JP2018161707A - Robot control system and robot control device - Google Patents

Abstract

The present invention provides a robot control system and a robot control apparatus capable of performing a natural dialogue with a robot in a restaurant. A robot that performs an operation according to a command signal to interact with a customer who has visited a restaurant, an operation terminal that generates a command signal for operating the robot, and a stay for determining a stay state of the customer. A display processing unit for displaying an option for dialogue with the robot 2 in accordance with the progress of the dialogue scenario based on the dialogue scenario information used for dialogue between the customer and the robot 2. 3453, a timing estimation unit 3451 for estimating a predetermined timing within the motion period of the utterance operation of the robot 2 based on the stay state determined by the stay state determination unit 342, and a predetermined timing estimated by the timing estimation unit 3451 And a display instructing unit 3453 for instructing the display processing unit 3453 to display the options based on the timing. [Selection] 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

  In a dialog with a robot via an operation terminal such as a tablet, a dialog format is assumed in which user-side dialog options that respond to the speech operation of the robot are displayed on the operation terminal. However, when such an interactive format is employed, if the display timing of the options on the operation terminal is inappropriate, the interaction with the robot may become unnatural and unnatural.

  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 display that displays options for dialogue with the robot in accordance with the progress of the dialogue scenario based on the dialogue scenario information used for dialogue between the customer and the robot. A processing unit, a timing estimation unit for estimating a predetermined timing within the operation period of the speech operation of the robot based on the stay state determined by the stay state determination unit, and a predetermined timing estimated by the timing estimation unit A robot control system comprising: a display instruction unit that instructs a display processing unit to display options on a display unit based on timing.

  In the robot control system according to the present invention, the predetermined timing may be a time before a predetermined time corresponding to the stay state with respect to the end time of the operation of the robot.

  In the robot control system according to the present invention, the predetermined timing may be a time before or after a predetermined time according to a staying state with respect to a specific time within an operation period of the robot.

  In the robot control system according to the present invention, the display instruction unit may instruct the display processing unit to display options on the display unit between the start and end of one operation of the robot.

  In the robot control system according to the present invention, the operation of the robot includes the utterance of the robot, and the display instruction unit adjusts the timing of displaying the options on the display unit based on the data amount of the data used for the utterance of the robot. Also good.

  In the robot control system according to the present invention, the option displayed by the display instruction unit may be an option according to the progress of an existing dialog scenario or a new dialog scenario.

  In the robot control system according to the present invention, before the preset period including the end time of the operation of the robot has elapsed, the selection operation of the option displayed on the display unit is prohibited, and after the preset period has elapsed. May further include an operation control unit that permits an operation of selecting an option displayed on the display unit.

  In the robot control system according to the present invention, the preset period is set corresponding to each of the plurality of stay states, and the operation control unit corresponds to the stay state determined by the stay state determination unit in advance. Based on the set time, the selection operation of options may be prohibited or permitted.

  In the robot control system according to the present invention, the preset period may be a fixed period regardless of a plurality of staying states.

  In the robot control system according to the present invention, the dialogue scenario information may include a dialogue content with the robot regarding menu selection of food and drink.

  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 stay state determination unit, a display processing unit that displays options for dialogue with the robot in accordance with the progress of the dialogue scenario based on the dialogue scenario information used for dialogue between the customer and the robot, and the utterance of the robot Based on the stay state determined by the stay state determination unit based on the stay state determined by the stay state determination unit, the timing is estimated based on the predetermined timing estimated by the timing estimation unit. And a display instruction unit that instructs the display processing unit to display on the display unit.

  ADVANTAGE OF THE INVENTION According to this invention, the dialog with the robot in a restaurant can be performed naturally without a sense of incongruity.

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 block diagram which shows a dialogue control part in the robot control system by a 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 estimation process of the choice display timing based on a stay state in the operation example of the robot control system by 1st Embodiment. It is a figure which shows the example of a display of the choice in the period from a seating to an order in the operation example of the robot control system by 1st Embodiment. In the operation example of the robot control system by 1st Embodiment, it is a figure which shows the example of a display of the choice in the period from order to provision of food and drink. In the operation example of the robot control system by 1st Embodiment, it is a figure which shows the example of a display of the choice in the period from food-drink provision to the end of eating and drinking. It is a block diagram which shows a dialogue control part in the robot control system by a 2nd embodiment. It is a flowchart which shows the operation example of the robot control system by 2nd Embodiment. It is a flowchart which shows the operation example of the robot control system by 3rd Embodiment. It is a block diagram which shows the robot control system by 4th Embodiment. It is a block diagram which shows the robot control system by 5th 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. Accordingly, since the user can interact with the robot 2 while facing the robot 2, the user can naturally interact with the robot 2 without feeling uncomfortable, and the satisfaction with 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.

