided into a third scenario group used for the dialogue between the provision and the end of the meal and a fourth scenario group used for the dialogue between the end of the meal and the accounting. Each scenario group is a bundle of scenario data suitable for the staying state of the user, and includes various scenario data according to the staying state. For example, if the user's staying state is from staying to ordering, the scenario group includes scenario data that presents a menu according to each time, the content of the conversation depending on the number of adults and children, Scenario data that changes, and other scenario data according to various situations are included.

  The robot-side scenario data is associated with an internal state parameter obtained by quantifying the internal state of the robot 2, that is, the psychological state, such as a pseudo emotion or intention of the robot 2. The internal state parameter includes, for example, a positive emotion value (+) obtained by quantifying emotions such as joy and a negative emotion value (−) obtained by quantifying emotions such as sadness.

  Further, the scenario DB 33 stores pre-operation data for causing the robot 2 to perform a pre-operation based on the staying state of the user in the restaurant before causing the robot 2 to perform an operation corresponding to the operation of the operation terminal 3. Has been.

  The pre-operation is an operation including a predetermined interactive operation performed by the robot 2 based on the staying state of the user before the robot 2 performs an operation corresponding to the operation of the operation terminal 3.

  There is a time lag between the operation of the operation terminal 3 and the time when the robot 2 can execute the speech operation corresponding to this operation. In order to perform a natural dialogue by interpolating the interruption of the dialogue due to this time lag, a pre-operation prior to the operation of the robot 2 according to the operation of the operation terminal 3 is performed. The preliminary operation is an operation with a small time lag from the operation of the operation terminal 3 as compared with the operation of the robot 2 according to the operation of the operation terminal 3.

  The pre-operation includes a mutual operation. The interaction operation is an operation that connects until the robot 2 starts an interactive operation according to the operation of the operation terminal 3. The interaction operation is an operation in which the robot 2 performs a predetermined utterance, an operation in which the robot 2 crawls (that is, an operation that shakes the head in the vertical direction), or an operation that includes both of them. When the interaction operation includes the utterance operation of the robot 2, the pre-operation data for causing the robot 2 to perform the interaction operation including the utterance operation is data indicating the utterance content in the utterance operation. In this case, the pre-operation data is data indicating utterance content that is used as a daily routine in conversations between humans such as “Yes”, “I see”, and “He”. When the interaction operation includes the operation of the robot 2, the pre-operation data for causing the robot 2 to perform the operation of interaction including this operation is, for example, data indicating that the operation of interaction is included. The data indicating that the whirling operation is included may be, for example, a flag indicating whispering “present”, but is not limited thereto, and various types of data according to the concept can be adopted. .

  In addition, the preliminary operation may include an operation for changing at least one of the posture and appearance of the robot 2 other than the combing motion instead of or in addition to the mating motion. In this case, the operation for changing the posture of the robot 2 may be, for example, an operation for opening and closing the mouth of the robot 2. The operation for changing the appearance of the robot 2 may be an operation for lighting the eyeball portion of the robot 2, for example.

  The pre-operation data is divided into a plurality according to the stay state of the user at the restaurant, that is, status data. The pre-operation data in the example of FIG. 1 includes first pre-operation data used for dialogue in a period from sitting to order, second pre-operation data used for dialogue in a period from order to food provision, The data is divided into third pre-operation data used for the dialogue from the provision of food and drink to the end of the eating and drinking and fourth pre-operation data used for the dialogue from the end of the meal to the accounting.

  In order to cause the robot 2 to perform a suitable pre-operation according to the stay state, the first to fourth pre-operation data may be different from each other according to the stay state corresponding to each. For example, the first preliminary motion data may be data that causes the robot 2 to perform a conflicting motion including only the speech motion among the speech motion and the whispering motion. The second preliminary motion data may be data that causes the robot 2 to perform a collaborative operation including both the speech operation and the whispering operation. The third preliminary motion data may be data that causes the robot 2 to perform a collaborative motion including only the whispering motion.

  It should be noted that the pre-operation data used for the pre-operation performed at the timing of cutting out the dialogue from the robot 2 is not the pre-operation performed at the timing of responding to the dialogue from the user. It is desirable to be pre-operation data that causes the robot 2 to perform (for example, an operation that changes at least one of the posture and appearance of the robot 2).

  The scenario control unit 34 controls the scenario and the interaction operation based on the status data output from the store system 5. FIG. 2 is a block diagram showing the scenario control unit 34 in the robot control system 1 according to the first embodiment. As illustrated in FIG. 2, the scenario control unit 34 includes a reception unit 341, a stay state determination unit 342, an information acquisition unit 343, and a dialogue control unit 345 that is an example of an operation control unit.

