Control device, control system, control method, and program

Abstract

This control device comprises: a monitoring means that monitors the state of a communication network via which a control signal for controlling a control object is transmitted, the control signal being generated on the basis of an operation plan for the control object; and a determination means that, on the basis of the state, determines a control quantity pertaining to the control object and determines the granularity of the operation plan.

Description

Control device, control system, control method, and recording medium

[0001] The present disclosure relates to a control device, a control system, a control method, and a recording medium.

[0002] Robots are used in a variety of fields, including logistics. To control robots, control signals are transmitted via a communication network. Patent Literature 1 (JP-A-2005-102626) discloses a related technology, which relates to a system that adjusts the speed or stop of an operation based on a delay.

[0003] Special Publication No. 2021-524298

[0004] The technology described in Patent Document 1 can stop an action or adjust the speed based on a delay, but it does not determine an action by taking into account an action plan, making it difficult to apply to control that determines an action by taking into account an action plan.

[0005] One of the objectives of each aspect of the present disclosure is to provide a control device, a control system, a control method, and a recording medium that can solve the above-mentioned problems.

[0006] In order to achieve the above object, according to one aspect of the present disclosure, the control device comprises a monitoring means for monitoring the state of a communication network that transmits a control signal for controlling the control object, which is generated based on an operation plan of the control object, and a determination means for determining the control amount of the control object and the granularity of the operation plan based on the state.

[0007] To achieve the above object, according to another aspect of the present disclosure, a control system includes the above control device and an object controlled by the control device.

[0008] In order to achieve the above object, according to another aspect of the present disclosure, a control method monitors the state of a communication network that transmits a control signal for controlling a control object that is generated based on an operation plan of the control object, and determines the control amount of the control object and the granularity of the operation plan based on the state.

[0009] In order to achieve the above object, according to another aspect of the present disclosure, a recording medium stores a program that causes a computer to monitor the state of a communication network that transmits a control signal for controlling the control object, which is generated based on an operation plan of the control object, and determine the control amount of the control object and the granularity of the operation plan based on the state.

[0010] According to each aspect of the present disclosure, delays in communication can be appropriately reflected in control that determines an action taking into account an action plan.

[0011] FIG. 1 is a diagram illustrating an example of the configuration of a control system according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of timing at which a planner according to an embodiment of the present disclosure generates an operation plan. FIG. 3 is a diagram illustrating a first example of the granularity of an operation plan generated by a planner according to an embodiment of the present disclosure. FIG. 4 is a diagram illustrating a second example of the granularity of an operation plan generated by a planner according to an embodiment of the present disclosure. FIG. 5 is a diagram illustrating an example of a sequence TBL1 of an operation plan generated by a planner according to an embodiment of the present disclosure. FIG. 6 is a diagram illustrating an example of a control signal Cnt generated by a control unit according to an embodiment of the present disclosure. FIG. 7 is a diagram illustrating an example of a processing flow of a control system according to an embodiment of the present disclosure. FIG. 8 is a diagram illustrating an example of a control device with a minimum configuration according to an embodiment of the present disclosure. FIG. 9 is a diagram illustrating an example of a processing flow of a control device with a minimum configuration according to an embodiment of the present disclosure. FIG. 10 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment.

[0012] Hereinafter, an embodiment will be described in detail with reference to the drawings. <Embodiment> A control system 1 according to an embodiment of the present disclosure is a system that remotely controls a control target via a communication network NW and generates an operation plan for the control target taking into account delays in the communication network NW. In a specific example of an embodiment of the present disclosure, the control target includes a robot, and the operation plan is a robot operation plan generated when the robot moves an object M to a destination. Examples of destinations include cardboard boxes for packaging the object M during shipping, trays for sorting the object M upon arrival, and positions for reading barcodes attached to the object M upon arrival and departure. However, the control system 1 does not limit the control target to a robot. The control system 1 may be any control target as long as it operates in response to a control signal transmitted via a communication network.

[0013] (Configuration of Control System) Fig. 1 is a diagram illustrating an example of the configuration of a control system 1 according to an embodiment of the present disclosure. As shown in Fig. 1, the control system 1 includes a control device 10, a control target device 20, and a storage unit 106. The control device 10, the control target device 20, and the storage unit 106 are connected via a communication network NW.