  The scenario control unit 34 controls the scenario 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.

  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.

  Stay state determination unit 342 determines the stay state of the user in the restaurant based on the status data received via reception unit 341. For example, when the stay state determination unit 342 receives a signal indicating that the user has been seated via the reception unit 341, the stay state determination unit 342 determines that the user is in the stay state before the order after being 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 selects, from the scenario DB 33, dialogue scenario information according to the stay state determined by the stay state determination unit 342 and the user's dialogue choices selected by a dialogue scenario selection signal (see FIG. 2) described later. And 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.

  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 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 the dialogue scenario information corresponding to the stay state acquired from the scenario DB 33 to the operation generation unit 32.

  The motion generation unit 32 generates a robot control command for instructing the robot 2 to perform a dialog operation based on the robot-side scenario data input from the dialog control unit 345, and sends the generated robot control command to the robot control unit 22. Send. By transmitting the robot control command, the robot 2 can perform an interactive operation.

  When the dialogue operation includes an utterance operation, the operation generation unit 32 generates and transmits audio data obtained by converting the robot-side scenario data into audio as at least a part of the robot control command. Instead of sending voice data as a robot control command, the voice data is stored in the robot 2, and the motion generation unit 32 sends the ID associated with the voice data in the robot 2 as a robot control command. Also good. When the dialogue operation includes an operation that changes at least one of the posture and appearance of the robot 2, the operation generation unit 32 changes the posture and / or appearance of the robot 2 as at least part of the robot control command. Generate and send a signal to command

  In generating the robot control command, the motion generation unit 32 considers the internal parameters associated with the robot-side scenario data, and the content of the dialogue operation includes the tone of the utterance voice, the lighting state of the eyeball unit, the robot 2 Include posture, etc.

  As shown in FIG. 2, the dialogue control unit 345 visualizes user-side scenario data out of the dialogue scenario information corresponding to the stay state acquired by the information acquisition unit 343, and dialogues the imaged user-side scenario data. Are displayed on the display unit 35 as options. More specifically, the display of options is performed by a display processing unit 3453 described later. Based on the dialogue options displayed on the display unit 35, the user inputs a dialogue scenario selection signal indicating the selection result of the options to the dialogue control unit 345 via the input unit 36 as shown in FIG. 2. Since the dialogue control unit 345 responds to the dialogue option selected by the dialogue scenario selection signal input from the input unit 36, as described above, the dialogue control unit 345 is selected by the information acquisition unit 343 according to the selected option. The robot side scenario data is output to the motion generation unit 32.

  FIG. 3 is a block diagram showing the dialogue control unit 345 in the robot control system according to the first embodiment. In order to display the dialogue options on the display unit 35 at a suitable timing according to the stay state, the dialogue control unit 345 includes a timing estimation unit 3451, a display instruction unit 3452, and a display processing unit 3453, as shown in FIG. And comprising.

  The display processing unit 3453 causes the display unit 35 to display dialogue options with the robot 2 in accordance with the progress according to the dialogue scenario selection signal of the dialogue scenario based on the dialogue scenario information used for the dialogue between the user and the robot 2. .

  The timing estimation unit 3451 has the stay state determination unit 342 determined the display timing of dialogue options (hereinafter, also referred to as option display timing), which is an example of a predetermined timing within the operation period of the utterance operation of the robot 2. Estimate based on stay status.

  The option display timing is, for example, a time before or after a predetermined time with respect to a specific time within the operation period of the robot 2. More specifically, the option display timing may be, for example, a time before a predetermined time corresponding to the stay state with respect to the end time of the operation of the robot 2.

  The display instruction unit 3452 instructs the display processing unit 3453 to display the options on the display unit 35 based on the option display timing estimated by the timing estimation unit 3451. That is, the display instructing unit 3452 displays the options on the display unit 35 at the option display timing estimated by the timing estimating unit 3451 between the start and end of the operation of the robot 2. The unit 3453 is instructed. The options displayed in the display instruction unit 3452 are options corresponding to the progress of an existing dialog scenario or a new dialog scenario.