  As shown in FIG. 2, the receiving unit 341 receives status data output from the store system 5. The status data can be input, for example, at the handy terminal 4 for ordering carried by the store staff of the restaurant. The status data is transmitted from the handy terminal 4 to the store system 5 and then transmitted from the store system 5 to the receiving unit 341 of the scenario control unit 34. Further, the status data may be transmitted from the handy terminal 4 directly to the operation terminal 3 via the receiving unit 341 without passing through the store system 5.

  The stay state determination unit 342 determines the stay state of the user based on the status data received via the reception unit 341. For example, when the stay state determination unit 342 receives status data indicating that the user has been seated via the reception unit 341, the stay state determination unit 342 determines that the stay state before the order is placed after the user is seated. When stay status determination unit 342 receives status data indicating that the user has ordered food and drink via receiving unit 341, stay state determination unit 342 determines that the user is in a stay state waiting for food and drink after the order is placed. Similar to the status data described above, the stay state is information indicating the state of the user that changes over time.

  The relationship between the status data and the staying state may be a configuration other than those described above. For example, the store staff may input the stay state itself as the status data. That is, instead of inputting the user's action as a trigger, the state itself may be input. Specifically, the store staff may not directly input the act of being seated or ordered, but directly input the state of being seated or ordering and waiting for food or drink. . In this case, stay state determination unit 342 determines that the received status data itself is a stay state.

  The information acquisition unit 343 acquires pre-operation data corresponding to the stay state determined by the stay state determination unit 342 from the scenario DB 33. The dialogue control unit 345 may acquire the pre-operation data.

  In addition, the information acquisition unit 343 receives, from the scenario DB 33, dialogue scenario information corresponding to the stay state determined by the stay state determination unit 342 and the user's dialog options selected by a dialog scenario selection signal (see FIG. 2) described later. Select to get. The information acquisition unit 343 may select scenario data that responds to the option selected by the user from the scenario group corresponding to the stay state stored in the scenario DB 33, or the scenario group corresponding to the stay state After acquiring itself from the scenario DB 33, scenario data that responds to the option selected by the user may be selected from the acquired scenario group. The dialogue control unit 345 may select the scenario data from the scenario group.

  Here, when selecting the scenario data from the scenario DB 33, the information acquisition unit 343 not only needs to select the scenario data according to the stay state as described above, but also selected by the user at the operation terminal 3. It is necessary to select scenario data according to the choices. For this reason, there is a time lag required for the scenario data selection process between the selection of the option at the operation terminal 3 and the selection of the scenario data at the information acquisition unit 343.

  On the other hand, when selecting the pre-operation data from the scenario DB 33, it is necessary to select the pre-operation data according to the staying state, but the pre-operation data according to the option selected by the user at the operation terminal 3. There is no need to choose. That is, as will be described later, under the same stay state, a pre-operation using common pre-operation data is performed regardless of the selection result of the options. For this reason, there is almost no time lag between the selection of the option at the operation terminal 3 and the selection of the pre-operation data at the information acquisition unit 343.

  As described above, since selection of the pre-operation data has almost no delay such as a time lag required for selecting the scenario data, as described later, based on the pre-operation data before the interactive operation based on the scenario data is executed. A pre-action can be performed.

  Further, when the information acquisition unit 343 acquires the conversation scenario information from the scenario DB 33, the information acquisition unit 343 also acquires the internal state parameters associated with the robot-side scenario data from the scenario DB 33 at the same time.

  In addition, when there is a recommended menu in the menu, the information acquisition unit 343 may insert the recommended menu into the dialogue scenario. The information acquisition unit 343 may acquire a recommended menu from the scenario DB 33 or other storage unit.

  As illustrated in FIG. 2, the dialogue control unit 345 outputs the pre-operation data corresponding to the stay state acquired by the information acquisition unit 343 to the operation generation unit 32. By outputting the pre-operation data, the dialogue control unit 345 is based on the stay state of the customer determined by the stay state determination unit 342 before causing the robot 2 to perform the dialogue operation according to the operation of the operation terminal 3. Let the robot perform the previous action. In addition, the dialogue control unit 345 causes the robot 2 to perform a pre-operation including a common interaction operation according to the staying state of the user regardless of the selection result of the options.

  Further, as shown in FIG. 2, the dialogue control unit 345 outputs the robot side scenario data to the motion generation unit 32 among the dialogue scenario information corresponding to the stay state acquired by the information acquisition unit 343. At this time, the dialogue control unit 345 acquires the internal state parameter associated with the robot-side scenario data from the information acquisition unit 343, and outputs the acquired internal state parameter to the motion generation unit 32 simultaneously with the robot-side scenario data. . The dialogue control unit 345 may output pre-action data and dialogue scenario information corresponding to the stay state acquired by itself to the action generation unit 32.