[0014] 1, the control device 10 includes an input unit 101, a recognition unit 102, a measurement unit 103 (an example of a monitoring unit), a planning unit 104 (an example of a determination unit), and one or more control units 105 (an example of a generation unit). The control device 10 may also include a storage unit 106. Examples of the control device 10 include an edge server and a cloud server.

[0015] The input unit 101 inputs task goals and constraints to the planning unit 104. Examples of task goals include information indicating the type of object M, the number of objects M to be moved, the source of the object M, and the destination of the object M. Examples of constraints include a no-entry area when moving the object M, an area that deviates from the range of motion of the robot 203 (described later), and conditions on the surface of the object M related to gripping the object M, releasing the grip of the object M, or changing the object M. Note that the input unit 101 may receive an input from a user as a task goal, such as "move three parts A from tray T to cardboard box C," and specify that the type of object M to be moved is part A, the number of objects M to be moved is three, the source of the object M is tray T, and the destination of the object M is cardboard box C. The input unit 101 may input the specified information to the planning unit 104. Alternatively, the position of the object M identified in the image captured by the image capturing device 201 may be set as the origin of movement of the object M. The input unit 101 may receive, for example, the positions of obstacles along the path of the object M from the origin to the destination as constraint conditions indicating no-entry areas from the user, and input the information to the planning unit 104. Alternatively, a file indicating the constraint conditions may be stored in the storage unit 106, and the input unit 101 may input the constraint conditions indicated in the file to the planning unit 104, or the planning unit 104 may read the constraint conditions from the file, or both. In other words, any method of acquisition may be used as long as the planning unit 104 can acquire the necessary task goals and the necessary constraint conditions.

[0016] The recognition unit 102 acquires an image showing the environment captured by the image capturing device 201 (described later) from the control target device 20. The recognition unit 102 recognizes the environment shown in the image acquired from the image capturing device 201. Examples of the environment include the state (i.e., position and posture) of the object M at position P, the state of static objects other than the object M, and the state of dynamic objects. The recognition unit 102 outputs information showing the recognized environment to the planning unit 104.

[0017] The measurement unit 103 measures a communication delay time in the communication network NW. For example, the measurement unit 103 may measure the delay time by transmitting a dummy signal and then receiving an ACK (Acknowledgement) signal, or by transmitting a PIN (Personal Identification Number). The measurement unit 103 outputs the measured delay time to the planning unit 104.

[0018] The planner 104 generates an operation plan indicating the flow of operation of the robot 203 based on the delay time measured by the measurement unit 103, the task goal and constraint conditions input by the input unit 101, and information indicating the environment recognized by the recognition unit 102. For example, when the task goal and constraint conditions are input by the input unit 101, the planner 104 acquires information (images) indicating the environment recognized by the recognition unit 102. Specifically, for example, the planner 104 acquires an image of the source of the object M indicated by the task goal from the camera device 201. The planner 104 can recognize the environment (e.g., the state (i.e., position and posture) of the object M at the source) using the image acquired from the camera device 201. Then, the planner 104 generates, for example, by simulation, a movement path (part of the operation plan) including the state of the object M from the state of the object M at the source of the movement to the state of the object M at the destination of the object M. The information representing the movement path is information necessary for the control unit 105 to generate a control signal for controlling the robot 203. Then, the planner 104 generates, for example, by simulation, information (i.e., a sequence (part of the operation plan)) representing each state of the robot 203 at each time step during the movement (e.g., the type (including the shape) of the object M, the position and posture of the robot 203, the operation of the robot 203 (such as the grip strength of the object M)). The planner 104 outputs the generated sequence to the control unit 105. Note that the planner 104 may be realized using artificial intelligence (AI) technology such as temporal logic, reinforcement learning, and optimization technology.

[0019] FIG. 2 is a diagram illustrating an example of the timing at which the planner 104 generates an operation plan according to an embodiment of the present disclosure. The horizontal direction in FIG. 2 represents the passage of time, with time progressing to the right. The vertical axis in portion (a) of FIG. 2 represents the delay in communication performed via the communication network NW. The higher up on the vertical axis, the greater the communication delay. Furthermore, portion (b) of FIG. 2 represents the period during which operation planning is performed and the period during which control is performed over time. As shown in FIG. 2 , the planner 104 generates an operation plan each time control based on that operation plan is completed. When generating a new plan, the planner 104 generates the operation plan at a granularity determined based on, for example, the communication delay. Examples of communication delay times include past delay times, such as a predetermined period going back from the time a new operation plan is generated, a period going back from the time a new operation plan is generated to the time the previous operation plan was generated, or a period going back to the time a predetermined number of times before the generation of the operation plan. Further examples of communication delay times include predicted future delay times. Examples of the delay time include a delay time obtained by using a statistical method such as a maximum value or an average value (including an average value calculated by a moving average), a delay time obtained by a single measurement at a predetermined timing, etc. When the planner 104 generates the initial operation plan, for example, the measurement unit 103 may measure a communication delay time in the communication network NW in advance, and the planner 104 may use the measured delay time.