  The timing estimation unit 3451 estimates a specific time within the utterance period of the robot 2 based on the data amount of data used for the utterance of the robot 2 (for example, the end time of the utterance), and then the estimated specific time. A time before a predetermined time or after a predetermined time according to the staying state for may be estimated as the option display timing. By estimating the option display timing based on the data amount of the data used for the utterance of the robot 2, the option display timing can be estimated easily and accurately. The display processing unit 3453 can adjust the option display timing based on the data amount of data used for the utterance of the robot 2. Note that the data used for the utterance may be an audio file or data other than the audio file (for example, a script).

  By including the timing estimation unit 3451, the display instruction unit 3452, and the display processing unit 3453, the dialogue control unit 345 displays the option that is the imaged user-side scenario data at a suitable option display timing according to the stay state. It can be displayed on the display unit 35.

  Note that the data that the dialogue control unit 345 outputs to the display unit 35 is not limited to the user-side scenario data, and when the user selects a menu, the food or drink image or video is output to the display unit 35. It may be. 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.

  As described above, in the first embodiment, the dialogue control unit 345 acquires a suitable one from various scenario data stored in the scenario DB 33 according to the stay state determined based on the status data. And output to the motion generation unit 32 and the display unit 35. When outputting the imaged user-side scenario data on the display unit 35, that is, displaying the options, the dialogue control unit 345 displays the options at a suitable option display timing corresponding to the stay state estimated by the timing estimation unit 3451. Let Further, the dialogue control unit 345 generates new scenario data on the robot side that responds to the option selected by the dialogue scenario selection signal in response to the dialogue scenario selection signal from the input unit 36 for the option displayed on the display unit 35. Select from DB33. 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 naturally carry out a dialogue between the user and the robot 2 without feeling uncomfortable.

  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. 4 is a flowchart showing an operation example of the robot control system 1 according to the first embodiment. The flowchart of FIG. 4 is repeated until the dialog is completed. For the sake of convenience, in the initial state of FIG. 4, it is assumed that the timing estimation unit 3451 determines an offset time: t1 seconds for the end of the utterance for estimating the option display timing. The t1 seconds is a time corresponding to the stay state determined by the stay state determination unit 342, and is a time set with the intention of starting the display of the option t1 seconds before the utterance end time.

  Then, from the initial state, as shown in FIG. 4, 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. 5 is a diagram illustrating an option display timing estimation process based on the stay state in the operation example of the robot control system 1 according to the first embodiment. FIG. 5 shows status data A1 to A5, stay states B1 to B4 determined based on the status data A1 to A5, and option display timings C1 to C4 estimated based on the stay states B1 to B4. They are shown in sequence order.

  In the example of FIG. 5, the stay state determining 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. 4, 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. 5, when the stay status determination unit 342 acquires the first status data A1, the current user stay status is from when the user enters the restaurant or sits down and places an order after the user enters the restaurant. 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 before entering the store.

  After determining the stay state, as shown in FIG. 4, the information acquisition unit 343 determines whether or not the determined stay state has been changed (step S3). Here, the change of the stay state includes a case where the user has changed from the initial state before entering the store to the first stay state B1.

  When the staying state is changed (step S3: Yes), the timing estimation unit 3451 determines t1 seconds, which is an offset time with respect to the end of the utterance for estimating the option display timing (step S4). At this time, for example, the timing estimation unit 3451 estimates the utterance time of the robot 2 based on the data amount of data used for the utterance of the robot 2, and then t1 corresponding to the stay state based on the estimated utterance time. Determine the second. At this time, the timing estimation unit 3451 may determine t1 seconds according to the stay state by multiplying the estimated speech time by a coefficient determined in advance according to the stay state. When multiplying the utterance time by a coefficient to determine t1 seconds, the timing estimation unit 3451 uses the same coefficient for each of a plurality of robot side scenario data having various utterance times belonging to the same stay state, that is, the scenario group. T1 seconds may be determined all at once.

  In addition, in order to determine t1 seconds according to the stay state, the storage unit such as the timing estimation unit 3451 and the storage unit such as the scenario DB 33 can read information for determining t1 seconds by the timing estimation unit 3451. May be stored. The information for determining t1 seconds may be a coefficient by which the utterance time of the robot 2 described above is multiplied.