  As shown in FIG. 2, the motion generation unit 32 generates and generates a preliminary motion robot control command for instructing the robot 2 to perform a preliminary motion based on the preliminary motion data input from the dialogue control unit 345. The robot control command for pre-operation is transmitted to the robot control unit 22. By transmitting the robot control command for pre-operation, the robot 2 can perform pre-operation.

  In the case where the preliminary motion includes a competing motion by the speech motion, the motion generator 32 generates and transmits voice data obtained by converting the preliminary motion data into speech as at least a part of the robot motion command for preliminary motion. By transmitting the voice data, the robot 2 can perform the speech operation in the conflict operation. Instead of sending voice data as a robot action command for pre-operation, the voice data is stored in the robot 2, and the motion generation unit 32 links the voice data in the robot 2 as a robot control command for pre-action. The attached ID may be transmitted. In this case, the speech data associated with the ID may be reproduced on the robot 2 side to perform the utterance operation in the interaction operation. When the preliminary motion includes a conflicting motion due to the whirling motion, the motion generating unit 32 generates and transmits a signal instructing the whirling motion of the robot 2 as at least a part of the robot motion command for preliminary motion. Further, when the pre-operation includes an operation that changes at least one of the posture and appearance of the robot 2, the operation generation unit 32 uses at least one of the posture and appearance of the robot 2 as at least a part of the robot operation command for pre-operation. Generate and send a signal to command the action to change.

  Further, as shown in FIG. 2, the motion generation unit 32 generates a robot control command for interactive operation for instructing the robot 2 to perform the interactive operation based on the robot-side scenario data input from the dialog control unit 345. The generated robot control command for dialogue operation is transmitted to the robot control unit 22. The robot 2 can be made to perform an interactive operation by transmitting the interactive operation robot control command.

  When the dialogue operation includes an utterance operation, the operation generation unit 32 generates and transmits voice data obtained by converting the robot-side scenario data into speech as at least a part of the robot control command for dialogue operation. As in the case of the robot action command for pre-action, instead of sending the voice data as the robot control command for dialogue action, the voice data is stored in the robot 2 and the action generation unit 32 is used for the dialogue action. An ID associated with voice data in the robot 2 may be transmitted as a robot control command. When the interactive operation includes an operation that changes at least one of the posture and appearance of the robot 2, the operation generation unit 32 uses at least one of the posture and appearance of the robot 2 as at least a part of the robot control command for interactive operation. Generate and send a signal to command the action to change.

  In generating the robot control command for interactive operation, the operation generating unit 32 considers the internal parameters associated with the robot-side scenario data, and the content of the interactive operation includes the tone of the utterance voice, the lighting state of the eyeball unit, The posture of the robot 2 is included.

  As shown in FIG. 2, the dialogue control unit 345 images user-side scenario data out of the dialogue scenario information corresponding to the stay state acquired by the information acquisition unit 343 and outputs it to the display unit 35. The display unit 35 displays dialogue options (see FIG. 5) according to the imaged user-side scenario data output from the dialogue control unit 345. The data that the dialogue control unit 345 outputs to the display unit 35 is not limited to the user-side scenario data. When the user selects a menu, the food or drink image or video is output to the display unit 35. Also good. That is, not only information about words and characters used for dialogue, but also data that can be used for display, such as images and moving images, may be output to the display unit 35 as appropriate.

  In addition, the present invention is not limited to this, and sound may be output from the operation terminal 3 or the operation terminal 3 may be vibrated as necessary. In this case, the sound data, vibration data, and the like are output. You may do it. Further, when the robot 2 utters a sound, the sound uttered by the robot 2 may be output to the display unit 35 as characters.

  On the other hand, the user inputs a dialogue scenario selection signal indicating the selection result of the options to the scenario control unit 34 via the input unit 36 based on the dialogue options displayed on the display unit 35, as shown in FIG. .

  Then, the dialog control unit 345 selects the information acquisition unit 343 according to the selected option as described above in order to respond to the dialog option selected by the dialog scenario selection signal input from the input unit 36. The robot side scenario data thus output is output to the motion generation unit 32.

  As described above, in the first embodiment, the dialogue control unit 345 obtains information from the various scenario data stored in the scenario DB 33 according to the stay state determined based on the status data. Obtained from the unit 343 and output to the motion generation unit 32 and the display unit 35. Further, the dialogue control unit 345 selects, from the scenario DB 33, new robot-side scenario data that responds to the dialogue scenario selected by the dialogue scenario selection signal in accordance with the dialogue scenario selection signal input from the input unit 36. Then, the selected new robot-side scenario data is output to the motion generation unit 32 for speech. By repeating this process, it is possible to perform a dialogue between the user and the robot 2.

  In addition, prior to selecting scenario data with a time lag from reception of the dialogue scenario selection signal, the dialogue control unit 345 promptly selects the pre-operation data corresponding to the stay state from the scenario DB 33 and outputs it to the operation generation unit 32. To do. By repeating this process according to the change in the staying state, it is possible to perform a natural dialogue between the user and the robot 2 without any break suitable for the staying state.

