Control device, control method, and program

Claims

1. A generation means that generates control unit information representing the current state of the control unit of the work device and obstacle information representing obstacles present in the work environment, using state information representing the movement of the work device and environment information representing the work environment including part or all of the work device observed by the observation device. A detection means that generates detection information representing the distance between the control unit and the obstacle based on the control unit information and the obstacle information, A determination means for determining whether the control unit and the object are approaching each other, using the distance between the control unit and the object among the obstacles that the control unit should not approach, If it is determined that the control unit is approaching the object, the planning means generates planning information to control the control unit so as not to approach the object. A control device having

2. The determination means generates a determination value by comparing the distance between the control unit and the object with a plurality of determination criteria. The control device according to claim 1.

3. The determination means further compares the direction, relative velocity, or both that represent the relationship between the control unit and the object with determination criteria set for the direction and relative velocity, respectively, and generates determination values ​​for the direction and relative velocity, respectively. The control device according to claim 1.

4. The determination means further generates a determination value based on the relationship between at least one determination point on the surface of the control unit and the object. The control device according to claim 1.

5. Based on the determination value, the work device is instructed to change the control of the controlled unit based on the planning information. The control device according to claim 2.

6. The planning means generates the controlled object information and the obstacle information using the planning information, in addition to the state information representing the movement of the work device and the environmental information. The control device according to claim 3.

7. The determination means inputs the controlled-unit information and the detection information to the trained inference unit and outputs a determination value. The control device according to claim 1.

8. Furthermore, the system includes a learning unit that learns to output the determination value by inputting the state information of the controlled unit and the controlled unit information and detection information generated based on the environmental information. The control device according to claim 7.

9. Information processing device, Using state information representing the movement of the work device and environment information representing the work environment including part or all of the work device observed by the observation device, control unit information representing the current state of the control unit of the work device and obstacle information representing obstacles present in the work environment are generated. Based on the information of the controlled unit and the information of the obstacle, detection information representing the distance between the controlled unit and the obstacle is generated. Using the distance between the object that the control unit should not approach among the obstacles and the control unit, it is determined whether the control unit and the object are approaching each other. If it is determined that the control unit is approaching the object, the system generates planning information to control the control unit so as not to approach the object. Control method.

10. On the computer, Using state information representing the movement of the work device and environment information representing the work environment including part or all of the work device observed by the observation device, control unit information representing the current state of the control unit of the work device and obstacle information representing obstacles present in the work environment are generated. Based on the information of the controlled unit and the information of the obstacle, detection information representing the distance between the controlled unit and the obstacle is generated. Using the distance between the control unit and an object among the obstacles that the control unit should not approach, the control unit determines whether or not the control unit is approaching the object. If it is determined that the object is approaching the object, the control unit generates planning information to control the object so as not to approach it. A program that contains instructions.