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

Abstract

In order to operate a work machine more safely, a control method (S1) includes: an obtaining step (S11) of obtaining first work information that indicates a content of work to be carried out by a work machine and position information that pertains to the first work machine; a range specifying step (S12) of specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and a motion controlling step (S13) of controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine.

What is claimed is: 
     
         1 . A control method comprising:
 (a) an obtaining step of obtaining first work information that indicates a content of work to be carried out by a first work machine and position information that pertains to the first work machine;   (b) a range specifying step of specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and   (c) a motion controlling step of controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine,   (a) through (c) being carried out by at least one processor.   
     
     
         2 . The control method as set forth in  claim 1 , wherein, in the range specifying step, the at least one processor specifies the first range in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine. 
     
     
         3 . The control method as set forth in  claim 2 , wherein:
 the first work machine includes a plurality of operation parts;   in the range specifying step, the at least one processor selects at least one of the plurality of operation parts in accordance with the content of the work which content is indicated by the first work information, and specifies the first range in accordance with an operation range of the at least one of the plurality of operation parts that has been selected.   
     
     
         4 . The control method as set forth in  claim 1 , wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine. 
     
     
         5 . The control method as set forth in  claim 1 , wherein:
 in the obtaining step, the at least one processor sequentially obtains the first work information; and   in the range specifying step, the at least one processor sequentially changes the first range in accordance with the first work information.   
     
     
         6 . The control method as set forth in  claim 1 , wherein:
 in the obtaining step, the at least one processor further obtains information which indicates a second range that includes a range in which a second work machine that differs from the first work machine operates and a vicinity of the range; and   in the motion controlling step, the at least one processor controls the motion of the first work machine further with reference to the second range.   
     
     
         7 . The control method as set forth in  claim 6 , wherein, in the motion controlling step, in a case where the first range and the second range at least partially overlap each other, the at least one processor controls the motion of the first work machine. 
     
     
         8 . A control system comprising:
 at least one processor,   the at least one processor carrying out:   an obtaining process of obtaining first work information that indicates a content of work to be carried out by a first work machine and position information that pertains to the first work machine;   a range specifying process of specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and   a motion controlling process of controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine.   
     
     
         9 . The control system as set forth in  claim 8 , wherein, in the range specifying process, the at least one processor specifies the first range in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine. 
     
     
         10 . The control system as set forth in  claim 9 , wherein:
 the first work machine includes a plurality of operation parts;   in the range specifying process, the at least one processor selects at least one of the plurality of operation parts in accordance with the content of the work which content is indicated by the first work information, and specifies the first range in accordance with an operation range of the at least one of the plurality of operation parts that has been selected.   
     
     
         11 . The control system as set forth in  claim 8 , wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine. 
     
     
         12 . The control system as set forth in  claim 8 , wherein:
 in the obtaining process, the at least one processor sequentially obtains the first work information; and   in the range specifying process, the at least one processor sequentially changes the first range in accordance with the first work information.   
     
     
         13 . The control system as set forth in  claim 8 , wherein:
 in the obtaining process, the at least one processor further obtains information that indicates a second range that includes a range in which a second work machine that differs from the first work machine operates and a vicinity of the range; and   in the motion controlling process, the at least one processor controls the motion of the first work machine further with reference to the second range.   
     
     
         14 . The control system as set forth in  claim 13 , wherein, in a case where the first range and the second range at least partially overlap each other, the at least one processor controls the motion of the first work machine in the motion controlling process. 
     
     
         15 . A control apparatus comprising:
 at least one processor,   the at least one processor carrying out:   an obtaining process of obtaining first work information that indicates a content of work to be carried out by a first work machine and position information that pertains to the first work machine;   a range specifying process of specifying, in accordance with the content of the work which content is indicated by the first work information, a first range that includes a range in which the first work machine operates and a vicinity of the range; and   a motion controlling process of controlling a motion of the first work machine with reference to the first range and the position information that pertains to the first work machine.   
     
     
         16 . The control apparatus as set forth in  claim 15 , wherein, in the range specifying process, the at least one processor specifies the first range in accordance with the content of the work which content is indicated by the first work information and an operation range of an operation part that is included in the first work machine. 
     
     
         17 . The control apparatus as set forth in  claim 16 , wherein:
 the first work machine includes a plurality of operation parts;   in the range specifying process, the at least one processor selects at least one of the plurality of operation parts in accordance with the content of the work which content is indicated by the first work information, and specifies the first range in accordance with an operation range of the at least one of the plurality of operation parts that has been selected.   
     
     
         18 . The control apparatus as set forth in  claim 15 , wherein the first work information includes information that pertains to a direction of an operation part that is included in the first work machine. 
     
     
         19 . The control apparatus as set forth in  claim 15 , wherein:
 in the obtaining process, the at least one processor sequentially obtains the first work information; and   in the range specifying process, the at least one processor sequentially changes the first range in accordance with the first work information.   
     
     
         20 .- 21 . (canceled) 
     
     
         22 . A non-transitory recording medium in which a program for causing a computer to function as the control apparatus recited in  claim 15  is recorded,
 the program causing the computer to carry out the obtaining process, the range specifying process, and the motion controlling process.