JP2018161710A - Dialogue control device and robot control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a dialogue control device and a robot control system which can have a dialogue at an appropriate timing with a customer.SOLUTION: A robot control system includes a robot which performs movement in response to a command signal, and an operation terminal which generates the command signal and transmits to the robot. The operation terminal includes: a stay state determination part which determines a stay state in a restaurant of a customer visiting a restaurant based on information from a store system; an information acquisition part which acquires dialogue scenario information in response to the stay state of the customer determined by the stay state determination part; a dialogue control part which has a dialogue with the customer based on the dialogue scenario information acquired by the information acquisition part; and a dialogue restriction part which restricts the dialogue with the customer, which is carried out by the dialogue control part, based on the stay state determined by the stay state determination part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a dialog control device and a robot control system.

  In recent years, there are cases where humanoid robots are used as a guide 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 conversation with a robot via an operation terminal, or guide information. Can be obtained.

  Specifically, a service is conceivable in which the user can interact directly or indirectly with a robot installed at a table seat. In this case, customer satisfaction can be improved by presenting a recommended menu or chatting.

Japanese Patent Laying-Open No. 2015-66623

  However, even if such a service is provided, if the dialogue is not appropriate for the current situation, the dialogue will be inconsequential, and on the contrary, it may reduce customer satisfaction. For example, when a parent or child enters a restaurant, the parent generally wants the child to enjoy a meal while eating, and operates a tablet or interacts with the robot during the meal. Many do not want to do.

  Therefore, the present invention provides a dialog control device and a robot control system that can perform a dialog with a customer at an appropriate timing.

  The dialogue control device according to an embodiment determines a stay state of the customer who entered the restaurant in the restaurant, and a stay state determination unit that determines the stay state of the customer determined by the stay state determination unit. Based on the dialog scenario information acquired by the information acquisition unit and the information acquisition unit, the dialog control unit that performs dialog with the customer, and the stay state determination unit determine A dialogue limiting unit that limits dialogue with the customer performed by the dialogue control unit based on the stay state.

  The dialogue restriction unit may restrict a dialogue with the customer performed by the dialogue control unit when the stay state judging unit determines that the stay state is a specific stay state.

  When the stay state determining unit determines that the stay state determining unit has transitioned from the specific stay state to another stay state, the dialog limit unit may cancel the dialog limit with the customer. When the dialogue restriction with the customer by the dialogue restriction unit is released, the dialogue with the customer is conducted based on the dialogue scenario information obtained from the information obtaining unit according to the other stay state. Also good.

  The dialogue control unit may perform a predetermined utterance while the dialogue with the customer is restricted by the dialogue restriction unit.

  The dialogue control unit may stop the dialogue with the customer after performing the predetermined utterance while the dialogue restriction unit restricts the dialogue with the customer.

  While the dialogue with the customer is restricted by the dialogue restriction unit and during the period when the dialogue with the customer is stopped, at least one of the appearance and posture of the robot that performs the dialogue with the customer is You may provide the drive control part controlled to a specific state.

  The specific staying state may include a state where the customer is eating or drinking.

  The stay state of the customer determined by the stay state determination unit may be a state that changes over time.

  The stay state of the customer determined by the stay state determination unit includes a state from when the customer enters or sits in the restaurant until an order for food and drink, and food and drink ordered by the customer. At least one of a state waiting to be done, a state until the customer completes eating and drinking of food and drink, and a state until the customer leaves the restaurant after completing eating and drinking of food and drink The state may be included.

  A robot control system according to an embodiment includes a robot that performs an operation according to an instruction signal, and an operation terminal that generates the instruction signal and transmits the instruction signal to the robot. Based on the information, a stay state determination unit that determines a stay state of the customer who entered the restaurant in the restaurant, and a dialogue scenario according to the stay state of the customer determined by the stay state determination unit An information acquisition unit that acquires information; a dialog control unit that performs a dialog with the customer based on the dialog scenario information acquired by the information acquisition unit; and a stay state determined by the stay state determination unit And a dialogue restriction unit for restricting the dialogue with the customer performed by the dialogue control unit.

  According to the present invention, it is possible to perform a dialogue with a customer at an appropriate timing.

The block diagram which shows an example of the robot control system which concerns on one Embodiment. The block diagram which shows an example of the scenario control part which concerns on one Embodiment. The figure which shows the process of the scenario control in the dialog control which concerns on one Embodiment. The flowchart which shows the flow of the process of the dialog control which concerns on one Embodiment, and a dialog restriction | limiting. The figure which shows an example of the dialogue which concerns on one Embodiment. The figure which shows an example of the dialog of menu provision which concerns on one Embodiment. The figure which shows an example of the dialog of menu provision which concerns on one Embodiment. The figure which shows an example of the restriction | limiting of the dialog which concerns on one Embodiment. The figure which shows an example of the restriction | limiting of the dialog which concerns on one Embodiment. The figure which shows an example of the restriction | limiting of the dialog which concerns on one Embodiment. The figure which shows an example of the restriction | limiting of the dialog which concerns on one Embodiment. The block diagram which shows another example of the scenario control part which concerns on one Embodiment. The figure which shows another example of the robot control system which concerns on one Embodiment. The figure which shows another example of the robot control system which concerns on one Embodiment. The figure which shows another example of the robot control system which concerns on one Embodiment.