[0020] Fig. 3 is a diagram showing a first example of the granularity of an operation plan generated by the planner 104 according to an embodiment of the present disclosure. Fig. 4 is a diagram showing a second example of the granularity of an operation plan generated by the planner 104 according to an embodiment of the present disclosure. The granularity of an operation plan is the relationship between states (positions and postures) at each time, i.e., the time indicating the fineness of the time steps.

[0021] In part (a) of Figure 3 and part (a) of Figure 4, the horizontal direction represents the passage of time, with time progressing to the right. The vertical axis in part (a) of Figure 3 and part (a) of Figure 4 represents the delay of communication carried out via the communication network NW. The higher up on the vertical axis, the greater the communication delay. Note that part (a) of Figure 3 represents an example in which the delay time is small. Also, part (a) of Figure 4 represents an example in which the delay time is large.

[0022] Furthermore, portions (b) of Fig. 3 and (b) of Fig. 4 represent images of the state of the object M in three-dimensional space at each predetermined timing defined in the motion plan. The circles in portions (b) of Fig. 3 and (b) of Fig. 4 represent the state of the object M at each predetermined time t (i.e., t1, t2, t3, ..., t12, ...) defined in the motion plan. The intervals between the circles in portion (b) of Fig. 4 are wider than the intervals between the circles in portion (b) of Fig. 3. Therefore, the moving distance per unit time of the object M shown in portion (b) of Fig. 4 is longer than the moving distance per unit time of the object M shown in portion (b) of Fig. 3.

[0023] Furthermore, portions (c) of Figure 3 and (c) of Figure 4 represent conceptual diagrams of control amounts in control performed between adjacent predetermined timings defined in the motion plan. The control amount is the amount by which the portion of the robot 203 gripping the object M, including its posture, must move within the interval between control execution timings (timings at which control commands are received) (hereinafter referred to as the "control interval"). It is also the amount of change in the state of the object M within each control interval. For example, as shown in portion (b) of Figure 4, if the moving distance of the object M per unit time is long, the moving distance of the object M within each control interval is increased (i.e., the amount of change in the state of the object M is increased). Also, for example, as shown in portion (b) of Figure 3, if the moving distance of the object M per unit time is short, the moving distance of the object M within each control interval is shortened (i.e., the amount of change in the state of the object M is reduced). In other words, the control amount shown in portion (c) of Figure 4 is greater than the control amount shown in portion (c) of Figure 3.

[0024] Here, as an example, consider a case where the planner 104 generates an operation plan for moving the object M from state A to state B while transitioning to each state at each timing. Part (b) of FIG. 3 shows the granularity of the operation plan when the delay time measured by the measurement unit 103 is small. Part (b) of FIG. 4 shows the granularity of the operation plan when the delay time measured by the measurement unit 103 is large. The magnitude of the communication delay may be determined by comparing multiple time transitions of the communication delay, or by determining whether the communication delay satisfies a criterion for determining that communication is delayed. The communication delay may be the total value of the delay time at a certain time, or may be the delay time at a certain timing.

[0025] As can be seen from FIGS. 3 and 4 , the planner 104 generates an operation plan with a granularity corresponding to the delay time in the communication network NW. Specifically, the planner 104 generates an operation plan with a larger granularity as the delay time in the communication network NW increases. More specifically, the planner 104 generates an operation plan with the granularity of the operation plan set to, for example, five times the delay time. As described with reference to portions (c) of FIGS. 3 and 4 (c), the granularity of the operation plan and the control amount are linked. That is, the larger the granularity of the operation plan, the larger the control amount. Information on this control amount is included in the operation plan. In other words, the planner 104 first determines the granularity of the operation plan according to the delay time. Next, the planner 104 determines the state of the robot at each time corresponding to the granularity. Then, the planner 104 generates an operation plan for controlling the control target device 20 with a control amount smaller than the granularity (i.e., a short time interval). The control unit 105, which will be described later, generates a control signal reflecting such control amounts, enabling the control device 10 to perform reactive control on the controlled device 20. Reactive control refers to control that is performed sequentially at short time intervals. This reactive control makes it possible to avoid collisions with obstacles that move suddenly and approach.