In the example of FIG. 5, when the stay state is changed from the initial state to the first stay state B1, the timing estimation unit 3451 determines an offset time t1 _B1 seconds corresponding to the first stay state B1. When the stay state is changed from the first stay state B1 to the second stay state B2, the timing estimation unit 3451 determines an offset time t1 _B2 seconds corresponding to the second stay state B2. When the stay state is changed from the second stay state B2 to the third stay state B3, the timing estimation unit 3451 determines an offset time t1 _B3 seconds corresponding to the third stay state B3. When the stay state is changed from the third stay state B3 to the fourth stay state B4, the timing estimation unit 3451 determines an offset time t1 _B4 seconds corresponding to the fourth stay state B4.

  On the other hand, as shown in FIG. 4, when the stay state has not been changed (step S3: No), the display instruction unit 3452 determines whether or not the utterance of the robot 2 has been started (step S5). For example, the display instruction unit 3452 may determine whether or not the robot 2 has started speaking based on the transmission state of the voiced robot control command to the robot control unit 22.

  When the utterance of the robot 2 is started (step S5: Yes), the display instruction unit 3452 starts measuring the utterance time using its own clocking function or an external timer (step S6). On the other hand, when the utterance of the robot 2 has not been started (step S5: No), the display instruction unit 3452 repeatedly determines whether or not the utterance of the robot 2 has started (step S5).

  After starting the measurement of the utterance time of the robot 2, the timing estimation unit 3451 estimates the time te-t1 t1 seconds before the utterance end time te as the option display timing (step S7). Here, the utterance end time te is a time obtained by adding the utterance time of the robot 2 calculated in step S4 to the utterance start time ts, which is the time when the utterance is determined to be started in step S5. t1 is the offset time calculated in step S4.

In the example of FIG. 5, when the stay state is changed from the initial state to the first stay state B1, the timing estimation unit 3451 is t1 _B1 corresponding to the first stay state B1 from the utterance end time te of the robot 2. The first option display timing C1: te-t1 _B1 that is the time before the second is estimated. When the stay state is changed from the first stay state B1 to the second stay state B2, the timing estimation unit 3451 is t1 _B2 seconds before the utterance end time te of the robot 2 corresponding to the second stay state B2 The second option display timing C2: te-t1 _B2 is estimated. When the stay state is changed from the second stay state B2 to the third stay state B3, the timing estimation unit 3451 is t1 corresponding to the third stay state B3 from the estimated speech end time te of the robot 2. The third option display timing C3: te-t1 _B3 , which is the time _B3 seconds before, is estimated. When the stay state is changed from the third stay state B3 to the fourth stay state B4, the timing estimation unit 3451 has t1 corresponding to the fourth stay state B4 from the estimated speech end time te of the robot 2. The fourth option display timing C4: te-t1 _B4 , which is the time _B4 seconds before, is estimated.

  After estimating the option display timing, as shown in FIG. 4, the display instruction unit 3452 determines whether or not the time t1 seconds before the end of the utterance, which is the option display timing, has been reached (step S8).

  When it is time t1 seconds before the end of the utterance (step S8: Yes), the display instruction unit 3452 causes the display unit 35 to display options in response to an instruction to the display processing unit 3453 (step S9). On the other hand, when it is not the time t1 seconds before the end of the utterance (step S8: No), the display instruction unit 3452 repeats the determination whether or not the time is t1 seconds before the end of the utterance (step S8).

  FIG. 6 is a diagram illustrating a display example of options 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. 6, 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 B <b> 1. An utterance action “Thank you!” Is performed. At this time, the timing estimation unit 3451 estimates, as the first option display timing C1 corresponding to the first stay state B1, the time C1 when 40% of the utterance time has elapsed, that is, until “Recommended menu” is uttered. . This time C1 can be expressed by the following equation.

C1 = ts + 0.4 (te-ts)
= Te-0.6 (te-ts) (1)
In Equation (1), ts is the utterance start time of the robot 2, te is the utterance end time of the robot 2, and te-ts is the utterance time of the robot 2 (the same applies hereinafter). Further, 0.6 (te-ts) obtained by multiplying the speech time of the robot 2 by 0.6 is an example of the offset time t1 _B1 corresponding to the first stay state B1. C1 is an example of a predetermined timing within the operation period of the speech operation of the robot 2, that is, a time te− that is a predetermined time 0.6 (te−ts) before the end state te of the operation of the robot 2 according to the stay state. 0.6 (te-ts).