  With the above configuration, it is possible to naturally perform a conversation with the robot 2 at a restaurant without a sense of incongruity.

  In the food service industry, the content of dialogue to be exchanged with the user greatly changes depending on the staying state of the user such as seating, ordering, provision of food and drink, end of meal, accounting, and the like. According to the first embodiment, since the dialogue can be performed using the dialogue scenario information of different scenario groups according to the status data, it is possible to further improve the feeling of dialogue with the robot 2 in the scene where the food service is provided. it can.

  Further, by making the content of the dialogue variable according to the accumulation state of the internal state parameters, it is possible to further improve the feeling of dialogue with the robot 2.

  Furthermore, since the user's utterance can be simulated by outputting the dialogue scenario selected by the user by voice, the feeling of dialogue with the robot 2 can be further improved.

  In addition, only the scenario ID, which is the identification information of the data main body, is stored in the scenario DB 33 among the robot side scenario data, and the data main body is stored on the robot 2 side. The scenario ID is transmitted from the 3 side to the robot 2 side, and the data body corresponding to the scenario ID is output by voice on the robot 2 side. In this case, the data transmission amount can be reduced compared to the case where the data body is transmitted from the operation terminal 3 to the robot 2, and the speed of dialogue can be improved.

(Operation example)
Next, a main operation example of the robot control system 1 of FIG. 1 will be described. FIG. 3 is a flowchart showing an operation example of the robot control system 1 according to the first embodiment. The flowchart of FIG. 3 is repeated as necessary.

  As shown in FIG. 3, first, the stay state determination unit 342 acquires status data from the handy terminal 4 via the reception unit 341 and the store system 5 (step S1).

  Here, FIG. 4 is a diagram illustrating a pre-operation process based on the stay state in the operation example of the robot control system 1 according to the first embodiment. FIG. 4 shows status data A1 to A5, stay states B1 to B4 determined based on the status data A1 to A5, and pre-operation data C1 to C4 used for the pre-operation in the stay states B1 to B4. They are shown in sequence order.

  In the example of FIG. 4, the stay state determination unit 342 includes first status data A1 indicating that the user has entered or seated, second status data A2 indicating that the user has ordered food and drink, and eating and drinking to the user. Third status data A3 indicating that an object has been provided, fourth status data A4 indicating that the user has finished eating or drinking, or fifth status data A5 indicating that the user has paid or left get.

  After acquiring the status data, as shown in FIG. 3, the stay state determination unit 342 determines the stay state of the user based on the acquired status data (step S2).

  In the example of FIG. 4, when the stay state determination unit 342 acquires the first status data A1, the current stay state of the user is from when the user enters the restaurant or sits down until the user places an order. It is judged that it is the 1st stay state B1 which is the state. When the second status data A2 is acquired, the stay state determination unit 342 is in a state where the current stay state of the user is waiting for the food and drink ordered by the user to be provided, that is, the order is placed. It is determined that the second stay state B2 is waiting for the provision of the object. When the third status data A3 is acquired, the staying state determination unit 342 indicates that the current staying state of the user is the state until the user completes the eating and drinking of the food, that is, the third staying state that is being eaten or consumed. It is determined that it is B3. When the fourth status data A4 is acquired, the staying state determination unit 342 is the fourth staying state B4 in which the current staying state of the user is a state from when the user completes eating and drinking until the user leaves the store. Judge. When the fifth status data A5 is acquired, the stay state determination unit 342 may return the stay state to the initial state, that is, the state before the user enters the store.

  After determining the stay state, as shown in FIG. 3, the information acquisition unit 343 determines whether or not the determined stay state has been changed (step S3). Here, the change in the stay state includes a change from the initial state before the user enters the store to the first stay state B1.

  When the staying state is changed (step S3: Yes), the information acquisition unit 343 selects a scenario group corresponding to the changed staying state from the scenario DB 33 (step S4). On the other hand, when the stay state has not been changed (step S3: No), the dialogue control unit 345 and the operation generation unit 32 execute a pre-operation process described later (step S7). Since the stay state is always changed from the initial state to the first stay state B1 immediately after the user enters the store, the determination result of step S3 is negative immediately after the user enters the store (step S3: No).

  After selecting the scenario group, the information acquisition unit 343 selects pre-operation data corresponding to the changed stay state from the scenario DB 33 (step S5). Note that the selection of the pre-operation data may be switched between the scenario group selection (step S4) and before or after the scenario group selection.