[0026] 5 is a diagram illustrating an example of a sequence TBL1 of an operation plan generated by the planner 104 according to an embodiment of the present disclosure. For example, the sequence TBL1 of an operation plan generated by the planner 104 is a sequence indicating each state of the robot 203 (described later) for each n time steps from the origin of movement of the object M to the destination, as shown in FIG.

[0027] The control unit 105 generates a control signal for controlling a control target (in this example, a robot 203) in the controlled device 20. For example, when moving the object M to a destination, the control unit 105 moves the object M to a position where the object M is recognized (hereinafter referred to as a "recognition position"), and generates a control signal for moving the object M from the recognition position to the destination.

[0028] Specifically, the control unit 105 generates control signals for controlling the robot 203 based on the sequence output by the planning unit 104 and information on each joint angle of the robot 203 transmitted from a controller 202 (described later). The control signals include signals for controlling each joint angle of the robot 203. The sequence includes a control amount. Therefore, the control unit 105 generates control signals that reflect the control amount. In other words, the control unit 105 generates control signals for adjusting the joint angles at time intervals shorter than the time step so as to bring the current joint angles closer to a target posture.

[0029] The control unit 105 may generate a control signal that optimizes an evaluation function when generating the control signal. Examples of the evaluation function include a function that represents the amount of energy consumed by the robot 203 when moving the object M, and a function that represents the distance along the path along which the object M is moved. The control unit 105 transmits the generated control signal to the controlled device 20.

[0030] 6 is a diagram illustrating an example of the control signal Cnt generated by the control unit 105 according to an embodiment of the present disclosure. For example, the control signal Cnt of the initial plan generated by the control unit 105 is, for example, each control signal and control amount for each time step from the movement origin of the object M to the destination, as shown in FIG.

[0031] The storage unit 106 stores various information necessary for the processing performed by the control device 10. For example, the storage unit 106 stores a file indicating constraint conditions, a sequence TBL1, a control signal Cnt and a control amount for each time step, and the like.

[0032] 1 , the control target device 20 includes an imaging device 201, one or more controllers 202 (corresponding to the control unit 105), and a robot 203 controlled by the controller 202. The controller 202 may control multiple robots 203. The control target device 20 is a device that includes the robot 203 that is to be controlled by the control device 10.

[0033] The imaging device 201 captures an image of the environment around the robot 203, including the state of the object M. The imaging device 201 is, for example, an industrial camera, and is capable of identifying the state (i.e., the position and posture) of the object M. The image captured by the imaging device 201 is transmitted to the control device 10 together with time information such as a timestamp.

[0034] The controller 202 controls the robot in accordance with control signals transmitted from the control device 10. The controller 202 also acquires information on the angles of each joint of the robot 203 that has operated in accordance with the control. The controller 202 then transmits the acquired information on each joint angle to the control device 10 together with time information such as a timestamp.

[0035] The robot 203 operates under the control of the corresponding controller 202. For example, if the control signal transmitted from the control device 10 to the controlled device 20 is a control signal for moving the object M from state A to state B, the robot 203, under the control of the controller 202, performs an operation of grasping the object M and moving the object M from state A to state B.

[0036] Furthermore, by the controlled device 20 transmitting time information such as a timestamp, the control device 10 is able to know when the information transmitted along with the time information was transmitted, and is able to maintain a certain level of accuracy in the control signals it generates.

[0037] (Processing Performed by Control System) Fig. 7 is a diagram showing an example of a processing flow of the control system 1 according to an embodiment of the present disclosure. Next, details of the processing performed by the control device 10 in the control system 1 will be described with reference to Fig. 7. It is assumed that the control device 10 receives information indicating the environment captured by the imaging device 201 from the control target device 20.