The timing estimation unit 3451 subtracts 0.6 (te-ts), which is the offset time t1 _B1 corresponding to the first stay state B1, from the utterance end time te, thereby responding to both the stay state and the utterance time. The option display timing C1 can be easily calculated. Also, the timing estimation unit 3451 may add 0.4 (te-ts) corresponding to the first stay state B1 to the utterance start time ts, so that the option display timing corresponding to both the stay state and the utterance time is added. C1 can be easily calculated.

  Then, when 40% of the utterance time has elapsed, the display instruction unit 3452 causes the display unit 35 to display an option “of course!” And an option of “change after all” as options for the dialogue responding to the utterance operation of the robot 2. .

  Here, in a dialogue between human beings, before the other party finishes speaking completely, the conversation partner understands what the other party speaks and thinks about the answer in advance. If the choice of response to the robot 2 is displayed on the display unit 35 after the utterance operation of the robot 2 is completely finished in the dialogue with the robot 2, the talking partner finishes talking completely like a dialogue between humans. I can't think of answers in advance. In this case, since the user cannot obtain the same feeling as in the dialogue between humans, there is a possibility that the dialogue with the robot 2 may feel uncomfortable.

  On the other hand, in the example of FIG. 6, since the option is displayed at time C1 before the utterance end time of the robot 2, the user responds to the robot 2 before the utterance of the robot 2 is completely completed. The contents can be considered in advance. Thereby, the user can obtain the same feeling of interaction as in the case of dialogue between humans, and can naturally perform the dialogue with the robot 2 before ordering food and drink without any sense of incongruity.

Further, in the first stay state B1 before food and drinks are ordered, it is possible for the user to promptly make a decision to select food and drink in order to promptly perform a desired order. preferable. According to the example of FIG. 6, the option display suitable for the first stay state B1 is performed by displaying the option at a relatively early timing C1 as the option display timing according to the first stay state B1. Can do. Thereby, satisfaction with the dialogue with the robot 2 can be improved.

  FIG. 7 is a diagram illustrating a display example of options during a period from ordering to food provision in the operation example of the robot control system 1 according to the first embodiment. In the example of FIG. 7, the robot 2 performs an utterance operation “Let's talk to me until the food comes!” As the interactive operation in the second stay state B2. At this time, the timing estimation unit 3451 determines, as the second option display timing C2 corresponding to the second stay state B2, the time C2 when 60% of the utterance time has elapsed, that is, “to me until the dish comes”. Is estimated. This time C2 can be expressed by the following equation.

C2 = ts + 0.6 (te-ts)
= Te-0.4 (te-ts) (2)
However, in Equation (2), 0.4 (te-ts) is an example of the offset time t1 _B2 corresponding to the second stay state B2. The timing estimation unit 3451 may calculate the second option display timing C2 by the same calculation method as the first option display timing C1.

  Then, when 40% of the utterance time elapses, the display instruction unit 3452 causes the display unit 35 to display an option “OK” and an option “quit” as dialog options to respond to the utterance operation of the robot 2. .

  As in FIG. 6, in the example of FIG. 7, the option is displayed at time C <b> 2 before the utterance end time of the robot 2, so that the user can connect the robot 2 before the utterance of the robot 2 is completely completed. Response contents can be considered in advance. Thereby, the user can obtain the same feeling of dialogue as in the case of dialogue between humans, and naturally performs the dialogue with the robot 2 from the order of food and drink until food and drink are provided. Can do.

  In addition, in the second stay state B2 from the order of the food and drink until the food and drink are provided, the user has no particular need to do so, so the interest in the robot 2 is more likely to increase than before the order. In such a second stay state B2, it is preferable to advance the conversation with the robot 2 that further improves the feeling of interaction in order to give the user a sense of satisfaction with the interaction. According to the example of FIG. 7, as the option display timing according to the second stay state B2, the option is displayed at a relatively late timing C2 so that the answer can be considered while listening carefully to the utterance of the robot 2. By doing so, it is possible to perform option display suitable for the second stay state B2. Thereby, the satisfaction with the dialogue with the robot 2 can be further improved.