  In the example of FIG. 4, when the stay state is changed from the initial state to the first stay state B1, the information acquisition unit 343 obtains the first pre-operation data C1 used for the pre-operation in the first stay state B1. , Selected from the scenario DB 33. When the stay state is changed from the first stay state B1 to the second stay state B2, the information acquisition unit 343 uses the second pre-operation data C2 used for the pre-operation in the second stay state B2 as a scenario. Select from DB33. When the stay state is changed from the second stay state B2 to the third stay state B3, the information acquisition unit 343 uses the third pre-operation data C3 used for the pre-operation in the third stay state B3 as a scenario. Select from DB33. When the stay state is changed from the third stay state B3 to the fourth stay state B4, the information acquisition unit 343 uses the fourth pre-operation data C4 used for the pre-operation in the fourth stay state B4 as a scenario. Select from DB33.

  After the selection of the pre-operation data, as shown in FIG. 3, the information acquisition unit 343 responds to the progress of the dialogue by inputting the dialogue scenario selection signal from the input unit 36 from the scenario group selected in step S4. A scenario to be used at present is selected (step S6).

  After the scenario is selected, the dialogue control unit 345 and the action generation unit 32 execute a pre-action process using the selected pre-action data (Step S7). Specifically, the dialogue control unit 345 outputs the pre-operation data selected by the information acquisition unit 343 to the operation generation unit 32. The motion generation unit 32 generates a preliminary motion robot control command based on the preliminary motion data input from the dialogue control unit 345, and outputs the generated preliminary motion robot control command to the robot control unit 22. As a result, the robot 2 is caused to perform a pre-movement indicated by the pre-movement robot control command.

  After the pre-operation process, the dialogue control unit 345 and the action generation unit 32 execute the dialogue operation process using the selected scenario (step S8). Specifically, the dialogue control unit 345 outputs the robot side scenario data selected by the information acquisition unit 343 to the motion generation unit 32. The motion generation unit 32 generates a dialog control robot control command based on the robot-side scenario data input from the dialog control unit 345, and outputs the generated dialog control robot control command to the robot control unit 22. This causes the robot 2 to perform the interactive operation indicated by the interactive operation robot control command. In addition, the dialogue control unit 345 outputs the user-side scenario data that responds to the robot-side scenario data selected by the information acquisition unit 343 to the display unit 35, thereby displaying the scenario options that respond to the dialogue operation of the robot 2. Let

  FIG. 5 is a diagram illustrating an example of an interaction with a prior operation during a period from sitting to ordering in the operation example of the robot control system 1 according to the first embodiment. In the example of FIG. 5, the robot 2 responds to selection of a recommended menu (not shown) by the operation terminal 3 as an interactive operation in the first stay state B1. "Thank you!" At this time, the display unit 35 of the operation terminal 3 displays an option “of course!” And an option “change after all” as options for the dialogue in response to the speech operation of the robot 2. Among these options, in the example of FIG. 5, the option “Of course!” Is selected by pressing a touch panel, which is an example of the input unit 36.

  Then, in response to the selection of the option “Of course!”, The robot 2 performs a collaborative operation based only on the utterance operation “Yes” as the pre-operation by the pre-operation process based on the first pre-operation data C1. .

  As an interactive action in response to the operation of the operation terminal 3 following this competing action, the robot 2 said, “The recommended menu is a good choice because fresh vegetables and soft meat are seasoned with characteristic sauces. "Let's call a clerk and place an order!" Since this utterance operation is performed through a scenario selection process corresponding to the selection result “of course!” Of the user's option, there is a time lag from the selection of “of course!”.

  However, in the example of FIG. 5, since the mutual action “Yes” is performed between the selection of the choice “Of course!” And the utterance action in response to this, there is a time lag between the choice of the choice and the utterance action. Interpolated in a natural motion called a reciprocal connection between these dialogues. The user can enjoy a natural dialogue with the robot 2 between the time of sitting and ordering food and drink by performing such a dialogue operation with a mutual action. .

  Also, in the first stay state B1 before food and drinks are ordered, a dialogue that emphasizes the utterance and screen display of the robot 2 is performed so as not to be distracted by the movement of the robot 2 (ie, change in posture). It is preferable to proceed so that a desired order can be made promptly. According to the example of FIG. 5, as a pre-action according to the first stay state B1, by performing a companion operation including only the utterance operation among the utterance operation and the whispering operation, the advance operation suitable for the first stay state B1 is performed. The action can be performed.

  FIG. 6 is a diagram illustrating another example of the dialog with the preliminary operation during the period from the seating to the order in the operation example of the robot control system 1 according to the first embodiment. In the example of FIG. 6, the robot 2 performs an utterance operation “Thank you for selecting the recommended menu. Thank you!” As an interactive operation in the first stay state B1 as in the example of FIG. . At this time, the display unit 35 of the operation terminal 3 displays an option “of course!” And an option “change after all” as options for the dialogue in response to the speech operation of the robot 2. In the example of FIG. 6, among these options, unlike the example of FIG. 5, the option “change after all” is selected by pressing the touch panel, which is an example of the input unit 36.