[0038] The input unit 101 inputs the task goal and constraint conditions to the planning unit 104 (step S1). The recognition unit 102 acquires an image showing the environment captured by the image capturing device 201 from the controlled device 20. The recognition unit 102 recognizes the environment shown in the image acquired from the image capturing device 201 (step S2). The recognition unit 102 outputs information showing the recognized environment to the planning unit 104. The measurement unit 103 measures the communication delay time in the communication network NW (step S3). The measurement unit 103 outputs the measured delay time to the planning unit 104.

[0039] The planner 104 generates an operation plan indicating the flow of operation of the robot 203 based on the delay time measured by the measurement unit 103, the task goal and constraint conditions input by the input unit 101, and information indicating the environment recognized by the recognition unit 102. For example, the planner 104 generates an operation plan with granularity according to the delay time in the communication network NW (step S4). Specifically, the planner 104 generates an operation plan with greater granularity as the delay time in the communication network NW increases. More specifically, the planner 104 generates an operation plan with granularity set to, for example, five times the delay time. The planner 104 outputs the generated sequence to the control unit 105.

[0040] The control unit 105 generates a control signal for controlling the robot 203, which is the control target in the control target device 20, based on the operation plan (step S5). For example, when moving the target object M to a destination, the control unit 105 generates a control signal for moving the target object M to a recognition position where the target object M is recognized, and for moving the target object M from the recognition position to the destination.

[0041] Specifically, the control unit 105 generates a control signal for controlling the robot 203 at a time interval shorter than the time step, based on the sequence output by the planning unit 104 and information on each joint angle of the robot 203 transmitted from the controller 202. The control unit 105 transmits the generated control signal to the controlled device 20 (step S6).

[0042] (Advantages) The above describes the control system 1 according to an embodiment of the present disclosure. In the control system 1, the control device 10 includes a measurement unit 103 (an example of a monitoring means for monitoring a state) that measures a communication delay time in the communication network NW that transmits a control signal for controlling the robot 203 (an example of a control target) that is generated based on an operation plan for the robot 203, and a planner 104 (an example of a determining means) that determines a control amount for the robot 203 and a granularity of the operation plan based on the delay time.

[0043] In this way, the control system 1 can appropriately reflect communication delays in the control that determines the operation taking into account the operation plan.

[0044] In the above-described embodiment of the present disclosure, the measurement unit 103 has been described as measuring a delay time of communication in the communication network NW. However, in the embodiment of the present disclosure, the measurement unit 103 may measure the amount of data in communication in the communication network NW, identify a corresponding delay time from the measured data amount, and use the identified delay time instead of the delay time in the embodiment of the present disclosure.

[0045] Next, a control device 10 with a minimum configuration according to an embodiment of the present disclosure will be described. FIG. 8 is a diagram illustrating an example of a control device 10 with a minimum configuration according to an embodiment of the present disclosure. As shown in FIG. 8, the control device 10 with a minimum configuration includes a measurement unit 103 (an example of a monitoring means) and a planner 104 (an example of a determination means). The measurement unit 103 measures a communication delay time (an example of status monitoring) in a communication network NW that transmits a control signal for controlling a robot 203 (an example of a control target) generated based on an operation plan for the robot 203. The measurement unit 103 can be realized, for example, using the functions of the measurement unit 103 illustrated in FIG. 1. The planner 104 determines the control amount of the robot 203 and the granularity of the operation plan based on the delay time. The planner 104 can be realized, for example, using the functions of the planner 104 illustrated in FIG. 1.

[0046] Next, a description will be given of the processing of the control device 10 with the minimum configuration. Fig. 9 is a diagram showing an example of a processing flow of the control device 10 with the minimum configuration according to an embodiment of the present disclosure. Here, the processing of the control device 10 with the minimum configuration will be described with reference to Fig. 9.

[0047] The measurement unit 103 measures a communication delay time in the communication network NW that transmits control signals for controlling the robot 203, which are generated based on the operation plan for the robot 203 (step S101). The planner 104 determines the control amount of the robot 203 and the granularity of the operation plan based on the delay time (step S102).

[0048] The above describes the control device 10 with a minimum configuration according to an embodiment of the present disclosure. The control device 10 can appropriately reflect communication delays in control that determines an action by taking into account an action plan.

[0049] The order of the processes in each embodiment of the present disclosure may be changed as long as the processes are performed appropriately.

[0050] Although the embodiments of the present disclosure have been described, the above-described control system 1, control device 10, control target device 20, and other control devices may have a computer device inside. The above-described processing steps are stored in the form of a program on a computer-readable recording medium, and the above processing is performed by reading and executing the program by a computer. Specific examples of computers are shown below.

