Control device, control system, and control method

Abstract

A movable part of a work machine is moved to an intended region with higher accuracy. A control apparatus ( 10 ) for controlling a work machine having a movable part includes: a movement control section ( 11 ) of controlling the work machine to move the movable part to a destination region; and a correction control section ( 12 ) of detecting a positional relation between the destination region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.

What is claimed is: 
     
         1 . A control apparatus for controlling a work machine, said control apparatus comprising at least one processor, the at least one processor carrying out:
 a movement control process of controlling the work machine to move a movable part of the work machine to a region which is a destination; and   a correction control process of detecting a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.   
     
     
         2 . The control apparatus according to  claim 1 , wherein:
 the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.   
     
     
         3 . The control apparatus according to  claim 2 , wherein:
 in the movement control process, the at least one processor controls, with reference to a detection value of a second sensor which detects a posture of the work machine, the work machine to move the movable part to the region; and   in the correction control process, the at least one processor controls, with reference to a detection value of the first sensor, the work machine to correct the position of the movable part.   
     
     
         4 . The control apparatus according  claim 1 , wherein:
 in the correction control process, the at least one processor corrects the position of the movable part such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.   
     
     
         5 . The control apparatus according to  claim 1 , wherein:
 in the correction control process, the at least one processor corrects the position of the movable part such that at least a predetermined portion of the movable part is included in the region.   
     
     
         6 . The control apparatus according to  claim 1 , wherein:
 the movable part includes a tool for moving a movement target object to the region.   
     
     
         7 . A control system comprising a sensor and a control apparatus that controls a work machine,
 the control apparatus including: including at least one processor, the at least one processor carrying out:   a movement control process of controlling the work machine to move a movable part of the work machine to a region which is a destination; and   a correction control process of detecting a positional relation between the region and the movable part with reference to a detection value of the sensor to control the work machine to correct a position of the movable part.   
     
     
         8 . The control system according to  claim 7 , wherein:
 the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.   
     
     
         9 . The control system according to  claim 8 , wherein:
 in the movement control process, the at least one processor controls, with reference to a detection value of a second sensor which detects a posture of the work machine, the work machine to move the movable part to the region; and   in the correction control process, the at least one processor controls, with reference to a detection value of the first sensor, the work machine to correct the position of the movable part.   
     
     
         10 . The control system according to  claim 7 , wherein:
 in the correction control process, the at least one processor corrects the position of the movable part such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.   
     
     
         11 . The control system according to  claim 7 , wherein:
 in the correction control process, the at least one processor corrects the position of the movable part such that at least a predetermined portion of the movable part is included in the region.   
     
     
         12 . The control system according to  claim 7 , wherein:
 the movable part includes a tool for moving a movement target object to the region.   
     
     
         13 . A control method for controlling a work machine, said control method comprising:
 controlling, by at least one processor, the work machine to move a movable part of the work machine to a region which is a destination; and   detecting, by the at least one processor, a positional relation between the region and the movable part with reference to a detection value of a sensor to control the work machine to correct a position of the movable part.   
     
     
         14 . The control method according to  claim 13 , wherein:
 the sensor includes a first sensor that three-dimensionally detects a target object in a space which includes the region.   
     
     
         15 . The control method according to  claim 14 , wherein:
 a detection value of a second sensor that detects a posture of the work machine is referred to by the at least one processor for controlling the work machine to move the movable part to the region which is the destination; and   a detection value of the first sensor is referred to by the at least one processor for controlling the work machine to correct the position of the movable part.   
     
     
         16 . The control method according to  claim 13 , wherein:
 the position of the movable part is corrected by the at least one processor with reference to a detection value of the sensor such that a difference between a target position in the region and the position of the movable part falls within a predetermined range.   
     
     
         17 . The control method according to  claim 13 , wherein:
 the position of the movable part is corrected by the at least one processor with reference to a detection value of the sensor such that at least a predetermined portion of the movable part is included in the region.   
     
     
         18 . The control method according to  claim 13 , wherein:
 the movable part includes a tool for moving a movement target object to the region.   
     
     
         19 . A computer-readable non-transitory tangible storage medium storing a program for causing a computer to carry out the movement control process and the correction control process which are recited in  claim 1 .