  Hereinafter, the configuration and operation of the interactive system according to the 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 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.

  FIG. 1 is a block diagram showing a robot control system 1 according to an embodiment of the present invention. As shown in FIG. 1, the robot control system 1 includes a robot 2, an operation terminal 3 which is an example of a dialogue control device, a handy terminal 4, and a store management device 5 such as a POS (Point Of Sales) system. Prepare. The robot control system 1 is, for example, a system for a restaurant customer (hereinafter referred to as a user) to interact with the robot 2 via the operation terminal 3 that operates the robot 2. The handy terminal 4 is, for example, an order terminal possessed by a store staff, and the store staff transmits an order to the store management apparatus 5 through the handy terminal 4 when receiving an order from a user.

  The robot 2 in FIG. 1 is a machine having a human-like appearance and interactive function, that is, a humanoid. The robot 2 may have an appearance that is not similar 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.

(Robot 2)
As illustrated 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 may be driven by electric power supplied from a commercial power source, or may be driven by a battery such as a battery.

  The robot drive unit 21 includes a voice output device that outputs the speech voice of the robot 2. By driving the robot drive unit 21 as necessary, the robot 2 can speak to perform a dialogue with the user. 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. In addition, the robot drive unit 21 may include an actuator that drives a portion of the robot 2 having a degree of freedom, a lighting device that lights the eyeball unit of the robot 2, and the like.

  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 above-described drive control signal 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. Note that the command for causing the robot 2 to speak includes data indicating the content of the utterance (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 a dialog control device carried by the user, 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 that is an example of a sensor, and an operation generation unit 32 that is an example of a command signal generation unit and a transmission unit. The operation terminal 3 is driven by electric power supplied from the built-in battery. Note that the dialogue control may include control of the operation of the robot performed together with the dialogue or instead of the dialogue. That is, the operation terminal 3 can also operate as a robot control device.

  The orientation sensor 31 outputs an orientation detection signal indicating the orientation of the operation terminal 3 to the motion generation unit 32. The direction sensor 31 outputs a direction detection signal indicating the detected direction of the operation terminal 3 to the operation generation unit 32. The operation generation unit 32, for example, a direction in which the operation terminal 3 exists based on the direction detection signal. A robot control command for controlling the posture of the robot 2 is generated so as to face.

  The motion generation unit 32 generates a robot control command for controlling the motion of the robot 2. The motion generation unit 32 transmits the generated robot control command to the robot control unit 22 via wireless communication such as Wi-Fi, 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 controlling the operation of the robot 2. Do.

  The operation of the robot 2 includes an interactive operation in which a conversation with the user is performed using voice. As a configuration for performing a dialogue between the user and the robot 2, the operation terminal 3 includes a scenario DB (database) 33, a scenario control unit 34, and a display unit 35 in addition to the motion generation unit 32 described above. And an input unit 36 such as a touch panel, and an audio output unit 37.

  The scenario DB 33 is a scenario storage unit, and stores a plurality of different dialog scenario information for performing a dialog 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 user who has entered a restaurant changes a plurality of staying states between entering the restaurant and leaving the store. Therefore, a separate dialogue scenario is accumulated in the scenario DB 33 for each transition state. Further, when a customer selects a specific option from among a plurality of options while the dialog scenario executed in a certain staying 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.

  Each of the dialogue scenario options shown in the user-side scenario data has a tree structure in which new (lower) robot-side scenario data and user-side scenario data different from each other 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, for example, a basic scenario used for typical dialogue, and other nodes are managed as correction scenarios for correcting the basic scenario. It may be.

  For example, the dialogue scenario data for a restaurant may be divided into a plurality of scenario groups according to status data indicating the stay information of the user at the restaurant. The status data is data including the user's action in which the staying state of the user is changed. For example, the status data is information transmitted from the handy terminal 4 by the store staff. The status data in the example of FIG. 1 is information indicating that the user has performed the following actions: sitting, ordering, food and drink provision, meal termination, and accounting. The dialogue scenario data is provided from the scenario group classified by these status data.

  The scenario control unit 34 controls the scenario based on the staying state of the user. FIG. 2 is a block diagram illustrating a configuration of the scenario control unit 34 of the operation terminal 3. As shown in FIG. 2, the scenario control unit 34 includes a reception unit 341, a stay state determination unit 342, an information acquisition unit 343, a dialogue control unit 345, and a dialogue restriction unit 346. In FIG. 2, the orientation sensor 31 and the audio output unit 37 in the operation terminal 3 shown in FIG. 1 are omitted for simplicity.