  Then, in response to the selection of the option “change after all”, the robot 2 performs only the utterance operation “Yes” as the pre-operation by the pre-operation processing based on the first pre-operation data C1, as in the example of FIG. The mutual action by. As an interactive operation following this interaction operation, the robot 2 performs an utterance operation "Please select a menu again."

  In the example of FIG. 6, under the same first stay state B <b> 1 as in the example of FIG. 5, the same interaction operation as in the example of FIG. 5 is performed even though the selection result is different from the example of FIG. 5. Yes. That is, the dialogue control unit 345 causes the robot 2 to perform a preliminary operation including a common interaction operation according to the user's staying state, regardless of the selection result of the options. In this way, under the same stay state, by performing a common reconciliation operation regardless of the selection result of the option, the reciprocation operation can be performed more quickly than the utterance operation according to the operation terminal 3 that depends on the selection result of the option. It can be carried out. Accordingly, it is possible to reliably perform the preliminary operation prior to the interactive operation according to the operation of the operation terminal 3.

  FIG. 7A is a diagram illustrating an example of an interaction during a period from ordering to food provision in the operation example of the robot control system according to the first embodiment. FIG. 7B is a diagram showing an example of an interaction with a pre-operation following FIG. 7A.

  In the example of FIG. 7A, the robot 2 performs an utterance operation “Let's talk until a dish comes!” As an interactive operation in the second stay state B2. At this time, the display unit 35 of the operation terminal 3 displays an option “OK” and an option “STOP” as an option for the dialogue in response to the speech operation of the robot 2. Among these options, in the example of FIG. 7A, the option “OK” is selected by pressing a touch panel that is an example of the input unit 36.

  In the example of FIG. 7 (b) following FIG. 7 (a), the robot 2 performs a pre-operation based on the second pre-operation data C2 in response to the selection of the option “OK” in FIG. 7 (a). The utterance movement “Yeung” and the whispering movement are combined.

  As an interactive operation in response to the operation of the operation terminal 3 following this competing operation, the robot 2 performs an utterance operation “I will give you a quiz”. Since this utterance operation is performed through a scenario selection process according to the selection result “good” of the user, there is a time lag from the selection of the choice “good”.

  However, in the example of FIG. 7A and FIG. 7B, between the selection of the choice “OK” and the utterance operation in response thereto, the utterance operation “YUN” and the utterance operation are performed as the conflict operation. As a result, the time lag between the choice and the speech operation is interpolated by a natural operation of interaction between these dialogues. By performing such a dialogue operation with a conflicting operation, the user enjoys a natural dialogue with the robot 2 between the time the food is ordered and the food is provided. be able to

  In addition, in the second stay state B2 before food or drink is provided after ordering food or drink, the user has no particular need to do so, so the interest in the robot 2 is likely to increase more than before ordering food and drink. In such a second stay state B2, it is preferable for the user to be satisfied with the dialogue by advancing the dialogue with a rich expression that includes not only the utterance but also the movement of the robot 2. According to the example of FIG. 7 (b), the pre-operation adapted to the second stay state B2 by performing the companion operation by both the speech operation and the whisper operation as the pre-operation according to the second stay state B2. It can be performed.

  FIG. 8A is a diagram illustrating an example of a conversation during a period from provision of food and drink to termination of food and drink in the operation example of the robot control system 1 according to the first embodiment. FIG. 8B is a diagram showing an example of an interaction with a pre-operation following FIG.

  In the example of FIG. 8A, the robot 2 performs an utterance operation of “I will eat later because I am eating!” As the dialogue operation in the third stay state B3. At this time, the display unit 35 of the operation terminal 3 displays an option “OK” and an option “Yada” as options for the dialogue in response to the speech operation of the robot 2. Among these options, in the example of FIG. 8A, the option “OK” is selected by pressing a touch panel, which is an example of the input unit 36.

  In the example of FIG. 8B subsequent to FIG. 8A, the robot 2 operates as a preliminary motion based on the third preliminary motion data C3 in response to the selection of “OK” in FIG. 8A. A mutual operation is performed only by the operation.

  As an interactive operation in response to the operation of the operation terminal 3 following this interaction operation, the robot 2 takes a silent eating posture. The meal posture basically continues until eating and drinking ends and a scenario corresponding to the fourth stay state B4 is selected. In this way, the conversation does not proceed in principle during eating and drinking, but as shown in FIG. 8 (b), options that can be added to the menu are displayed in a selectable state on the display unit 35 even during eating and drinking. May be.

  In the third stay state B3 during eating and drinking, it is possible for the user to concentrate on eating and drinking so that the user does not get distracted by the content of the utterances of the robot 2 and cool down the delicious food. It is preferable in giving. According to the example of FIG. 8B, the preliminary operation conforming to the third stay state B3 can be performed by performing the companion operation using only the whirling operation as the pre-operation according to the third stay state B3. it can.