  FIG. 8 is a diagram illustrating a display example of options during a period from the provision of food and drink to the end of food and drink in the operation example of the robot control system 1 according to the first embodiment. In the example of FIG. 8, the robot 2 performs an utterance operation such as “I'm eating now, so let's talk later!” As the dialogue operation in the third stay state B3. At this time, the timing estimation unit 3451 has spoken as the third option display timing C3 corresponding to the third stay state B3 when 80% of the utterance time has elapsed, that is, “I am currently eating and will talk later”. Time C3 is estimated. This time C3 can be expressed by the following equation.

C3 = ts + 0.8 (te-ts)
= Te-0.2 (te-ts) (3)
However, in Equation (3), 0.2 (te-ts) is an example of the offset time t1 _B3 corresponding to the third stay state B3. The timing estimation unit 3451 may calculate the third option display timing C3 by the same calculation method as the first option display timing C1.

  Then, when 80% of the utterance time has elapsed, the display instruction unit 3452 causes the display unit 35 to display an option “OK” and an option “Yada” as options for dialogue responding to the utterance operation of the robot 2. .

  As in FIG. 6, in the example of FIG. 8, the option is displayed at a time C <b> 3 before the utterance end time of the robot 2, so that the user can speak to the robot 2 before the utterance of the robot 2 is completely completed. Response contents can be considered in advance. Thereby, the user can obtain the same feeling of interaction as in the case of a dialogue between humans, and can naturally perform a dialogue with the robot 2 while eating and drinking.

  In addition, in the third stay state B3 during eating and drinking, it is possible to give priority to eating and drinking so that the user is not distracted by the dialogue with the robot 2 and the delicious cooking is not cooled down. Is preferable to give to the user. According to the example of FIG. 8, as an option display timing according to the third stay state B3, the option is displayed at a later timing C3 so that the answer can be considered slowly while giving priority to eating and drinking. The choice display suitable for the third stay state B3 can be performed. Thereby, the satisfaction with the dialogue with the robot 2 can be further improved.

  As described above, according to the first embodiment, by displaying the options at the option display timing according to the stay state, the conversation with the robot 2 in the restaurant where the stay state changes every moment without any sense of incongruity. This can be done naturally, and the satisfaction with the dialogue with the robot 2 can be improved.

(Second Embodiment)
Next, a description will be given of a second embodiment that regulates the timing of selection operation of options. FIG. 9 is a block diagram showing the dialogue control unit 345 in the robot control system 1 according to the second embodiment.

  In the first embodiment, the timing for selecting an option displayed on the display unit 35 is not restricted, and the user can immediately perform an operation for selecting the displayed option using the input unit 36. It is. On the other hand, in the second embodiment, in order to further improve the feeling of interaction with the robot 2, the timing for selecting an option is restricted.

  Specifically, as shown in FIG. 9, in the second embodiment, the dialogue control unit 345 further includes an operation control unit 3454 in addition to the configuration of the first embodiment.

  The operation control unit 3454 prohibits the selection operation of the options displayed on the display unit 35 before the preset period including the end time of the operation of the robot 2 has elapsed, and after the preset period has elapsed. Permits the selection operation of the options displayed on the display unit 35. In the second embodiment, the preset period is constant.

  Hereinafter, an operation example of the second embodiment in which the operation control unit 3454 is added will be described focusing on differences from the first embodiment. FIG. 10 is a flowchart showing an operation example of the robot control system 1 according to the second embodiment. The flowchart of FIG. 10 is repeated until the dialogue with the robot 2 is completed.

  In the second embodiment, the operation control unit 3454 prohibits the selection operation of options when the display of the options by the display instruction unit 3452 (step S9 in FIG. 10) is performed. At this time, even if the user selects an option using the input unit 36, the dialog scenario selection signal is not input to the dialog control unit 345, or the input dialog scenario selection signal is invalidated by the operation control unit 3454. Etc., the dialogue does not proceed. For example, the options may be displayed in a lighter color than when the selection operation is permitted so that the user can easily recognize through the visual sense that the selection operation of the option is prohibited.

  After displaying the options, the operation control unit 3454 starts measuring the elapsed time from the utterance end time using its own time counting function or an external timer (step S10).

  After starting the measurement of the elapsed time, the operation control unit 3454 determines whether t2 seconds, which is an example of a preset period from the utterance end time, has elapsed (step S11).