  For example, the reception unit 341 of the operation terminal 3 receives information including status data output from the store management device 5. The status data can be input, for example, at the handy terminal 4 for ordering carried by the store staff of the restaurant. This status data is transmitted from the handy terminal 4 to the store management device 5 and transmitted 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 management device 5.

  For example, the store staff, the timing when the user is guided to the seat, the timing when an order is received from the user, the timing when food is provided to the user, the timing when the user confirms that the user has completed eating and drinking, and the user accounts The status data corresponding to each case is input from the handy terminal 4 at the timing when the intention is indicated. Note that, at the timing when an order is received from the user, it may be replaced with the input of status data when the order is confirmed.

  Stay state determination unit 342 determines the stay state of the user based on the received status data. For example, when the status data indicating that the user is seated in the seat is received, the stay state determination unit 342 determines that the stay state of the user is the stay state before sitting and placing an order. This staying state is an index indicating the state of the user that changes over time.

  The information acquisition unit 343 acquires dialogue scenario information corresponding to the stay state determined by the stay state determination unit 342 from the scenario DB 33. The dialogue scenario information refers to information on a scenario group that changes depending on the stay state, or individual scenario data included in the scenario group. There may be no scenario group, and the dialogue scenario information may be composed of data of a plurality of dialogue scenarios.

  The 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 the state before ordering, the scenario group includes scenario data that presents a menu according to each time, and the content of the conversation and the way the conversation changes depending on the number of adults and children Data and other scenario data according to various situations are included. Moreover, even in the same staying state, a plurality of dialogue scenario data that can be selected according to the operation of the operation terminal 3 may be provided.

  The information acquisition unit 343 may acquire scenario data to be interacted according to the stay state of the user determined by the stay state determination unit 342, or after the information acquisition unit 343 acquires the scenario group, the scenario You may make it select and output the scenario data used for a dialog from a group. The information acquisition unit 343 or the dialogue control unit 345 may select the scenario data used for the dialogue from the scenario group.

  The dialogue control unit 345 outputs information including scenario data used for the dialogue acquired according to the staying status of the user to the action generation unit 32. Further, the dialogue control unit 345 may output data used for the dialogue to the display unit 35 of the operation terminal 3 if necessary. The data used for the dialogue output to the display unit 35 is basically user side scenario data information used for responding to the robot side scenario data.

  Note that the data output by the dialogue control unit 345 is not limited to the user-side scenario data, and when the user selects a menu, an image or video of food or drink may be output to the display unit 35. . 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 makes an arbitrary selection at the input unit 36 from the options displayed on the display unit 35 based on the user-side scenario data displayed on the display unit 35.

  Then, the dialogue control unit 345 outputs the robot side scenario data for responding to the data selected by the user to the display unit 35 and the motion generation unit 32. At this time, the user's selection may be output as audio information from the operation terminal 3 via the audio output unit 37. Thus, the dialogue between the user and the robot 2 is repeatedly performed by the dialogue control unit 345.

  The dialogue restriction unit 346 restricts the dialogue operation based on the stay state at the timing when the dialogue control unit 345 performs the dialogue operation according to the scenario data acquired by the information acquisition unit 343. For example, in general, it is often considered that it is not desirable to have a conversation through the operation terminal 3 so that the user can concentrate on eating and drinking during a meal. In such a staying state, the dialogue operation on the robot 2 side performed by the dialogue control unit 345 for the dialogue from the user is restricted, thereby restricting the dialogue operation between the user and the robot 2. As described above, when the stay state determination unit 342 determines that the stay state is a specific stay state, the dialog limit unit 346 limits the dialog operation performed by the dialog control unit 345.

  In addition, the dialogue restriction unit 346 cancels the dialogue restriction processing at a timing when the stay state where the dialogue is restricted is changed to a different stay state depending on the stay state determined by the stay state determination unit 342. By canceling the restriction of the dialogue, the dialogue control unit 345 resumes the dialogue operation between the user and the robot 2 based on the scenario data acquired by the information acquisition unit 343. In this way, the dialogue operation is limited in a specific stay state, and when the stay state transitions from the specific stay state, the dialogue operation is resumed.

  In order to perform such an operation, the dialogue restriction unit 346 is provided between the display unit 35 and the operation generation unit 32 and the dialogue control unit 345. That is, the dialogue control unit 345 receives user input from the input unit 36 and outputs robot-side scenario data as an answer via the dialogue restriction unit 346. Along with these processes, the dialogue control unit 345 transmits the current stay state to the dialogue restriction unit 346. The stay state may be transmitted only once when the stay state is updated, and thereafter, the stay state may not be transmitted unless the stay state is updated. In this case, you may make it memorize | store the present stay state in the dialogue restriction | limiting part 346. FIG.

  In the stay state where the dialogue is restricted, the dialogue restriction unit 346 restricts the user-side scenario data displayed on the display unit 35 and the robot-side scenario data output to the motion generation unit 32. The dialogue between the user and the robot 2 is restricted.