  After the dialogue operation process, as shown in FIG. 3, the dialogue control unit 345 determines whether or not the scenario used for the subsequent dialogue is changed based on the dialogue scenario selection signal from the input unit 36 (step S9). ).

  When changing the scenario (step S9: Yes), the information acquisition unit 343 selects a new scenario from the scenario group (step S6).

  When the scenario is not changed (step S9: No), the information acquisition unit 343 determines whether or not to end the dialogue based on the dialogue scenario selection signal from the input unit 36 (step S10).

  When it is determined that the dialogue is to be terminated (step S10: Yes), the dialogue control unit 345 terminates the dialogue. If it is determined not to end the dialogue (step S10: No), the processing after step S1 is repeated.

  As described above, according to the first embodiment, since it is possible to perform an interactive operation according to the operation of the operation terminal 3 on the premise of a pre-operation according to the stay state, the interaction with the robot 2 in the restaurant Can be performed naturally without a sense of incongruity in a mode suitable for the staying state.

  In addition, in FIGS. 6-9 (d), the example of the prior operation | movement containing the interaction operation | movement which changes according to a different stay state was demonstrated. On the other hand, the dialogue control unit 345 may perform a pre-operation including a reciprocal operation that changes according to the elapse of the stay time in the user's restaurant even in the same stay state. For example, under the same staying state, initially, both the speech operation and the whispering operation were performed, but as the time passed, the counseling operation was performed only by the whispering operation, You may slow down the speed. In this case, it is possible to cause the robot 2 to perform a more suitable pre-movement according to the time change in the same staying state.

(Second Embodiment)
Next, a description will be given of a second embodiment in which the robot performs an interactive operation based on a first operation and a second operation prior to the first operation.

  FIG. 9A is a diagram illustrating a display example of options in the operation example of the robot control system 1 according to the second embodiment. FIG. 9B is a diagram illustrating an example of the preliminary operation following FIG. 9A. FIG. 9C is a diagram illustrating an example of the second operation following FIG. 9B. FIG. 9D is a diagram illustrating an example of the first operation following FIG. 9C. Here, the first operation is an utterance operation of the robot 2 according to the operation of the operation terminal 3.

  In the second embodiment, the interactive operation according to the operation of the operation terminal 3 includes a first operation that the robot 2 speaks and a second operation that changes at least one of the posture and appearance of the robot 2 prior to the first operation. , Including. The dialogue control unit 345 causes the robot 2 to perform a pre-operation before the robot 2 starts the second operation. Specific examples will be described below.

  In the example of FIG. 9A, the robot 2 is performing an utterance operation “I will give a quiz.” As an interactive operation corresponding to the interactive operation process in the second stay state B2. The display unit 35 of the operation terminal 3 displays an option “FUN!” And an option “Yada” as options for dialogue in response to the speech operation of the robot 2. Among these options, in the example of FIG. 9A, the option “Fun!” Is selected by pressing a touch panel, which is an example of the input unit 36.

  In the example of FIG. 9 (b) following FIG. 9 (a), the robot 2 performs a pre-operation based on the second pre-operation data C2 in response to the selection of the option “fun” in FIG. 9 (a). The utterance movement “Yeung” and the whispering movement are combined.

  As an interactive operation in response to the operation of the operation terminal 3 following this competing operation, the robot 2 first turns on the eyeball as an example of the second operation as shown in FIG. 9C. Then, as an interactive operation following the lighting of the eyeball unit, the robot 2 performs an utterance operation “I am also looking forward to seeing the first question!” As an example of the first operation as shown in FIG. Is going.

  Since this utterance operation (first operation) is performed through a scenario selection process according to the selection result “fun!” Of the user's option, there is a time lag from lighting of the eyeball (second operation).

  However, in the example of FIG. 9A and FIG. 9B, the utterance operation “YUN” and the whispering operation are performed as the companion operation before the eyeball portion is lit, so the eyeball portion lighting and the utterance operation are performed. The uncomfortable feeling due to the time lag is alleviated by the mutual action. The user can enjoy a natural dialogue with the robot 2 without any sense of incongruity by performing the dialogue operation with such a mutual action.

(Third embodiment)
Next, a third embodiment in which the scenario DB 33 exists on the cloud will be described. FIG. 10 is a block diagram showing a robot control system 1 according to the third embodiment. In the embodiment described above, the scenario DB 33 is installed in the operation terminal 3. On the other hand, in the third embodiment, as shown in FIG. 10, the scenario DB 33 exists outside the operation terminal 3. The scenario control unit 34 is connected to the scenario DB 33 via the network 6.

  The scenario DB 33 may be provided in a predetermined server outside the operation terminal 3, or may be a database existing on a so-called cloud connected by the network 6 instead of a specific server. The network 6 and the operation terminal 3 or scenario DB 33 are connected via wired or wireless communication.