  When t2 seconds have elapsed (step S11: Yes), the operation control unit 3454 is in a state in which an option for selecting an option is permitted and ends the process (step S12). After step S11, the user can select the displayed option and proceed with the dialogue. On the other hand, when t2 seconds have not elapsed, the operation control unit 3454 repeatedly determines whether t2 seconds have elapsed (step S11).

  In the first embodiment, t1 seconds from the utterance end time of the robot 2 so that the user can think about the answer in advance before the utterance of the robot 2 ends in order to obtain a feeling of interaction similar to that between humans. The option was displayed before. If the option displayed before the utterance end time of the robot 2 is immediately selected and the dialogue is advanced, this is replaced with a dialogue between humans. You will start speaking by blocking the language. Such a dialogue is relatively rare between humans, and usually the person who speaks finishes speaking after the other party finishes speaking. According to the second embodiment, by allowing the selection operation of the options after the utterance of the robot 2 is completed, it is possible to perform a dialogue with the robot 2 in accordance with a dialogue between humans. Further improvement can be achieved.

(Third embodiment)
Next, a description will be given of a third embodiment in which the timing of selecting an option is regulated according to the stay state. The configuration diagram of the third embodiment is the same as FIG. 9 of the second embodiment. That is, the dialogue control unit 345 includes an operation control unit 3454.

  In the second embodiment, a preset period (that is, t2 seconds) for permitting the selection operation of options is constant. On the other hand, in the third embodiment, in order to further improve satisfaction with the dialogue with the robot 2, a preset period is set corresponding to each of a plurality of stay states. Then, the operation control unit 3454 prohibits or permits the selection operation of options based on a preset time corresponding to the stay state determined by the stay state determination unit 342.

  Hereinafter, an operation example of the third embodiment will be described focusing on differences from the second embodiment. FIG. 11 is a flowchart illustrating an operation example of the robot control system 1 according to the third embodiment. The flowchart of FIG. 11 is repeated until the dialogue with the robot 2 is completed.

  In the second embodiment, when the stay state determined by the stay state determination unit 342 is changed (step S3: Yes in FIG. 10), the timing estimation unit 3451 ends the utterance for estimating the option display timing. The offset time t1 seconds with respect to was determined (step S4 in FIG. 10).

  In contrast, in the third embodiment, as shown in FIG. 11, when determining the offset time t1 seconds for estimating the option display timing, the timing estimation unit 3451 further selects the option selection operation permission timing. Is determined to be an offset time t2 seconds for the end of the utterance for estimating (step S4). t2 seconds is a time according to the stay state determined by the stay state determination unit 342, and is a time set with the intention of permitting the user's selection operation after t2 seconds from the utterance end time.

  Moreover, after starting the measurement of the elapsed time from the end of the utterance (step S10), the timing estimation unit 3451 estimates a time te + t2 t2 seconds after the utterance end time te as the selection operation permission timing (step S11). Here, the utterance end time te is the time when the utterance is actually ended. t2 is an offset time corresponding to the stay state calculated in step S4.

  Then, when t2 seconds estimated from the utterance end time have elapsed (step S12: Yes), the operation control unit 3454 permits the option selection operation (step S13).

  For example, in the first stay state B1 before food and drinks are ordered, it is possible for the user to promptly make a decision to select food and drink in order to promptly perform a desired order. preferable. For this reason, a relatively early time may be estimated as the time after t2 seconds according to the first stay state B1. Thereby, the selection operation suitable for the first stay state B1 can be permitted.

  In addition, in the second stay state B2 from the order of the food and drink until the food and drink are provided, the user has no particular need to do so, so the interest in the robot 2 is more likely to increase than before the order. In such a second stay state B2, it is preferable to advance the conversation with the robot 2 that further improves the feeling of interaction in order to give the user a sense of satisfaction with the interaction. For this reason, a relatively late time may be estimated as the time after t2 seconds according to the second stay state B2 so that the user can enjoy the conversation with the robot 2 over time. Thereby, the selection operation suitable for the second stay state B2 can be permitted.

  In addition, in the third stay state B3 during eating and drinking, it is possible to give priority to eating and drinking so that the user is not distracted by the dialogue with the robot 2 and the delicious cooking is not cooled down. Is preferable to give to the user. For this reason, a later time may be estimated as the time after t2 seconds according to the third stay state B3 so that the answer can be made slowly while giving priority to eating and drinking. Thereby, the selection operation suitable for the third stay state B3 can be permitted.