  In the stay state in which the dialogue does not need to be restricted, the dialogue restriction unit 346 does not particularly restrict the scenario data output from the dialogue control unit 345, and the display unit 35 and the action generation unit 32 as normal scenario data. To output. Then, the display unit 35 and the operation generation unit 32 to which the scenario data is input execute an interactive operation according to the scenario data acquired by the information acquisition unit 343.

  With the above configuration, a dialogue can be performed between the user and the robot 2 using the dialogue scenario data. Furthermore, in the stay state where the restriction is given, it is possible to appropriately restrict the dialogue.

(Store management device)
The store management device 5 is a device that collectively manages other devices in the store such as the robot 2, the operation terminal 3, the handy terminal 4, and the POS terminal that exist in the store.

  The store management device 5 includes a transmission unit, and transmits necessary information to each device in the store. The necessary data is, for example, status data for determining the stay state in the stay state determination unit 342 of the scenario control unit 34.

  Further, the store management device 5 includes a receiving unit, and receives necessary information from each device in the store. The necessary information is, for example, status data transmitted from the handy terminal 4, accounting data transmitted from the POS terminal, or the like. Further, a database for storing data used for transmission / reception may be provided in the store management device 5.

  Furthermore, the store management device 5 may perform processing related to other stores. For example, when an order is received from the user via the handy terminal 4, the order of the user can be transmitted to the staff who cooks food and drink by transmitting the order to the kitchen. Furthermore, by associating the order information from the user with the user, when the user leaves the store, it becomes possible to perform accounting processing based on the food and drink ordered by each user at the POS terminal.

(Stay status)
FIG. 3 is a diagram schematically showing a state of processing from dialogue between the robot 2 and the user to selection of scenario data together with a time series. In FIG. 3, solid arrows indicate data and signal input / output, and broken arrows indicate the passage of time. As described above and as shown in FIG. 3, the process up to scenario data selection is executed by the store management device 5, the scenario DB 33, and the scenario control unit 34.

  The transition of the stay state and the scenario group will be described with reference to FIG. First, the first information that the user has entered the handy terminal 4 or the second information that the user has been seated is input as status data to the handy terminal 4 by the operation of the store staff. This status data is transmitted to the operation terminal 3 via the store management device 5. When this status data is input, stay state determination unit 342 initializes the stay state of the user, and stay state P1 is a state from when the user enters the restaurant or sits down and places an order. Judge that there is. The stay state determination unit 342 notifies the information acquisition unit 343 that the stay state of the user is the stay state P1.

  The information acquisition unit 343 acquires scenario data belonging to the scenario group 1 corresponding to the stay state P1 from the scenario DB 33, and performs dialogue with the user.

  A state in which the food and drink that the user wants to order is determined, and the user waits for the food and drink ordered by the user to be provided by inputting the order from the handy terminal 4 possessed by the store staff, in the stay state P1 It shifts to the stay state P2 which is. The information acquisition unit 343 acquires scenario data belonging to the scenario group suitable for the stay state P2 from the scenario DB 33, and the dialogue control unit 345 utters a dialogue based on the scenario information to the robot 2 via the motion generation unit 32. To control.

  For example, the stay state includes a state until the user completes eating and drinking of the food and drink, a state until the user leaves the restaurant after completing the eating and drinking of the food and drink, and the user enjoys the conversation after the meal. A state such as a state, a state in which a user orders dessert may be provided.

  A scenario group is selected according to each of the above stay states, and a dialogue between the user and the robot 2 is performed. When the stay state determination unit 342 determines that the user's stay state has changed, the information acquisition unit 343 selects a scenario group based on the changed stay state and acquires scenario data belonging to the scenario group. . In this way, the dialogue between the user and the robot 2 is appropriately performed based on the staying state.

  Further, in the stay state where there is a dialogue restriction, as described above, the user side scenario data output to the display unit 35 by the dialogue restriction unit 346 and the robot side scenario data output to the motion generation unit 32. By restricting to, it is possible to appropriately restrict the interactive operation.

  Specifically, scenario data belonging to the scenario group 1 is acquired in a staying state from when the user enters the restaurant or sits down and decides the food to order. Similarly, for example, if the staying state is waiting for the food and drink ordered by the user to be provided, the scenario from the scenario group 2 is the scenario until the user completes the eating and drinking of the food and drink. If the staying state is from the group 3 until the user leaves the store after completing the eating and drinking of the food and drink, the scenario data is acquired from the scenario group 4. In addition, the dialogue restriction corresponding to each stay state is performed by the dialogue restriction unit 346.

  Thus, the user's staying state changes with the passage of time. This change in stay state is changed by status data input to the handy terminal 4 possessed by the store staff, and even if the stay state determining unit 342 determines based on the dialogue between the user and the robot 2. Good. As another example, depending on the staying state, the transition to the next staying state may be made when a predetermined time has elapsed.