[0051] FIG. 10 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. As shown in FIG. 10 , the computer 5 includes a CPU (Central Processing Unit) 6, a main memory 7, a storage 8, and an interface 9. For example, the above-described control system 1, control device 10, control target device 20, and other control devices are each implemented in the computer 5. The operation of each of the above-described processing units is stored in the storage 8 in the form of a program. The CPU 6 reads the program from the storage 8, loads it into the main memory 7, and executes the above-described processing in accordance with the program. The CPU 6 also allocates storage areas in the main memory 7 corresponding to each of the above-described storage units in accordance with the program.

[0052] Examples of storage 8 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a semiconductor memory. Storage 8 may be an internal medium directly connected to the bus of computer 5, or an external medium connected to computer 5 via interface 9 or a communication line. Furthermore, if the program is distributed to computer 5 via a communication line, computer 5 that receives the program may load the program into main memory 7 and execute the above-described processing. In at least one embodiment, storage 8 is a non-transitory tangible storage medium.

[0053] The program may also implement some of the functions described above. Furthermore, the program may be a file that can implement the functions described above in combination with a program already stored in the computer device, a so-called differential file (differential program).

[0054] Although several embodiments of the present disclosure have been described, these embodiments are merely examples and do not limit the scope of the disclosure. Various additions, omissions, substitutions, and modifications may be made to these embodiments without departing from the spirit of the disclosure.

[0055] Note that part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0056] (Supplementary Note 1) A control device comprising: a monitoring means for monitoring the state of a communication network that transmits a control signal for controlling a control object, which is generated based on an operation plan of the control object; and a determining means for determining a control amount of the control object and a granularity of the operation plan based on the state.

[0057] (Supplementary Note 2) The control device according to Supplementary Note 1, further comprising: a generating unit that generates the control signal based on the control amount determined by the determining unit and a granularity of the operation plan.

[0058] (Supplementary Note 3) The control device according to Supplementary Note 1 or Supplementary Note 2, wherein the control amount is smaller than a granularity of the motion plan.

[0059] (Supplementary Note 4) The control device according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the controlled object is a robot.

[0060] (Supplementary Note 5) A control system comprising: the control device according to any one of Supplementary Note 1 to Supplementary Note 4; and an object controlled by the control device.

[0061] (Supplementary Note 6) A control method comprising: monitoring a state of a communication network that transmits a control signal for controlling a control object, which is generated based on an operation plan of the control object; and determining a control amount of the control object and a granularity of the operation plan based on the state.

[0062] (Supplementary Note 7) A recording medium storing a program that causes a computer to execute the following: monitoring the state of a communication network that transmits a control signal that controls a control object, which is generated based on an operation plan of the control object; and determining the control amount of the control object and the granularity of the operation plan based on the state.

[0063] According to each aspect of the present disclosure, delays in communication can be appropriately reflected in control that determines an action taking into account an action plan.

[0064] DESCRIPTION OF SYMBOLS 1 Control system 5 Computer 6 CPU 7 Main memory 8 Storage 9 Interface 10 Control device 20 Control target device 101 Input unit 102 Recognition unit 103 Measurement unit 104 Planning unit 105 Control unit 201 Imaging device 202 Controller 203 Robot

Claims

1. a monitoring means for monitoring the state of a communication network that transmits a control signal for controlling the control object, the control signal being generated based on an operation plan for the control object; a determining means for determining a control amount of the control object and a granularity of the operation plan based on the state; A control device comprising:

2. a generating means for generating the control signal based on the control amount and the granularity of the operation plan determined by the determining means; The control device according to claim 1 , comprising:

3. The control amount is smaller than the granularity of the motion plan; The control device according to claim 1 .

4. the control target is a robot, The control device according to claim 1 .

5. The control device according to claim 1 ; a control target of the control device; and A control system comprising:

6. monitor the state of a communication network that transmits a control signal for controlling the control object, which is generated based on the operation plan of the control object; determining a control amount of the control object and a granularity of the operation plan based on the state; Control method.

7. monitoring a state of a communication network that transmits a control signal for controlling the control object, the control signal being generated based on an operation plan for the control object; determining a control amount of the control object and a granularity of the operation plan based on the state; A program that causes a computer to execute the following.