  According to the third embodiment, by having the scenario DB 33 outside the operation terminal 3 instead of inside the operation terminal 3, the capacity of the operation terminal 3 can be secured and the scenario data can be centrally managed. Become. Furthermore, by setting the scenario DB 33 on the cloud so that a specific number of editors can edit or add scenario data, it is possible to select more varied dialogue contents. It becomes possible.

(Fourth embodiment)
Next, a fourth embodiment in which main control functions are provided on the robot 2 side will be described. FIG. 11 is a block diagram showing a robot control system 1 according to the fourth embodiment. As illustrated in FIG. 11, the motion generation unit 32, the scenario control unit 34, and the scenario DB 33 may be provided in the robot 2 instead of the operation terminal 3. That is, the main control function may be provided not in the operation terminal 3 but in the robot 2. The operations of the operation generation unit 32 and the scenario control unit 34 are not significantly different from the operations in the above-described embodiment, and in this embodiment, a dialogue process with a pre-operation is executed according to the flowchart shown in FIG. Is done.

  According to the fourth embodiment, the configuration of the operation terminal 3 can be simplified, and the communication fee transmitted from the operation terminal 3 to the robot 2 can be reduced. Therefore, the communication line between the operation terminal 3 and the robot 2 Even when the performance of the robot is low, it is possible to perform a dialogue with the robot 2 without any trouble. The motion generation unit 32 may be provided outside the operation terminal 3 and the robot 2. For example, the motion generation unit 32 may be built in the store system 5 or provided in a communication device separate from the store system 5. May be.

  The aspect of the present invention is not limited to the individual embodiments described above, and includes various modifications that can be conceived by those skilled in the art, and the effects of the present invention are not limited to the contents described above. That is, various additions, modifications, and partial deletions can be made without departing from the concept and spirit of the present invention derived from the contents defined in the claims and equivalents thereof.

  1 Robot control system, 2 Robot, 22 Robot control unit, 3 Operation terminal, 34 Scenario control unit

Claims (12)

A robot that operates in response to a command signal to interact with a customer who has visited a restaurant;
An operation terminal for generating the command signal for operating the robot;
A stay state determination unit for determining a stay state of the customer in the restaurant;
An operation control unit for causing the robot to perform a preliminary operation based on the stay state of the customer determined by the stay state determination unit before causing the robot to perform an operation according to the operation of the operation terminal. A robot control system.   The robot control system according to claim 1, wherein the operation control unit causes the robot to perform the preliminary operation before the robot can execute an operation according to an operation of the operation terminal. The operation according to the operation of the operation terminal includes a dialogue operation according to the operation of the operation terminal,
The robot control system according to claim 1, wherein the pre-operation includes a predetermined dialogue operation performed by the robot based on a stay state of the customer. The command signal is generated based on options for dialogue based on dialogue scenario information selected by a customer visiting the restaurant operating the operation terminal,
The operation according to the operation of the operation terminal includes a dialogue operation performed by the robot as a dialogue scenario based on the selected option progresses,
4. The robot control system according to claim 1, wherein the pre-operation includes a reciprocal operation that connects until the robot starts an interactive operation according to an operation of the operation terminal. 5. The interactive operation includes an operation in which the robot speaks in response to an operation of the operation terminal,
The robot control system according to claim 4, wherein the interaction operation includes an operation in which the robot performs a predetermined utterance.   The robot control system according to any one of claims 1 to 5, wherein the preliminary operation includes an operation of changing at least one of a posture and an appearance of the robot.   The robot control system according to any one of claims 3 to 5, wherein the interactive operation includes an interactive operation related to menu selection of food and drink with a customer who has visited the restaurant.   The robot control system according to claim 4 or 5, wherein the operation control unit causes the robot to perform the preliminary operation including a common interaction operation according to a staying state of the customer regardless of a selection result of the option. .   The robot according to any one of claims 3 to 7, wherein the operation control unit causes the preliminary operation including the interaction operation to change according to the elapse of a staying time of the customer in the restaurant. Control system. The action according to the operation of the operation terminal includes a first action that the robot speaks and a second action that changes at least one of the posture and appearance of the robot prior to the first action.
The robot control system according to any one of claims 1 to 9, wherein the preliminary operation is performed before the robot starts the second operation.   The robot control system according to claim 1, wherein the motion control unit is provided inside the robot or the operation terminal. A robot control device that transmits the command signal to a robot that performs an operation according to the command signal in order to interact with a customer who has visited the restaurant,
The staying state of the customer in the restaurant is determined, and before the robot performs an operation according to the operation of the operation terminal for operating the robot, the preliminary operation based on the determined staying state of the customer is performed. A robot control device having an operation control unit to be performed by a robot.

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