  Note that the correspondence between these scenario groups and stay states is shown as an example. Other stay states and scenario groups may be added, and the stay states described above may be omitted or combined. Also good.

(Operation example)
Next, the process flow described above will be described with reference to the drawings. FIG. 4 is a flowchart showing a flow of processing for restricting dialogue according to the present embodiment.

  First, when the store staff inputs status data using the handy terminal 4, the operation terminal 3 acquires the status data via the store management device 5 and the receiving unit 341 (step S10). For example, the operation terminal 3 acquires status data indicating that the user is seated.

  Next, the stay state determination unit 342 determines the stay state based on the received status data (step S11). The stay state determination unit 342 determines, for example, that the stay state is a stay state in which the user has been seated and has not yet placed an order based on status data indicating that the user has been seated.

  Next, the information acquisition unit 343 selects a scenario group corresponding to the stay state determined by the stay state determination unit 342, and acquires scenario data belonging to the scenario group (step S12). The information acquisition unit 343 acquires, for example, scenario data belonging to the scenario group 1 in FIG.

  Next, the dialogue control unit 345 outputs the scenario data to the motion generation unit 32 and the display unit 35 via the dialogue restriction unit 346. At this timing, the dialogue control unit 345 determines whether or not the stay state is the dialogue restriction state. (Step S13). For example, when the staying state is a staying state in which the user is seated and has not yet placed an order, the dialogue limiting unit 346 determines that there is no particularly restricting interactive operation (step S13: NO).

  When the restriction is not given to the dialogue operation, the dialogue control unit 345 performs a normal dialogue operation based on the scenario data acquired by the information acquisition unit 343, that is, the normal scenario (step S14). As described above, when there is no dialogue operation to be restricted in the staying state, an unlimited dialogue is performed between the user and the robot 2 by using the scenario data stored in the scenario DB 33.

  FIG. 5 is a diagram illustrating an example of the dialogue in the stay state P1 in the robot control system 1 according to the present embodiment. In the scenario in FIG. 5, there are no particular interactive actions to be restricted. When the user selects “Tell me a recommended menu!” Displayed on the display unit 35 in response to the utterance “What to order?” By the robot 2, a recommended menu is displayed as shown in FIG. The robot 2 makes a speech about the explanation of the recommended menu. When “view menu” is selected, the screen changes to a normal menu screen, and the robot 2 may explain the food or drink selected by the user.

  On the other hand, when the staying state is the staying state P1 in which the user is seated and has not yet placed an order, it is also conceivable that the dialogue other than the dialogue concerning the menu is restricted. For example, in the staying state until the order is confirmed, a restriction can be given so that the game cannot be played. In such a case, a dialogue that restricts the stay state is set.

  That is, when there is a dialogue to be restricted in the stay state notified from the dialogue control unit 345 (step S13: YES), the dialogue restriction unit 346 shifts to a mode for restricting the dialogue (step S15).

  Then, by the input of the input unit 36 input via the dialogue control unit 345, the dialogue restriction unit 346 restricts the dialogue operation when a predetermined case is applied (step S15). Then, according to the dialogue scenario based on the dialogue operation given the restriction, that is, the restriction scenario, the action generation unit 32 generates an action signal, and the robot 2 performs the restricted dialogue action (step S16).

  FIG. 7 is a diagram illustrating an example of a dialogue when the dialogue is limited. In addition to the example described above, an option “I want to play a game” is added to the display unit 35 so that the user can also select the option. For example, in the staying state P1, when the game is prohibited, when the user selects the option “I want to play a game”, the robot 2 speaks “... As a result, the interactive operation is restricted and it is urged to place an order first.

  This restriction on the interactive operation is released when, for example, the stay state is updated, that is, when status data is received via the handy terminal 4 so that the stay state is updated. By doing so, for example, in the case of a user with a parent and child, it is possible to limit so that the child cannot play a game using the operation terminal 3 until the order is confirmed.

  Further, whether or not to give this restriction may be determined based on data such as whether or not there is a child. For example, in the case of a group having no children, the game may be shifted to an operation even before placing an order. In this case, the store staff inputs the number of adults and children in advance to the handy terminal, and based on the input data, the dialogue restriction unit 346 determines whether or not to give a restriction in the stay state P1. It may be. By doing in this way, it is possible to restrict the dialogue by the dialogue restriction unit 346, even though the same scenario data is used without the information obtaining unit 343 obtaining different scenario data from the scenario DB 33. To do.

  Another example will be described. In the following description, the stay state is described as the stay state P3 that is a state until the user completes the eating and drinking of the food and drink.

  FIG. 8 is a diagram illustrating an example of the conversation in the stay state P3. Hereinafter, in FIG. 8 to FIG. 10, it is assumed that a silent scenario, that is, scenario data in which the robot 2 does not speak is selected as the robot-side scenario data in the stay state P3. The silent scenario is provided from the consideration that the user wants to enjoy eating and drinking rather than having the user interact with the robot 2, for example.