  According to the third embodiment, since the timing for permitting the selection operation can be adjusted according to the staying state, satisfaction with the dialogue with the robot 2 can be further improved.

(Fourth embodiment)
Next, a fourth embodiment in which the scenario DB 33 exists on the cloud will be described. FIG. 12 is a block diagram showing a robot control system 1 according to the fourth embodiment. In the embodiment described above, the scenario DB 33 is installed in the operation terminal 3. On the other hand, in the fourth embodiment, the scenario DB 33 exists outside the operation terminal 3 as shown in FIG. 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 fourth embodiment, it is possible to secure the capacity of the operation terminal 3 and centrally manage scenario data by having the scenario DB 33 outside the operation terminal 3 instead of in the operation terminal 3. 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.

(Fifth embodiment)
Next, a fifth embodiment in which main control functions are provided on the robot 2 side will be described. FIG. 13 is a block diagram showing a robot control system 1 according to the fifth embodiment. As illustrated in FIG. 13, 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 greatly different from the operations in the above-described embodiment, and in this embodiment as well, options are displayed according to the flowchart shown in FIG. 4, FIG. 10, or FIG. Processing is executed.

  According to the fifth embodiment, since 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, the communication line between the operation terminal 3 and the robot 2 can be reduced. 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.

  DESCRIPTION OF SYMBOLS 1 Robot control system, 2 Robot, 3 Operation terminal, 34 Scenario control part, 342 Stay state judgment part, 3451 Timing estimation part, 3452 Display instruction | indication part, 3453 Display processing part

Claims (11)

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,
The operation terminal is
A display processing unit for displaying options for dialogue with the robot on a display unit in accordance with the progress of the dialogue scenario based on dialogue scenario information used for dialogue between the customer and the robot;
A timing estimation unit that estimates a predetermined timing within the operation period of the speech operation of the robot based on the stay state determined by the stay state determination unit;
A robot control system comprising: a display instruction unit that instructs the display processing unit to display options on the display unit based on the predetermined timing estimated by the timing estimation unit.   The robot control system according to claim 1, wherein the predetermined timing is a time before a predetermined time corresponding to the stay state with respect to an end time of the operation of the robot.   The robot control system according to claim 1, wherein the predetermined timing is a time before or after a predetermined time corresponding to the stay state with respect to a specific time within an operation period of the robot.   2. The robot control according to claim 1, wherein the display instruction unit instructs the display processing unit to display the options on the display unit during a period from when the robot starts one operation to the end. system. The operation of the robot includes the utterance of the robot,
The robot control according to any one of claims 1 to 4, wherein the display instruction unit adjusts a timing for displaying the option on the display unit based on a data amount of data used for speech of the robot. system.   The robot control system according to any one of claims 1 to 5, wherein the option displayed by the display instruction unit is an option according to a progress of an existing dialog scenario or a new dialog scenario.   Before the preset period including the end time of the operation of the robot elapses, the selection operation of the option displayed on the display unit is prohibited, and after the preset period elapses, the display The robot control system according to any one of claims 1 to 6, further comprising an operation control unit that permits a selection operation of the option displayed on the unit. The preset period is set corresponding to each of a plurality of staying states,
The robot according to claim 7, wherein the operation control unit prohibits or permits the selection operation of the options based on the preset time corresponding to the stay state determined by the stay state determination unit. Control system.   The robot control system according to claim 7, wherein the preset period is a fixed period regardless of a plurality of staying states.   The robot control system according to any one of claims 1 to 9, wherein the dialogue scenario information includes a dialogue content with the robot regarding menu selection of food and drink. 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,
A stay state determination unit for determining a stay state of the customer in the restaurant;
A display processing unit for displaying options for dialogue with the robot on a display unit in accordance with the progress of the dialogue scenario based on dialogue scenario information used for dialogue between the customer and the robot;
A timing estimation unit that estimates a predetermined timing within the operation period of the speech operation of the robot based on the stay state determined by the stay state determination unit;
A robot control apparatus comprising: a display instruction unit that instructs the display processing unit to display options on the display unit based on the predetermined timing estimated by the timing estimation unit.

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