  In FIG. 8, it is assumed that the user selects the option “Let's talk!” Displayed on the display unit 35. The dialogue restriction unit 346 that is notified of the selection “Let's talk!” Via the dialogue control unit 345, even if scenario data to be uttered is selected in the scenario data on the robot side that responds to this selection, Subsequently, the motion generation unit 32 is notified so as not to speak. By doing in this way, even if a user makes the said selection, the robot 2 will be in the state which does not utter continuously.

  FIG. 9 is a diagram illustrating another example of the dialogue in the stay state P3. In FIG. 9, it is assumed that the user selects the option “Let's talk!”. The dialogue restriction unit 346 notified of the selection via the dialogue control unit 345, whatever the robot-side dialogue scenario is, “Let's talk when the meal is over because Robo is currently eating” Is notified to the action generation unit 32. In accordance with this notification, the motion generation unit 32 causes the robot 2 to perform an utterance motion “Robo is also ...”. At this timing, the robot 2 may be caused to move its hand toward the mouth as if eating. The interaction restriction unit 346 may notify the operation generation unit 32 of the operation of moving the hand as a restriction operation.

  FIG. 10 is a diagram illustrating still another example of the dialogue in the stay state P3. In FIG. 10, it is assumed that the user selects the option “Let's talk!”. The dialogue restriction unit 346 notified of the selection via the dialogue control unit 345 generates a motion so that the robot 2 pretends to sleep even if scenario data that utters something is selected in the scenario data on the robot side. The restriction operation is notified to the unit 32. The robot 2 that has received this notification performs, for example, the action of sleeping by lowering both hands, closing the eyes, and applying a predetermined angle rotation operation to the front lower side. As described above, the motion generation unit 32 may be notified so that the movement of the eyes or the movement of the face is changed as the restriction operation.

  FIG. 11 is a diagram showing still another example of the dialogue in the stay state P3. In FIG. 11, it is assumed that the user selects the option “show menu”. The dialogue restriction unit 346 notified of the selection via the dialogue control unit 345 notifies the operation generation unit 32 of the dialogue operation based on the menu data presented in the stay state P3 acquired in advance by the information acquisition unit 343. . For example, the robot 2 speaks, "See the meal menu? See the dessert menu?" In this case, for example, options such as “meal menu” and “dessert menu” are displayed from the dialogue control unit 345 via the dialogue restriction unit 346. Such a scenario may be stored in the dialogue restriction unit 346, and the dialogue restriction unit 346 may output it according to the situation as appropriate. In addition, when the dialogue continues as in the example of FIG. 11, appropriate scenario data may be acquired from the scenario DB 33 by notifying the information acquisition unit 343 from the dialogue restriction unit 346. .

  As described above, when restricting the dialogue, the dialogue restriction unit 346 outputs not only a predetermined dialogue including silence but also movements of hands, eyes, face, etc., as a restriction operation, that is, the robot 2 At least one of the external appearance and the posture may be controlled to a specific state, or the information acquisition unit 343 may be requested to acquire appropriate scenario data. In addition, about the stay state at the time of performing the restriction | limiting operation | movement and restriction | limiting operation | movement mentioned above, it showed as an example, You may make it set a restriction | limiting action also in another stay state.

  As described above, according to the present embodiment, it is possible to limit the scenario operation of the user and the robot 2 depending on the staying state with respect to the dialogue between the user and the robot 2. In particular, when a user includes a child, it is possible to smooth the operation of the store by not playing until the order is decided, or by not operating the operation terminal 3 during the meal. In addition, the user can enjoy a meal. Further, when the user is accompanied by a parent and child, it is possible to concentrate on the meal during the child's meal, and the satisfaction of the user can be improved.

  This limitation of operation is especially true when scenario data cannot be easily edited, or when there are various types of scenario data depending on specific stay conditions. This is effective when it is difficult to edit scenario data, or when it is difficult to secure an area for storing the various scenario data and scenario data obtained by editing them little by little.

(First modification)
FIG. 12 is a diagram illustrating another example of the scenario control unit 34 of the operation terminal 3. As shown in FIG. 12, the dialogue restriction unit 346 may be provided between the information acquisition unit 343 and the dialogue control unit 345. The input unit 36 may be connected to the dialogue restriction unit 346, and the motion generation unit 32 and the display unit 35 may be connected to the dialogue control unit 345.

  In the above-described embodiment, the dialogue restriction unit 346 restricts the scenario data received from the dialogue control unit 345 and outputs the restricted scenario data to the action generation unit 32 and the display unit 35. However, as in the present modification example. Alternatively, the dialogue restriction unit 346 and the information acquisition unit 343 may be connected, converted into a dialogue scenario restricted by the dialogue restriction unit 346, and scenario data may be output to the dialogue control unit 345.

  By doing so, for example, when there is no response to the input from the user as in the example in FIG. 8, the dialogue limiting unit 346 receives the signal “Let's talk!” From the input unit 36. However, this can be realized by not transmitting this signal to the dialogue control unit 345.

  Further, the connection method of the dialogue restriction unit 346 is not limited to the one shown in FIGS. For example, in FIG. 2, the input unit 36 may also be connected to the dialogue restriction unit 346, and in FIG. 12, the input unit 36 may also be connected to the dialogue control unit 345. These connection methods may be implemented by a preferable connection method so that a developer can easily assemble a program when executed by a program, or by a connection method considering a data flow and a processing flow. Also good.

(Second modification)
In the embodiment and the modification described above, the robot control system 1 includes the operation terminal 3, but is not limited thereto. For example, the operation terminal 3 is not provided, and a dialogue operation between the user and the robot 2 may be performed by voice. FIG. 13 is a block diagram showing the configuration of the robot control system 1 according to this modification.

  As shown in FIG. 13, in the robot control system 1 according to this modification, the robot 2 includes a robot drive unit 21, a robot control unit 22, an action generation unit 32, a scenario DB 33, a scenario control unit 34, Furthermore, a voice recognition unit 23 is provided. The robot drive unit 21 and the robot control unit 22 are the same as in the above-described embodiment, and the motion generation unit 32 and the scenario DB 33 are moved to the robot 2 instead of omitting the operation terminal 3.

  When receiving the voice from the user, the voice recognition unit 23 converts the received voice into a signal using a voice recognition method, and converts the converted signal data into user-side scenario data. As a speech recognition method, an acoustic model such as a hidden Markov model may be used, or a language model such as a context free grammar may be used. The speech recognition method is not limited to these, and any method may be used as long as speech can be appropriately converted into character string data or data that can be processed by a computer. Although not shown, an input device such as a microphone may be provided in order to distinguish surrounding noise and the like from the user's voice.

  The voice recognition unit 23 extracts user-side scenario data using the converted character string data after the user's voice is converted into character string data. The extracted user side scenario data is transmitted to the scenario control unit 34. The scenario control unit 34 in FIG. 11 is the same as the scenario control unit 34 shown in FIG. 2 or 12, and the stay state determination unit 342 is provided in the scenario control unit 34. The subsequent processing is the same as that in the above-described embodiment.

  In this way, it is possible to omit the operation terminal 3 and allow the user and the robot 2 to interact with each other via voice. In this way, the user can interact with the robot 2 in a state closer to the conversation between humans, instead of selecting an option displayed on the operation terminal 3 and interacting with the robot. 1 enables the operation related to the restriction of the scenario to be closed in the robot 2.

  In this modification, the case where the robot control system 1 does not include the operation terminal 3 has been described. However, even in the case where the robot control system 1 includes the operation terminal 3, the stay state determination unit 342 performs the robot operation as in the present modification. 2 may be provided. That is, the stay state determination unit 342 may be provided in the operation terminal 3 as in the first embodiment, may be provided in the store management device 5 as in the first modification, or the present modification. It may be provided in the robot 2 as an example. Based on various viewpoints such as processing weight in each device or terminal, data flow, memory amount, data area for a program that secures the function, the mounting location can be appropriately changed to an appropriate location. .

(Third Modification)
In the second modification described above, the stay state is determined in the robot 2 and the scenario data is acquired. However, in the robot control system 1 according to the present modification, the stay state is determined and the scenario data is stored. Acquisition is to be performed in the store management device 5.

  In general, the robot 2 must have a mechanism and a structure for physically controlling the robot 2 and a data area for controlling the same, and it is difficult to secure other processing capabilities and data areas. There is something wrong. Therefore, in the present modification, the store management device 5 performs processing that places a heavy load.

  FIG. 14 is a block diagram showing a configuration of the robot control system 1 according to this modification. In this modification, the robot 2 includes a robot drive unit 21, a robot control unit 22, and a voice recognition unit 23. Further, the store management device 5 includes an operation generation unit 32, a scenario DB 33, and a scenario control unit 34.

  The robot 2 acquires the user's voice, that is, the dialog data by the voice recognition unit 23, and then transmits the dialog data to the stay state determination unit 342 of the store management device 5. The scenario control unit 34 that has received the voice data acquires the scenario data, and the operation generation unit 32 controls the interactive operation with the user. Note that the scenario control unit 34 in this modification is equivalent to the configuration of the scenario control unit 34 shown in FIG. 2 or FIG.

  As described above, even in the case where the operation terminal 3 is not provided, it is possible to provide the store management device 5 with a place for performing high-load processing. In particular, such a configuration is effective when the communication band is sufficient or when it is desired to secure the processing capability of the robot 2. In the case of the configuration of FIG. 14, the robot 2 recognizes the content uttered by the user and performs a dialogue, and the store management device 5 restricts the dialogue according to the staying state of the user.

(Fourth modification)
In the embodiment and each modification described above, the scenario DB 33 is provided in the robot 2, the operation terminal 3, or the store management device 5, but is not limited thereto. FIG. 15 is a block diagram showing the configuration of the robot control system 1 according to this modification.

  As shown in FIG. 15, the scenario DB 33 may be in another place via a communication network 6 connected by a wired or wireless method. For example, it may be stored in a predetermined database on the cloud, or may be on a server that supervises many stores. By arranging the scenario DB 33 in this way, it is not necessary to secure the scenario DB 33 for each store, and it is also possible to manage the scenario in a unified manner.

  Furthermore, when the scenario DB 33 is not provided in any of the robot 2, the operation terminal 3, and the store management device 5, various modifications can be considered. For example, a scenario control unit 34 including a stay state determination unit 342 is provided in the store management device 5, and scenario data is transferred from the scenario control unit 34 of the store management device 5 to the robot 2 and the operation terminal 3 with respect to the scenario DB 33. An instruction to output may be given. In this case, the robot-side scenario data is transmitted from the scenario DB 33 to the robot 2, and the user-side scenario data is transmitted from the scenario DB 33 to the operation terminal 3 including the motion generation unit 32, the display unit 35, and the input unit 36. The user and the robot 2 may interact using these scenario data. Then, the content of the user's dialogue is transmitted from the operation terminal 3 to the store management device 5 so that the store management device 5 determines the stay state, selects the scenario group, and decides which scenario data to acquire. Also good. By doing in this way, it becomes possible to consolidate the process which becomes high load into the store management apparatus 5 further.

  The robot control system 1 according to all the embodiments and the modifications described above can be suitably applied to the eating and drinking service as described above, but may be applied to various services other than the eating and drinking service.

  The aspect of the present invention is not limited to the individual embodiments described above, and includes various modifications that can be made 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, changes, 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.

DESCRIPTION OF SYMBOLS 1 Robot control system, 2 Robot, 3 Operation terminal, 34 Scenario control part, 346 Dialogue restriction part, 5 Store management apparatus

Claims (10)

A stay state determination unit for determining a stay state of the customer who entered the restaurant in the restaurant;
An information acquisition unit that acquires dialogue scenario information according to the stay state of the customer determined by the stay state determination unit;
A dialogue control unit for conducting a dialogue with the customer based on the dialogue scenario information acquired by the information acquisition unit;
An interaction control device comprising: an interaction restriction unit that restricts an interaction with the customer performed by the interaction control unit based on the stay state determined by the stay state determination unit.   The dialogue control device according to claim 1, wherein the dialogue restriction unit restricts the dialogue with the customer performed by the dialogue control unit when the stay state judgment unit determines that the stay state is a specific stay state. When the staying state determining unit determines that the staying state determining unit has transitioned from the specific staying state to another staying state, the interaction restricting unit cancels the restricting conversation with the customer
The dialogue control unit, when the dialogue restriction with the customer by the dialogue restriction unit is released, based on the dialogue scenario information acquired from the information acquisition unit according to the other stay state, with the customer The dialogue control device according to claim 2, wherein the dialogue is performed.   The dialogue control apparatus according to claim 2, wherein the dialogue control unit performs a predetermined utterance while the dialogue with the customer is restricted by the dialogue restriction unit.   5. The dialogue control unit according to claim 4, wherein the dialogue control unit stops the dialogue with the customer after performing the predetermined utterance while the dialogue with the customer is restricted by the dialogue restriction unit. Dialog control device.   While the dialogue with the customer is restricted by the dialogue restriction unit and during the period when the dialogue with the customer is stopped, at least one of the appearance and posture of the robot that performs the dialogue with the customer is The dialogue control apparatus according to claim 5, further comprising a drive control unit configured to control to a specific state.   The dialogue control apparatus according to any one of claims 2 to 6, wherein the specific stay state includes a state in which the customer is eating and drinking.   The dialogue control device according to any one of claims 1 to 7, wherein the stay state of the customer determined by the stay state determination unit is a state that changes with the passage of time. The stay state of the customer determined by the stay state determination unit is:
A state from when the customer enters or sits in the restaurant to order food and drink;
Waiting for food and drink ordered by the customer to be provided;
The state until the customer completes eating and drinking of food and drink,
The dialogue control device according to claim 7, comprising at least one of a state from when the customer completes eating and drinking of food and drink until the customer leaves the store. A robot that performs an action in response to an instruction signal;
An operation terminal that generates and transmits the instruction signal to the robot,
The operation terminal is
Based on information from the store system, a stay state determination unit that determines a stay state in the restaurant of the customer who entered the restaurant,
An information acquisition unit that acquires dialogue scenario information according to the stay state of the customer determined by the stay state determination unit;
A dialogue control unit for conducting a dialogue with the customer based on the dialogue scenario information acquired by the information acquisition unit;
A robot control system comprising: an interaction restriction unit that restricts an interaction with the customer performed by the interaction control unit based on the stay state determined by the stay state determination unit.

Images