Contact determination device, contact determination system, contact determination method, and program

Abstract

To provide a technique capable of shaping a placed target object into a desired shape with use of a work machine, a contact determination method includes: acquiring information pertaining to a position of at least one movable part among one or more movable parts provided in the work machine; and carrying out determination of contact between the work machine and the target object on the basis of a result of a comparison between an amount of change in the position of the at least one movable part specified in accordance with the information pertaining to the position and a threshold value indicating an amount of change that serves as a criterion on which to determine contact between the work machine and the target object.

What is claimed is: 
     
         1 . A contact determination method comprising:
 acquiring information pertaining to a position of at least one movable part among one or more movable parts provided in a work machine; and   carrying out determination of contact between the work machine and a target object on a basis of a result of a comparison between an amount of change in the position of the at least one movable part specified in accordance with the information pertaining to the position and a threshold value indicating an amount of change that serves as a criterion on which to determine contact between the work machine and the target object.   
     
     
         2 . The contact determination method according to  claim 1 , further comprising calculating the amount of change in the position. 
     
     
         3 . The contact determination method according to  claim 1 , wherein the determination criterion for the contact determination includes a criterion that the amount of change in the position is equal to or less than the threshold value. 
     
     
         4 . The contact determination method according to  claim 3 , wherein the determination criterion for the contact determination includes a criterion that the amount of change in the position is equal to or less than the threshold value in a time period that serves as a criterion on which to determine contact between the work machine and the target object. 
     
     
         5 . The contact determination method according to  claim 4 , further comprising:
 further acquiring information pertaining to work content of the work machine or the target object; and   setting, in accordance with the work content or the target object, at least one selected from the group consisting of the threshold value and the time period.   
     
     
         6 . The contact determination method according to  claim 1 , wherein
 the at least one movable part is any movable part selected from the group consisting of a first movable part connected to a main body of the work machine, a second movable part connected to the first movable part, and a third movable part connected to the second movable part, and   in the step of acquiring the information pertaining to the position of the at least one movable part, information pertaining to a rotational position of the at least one movable part is acquired.   
     
     
         7 . The contact determination method according to  claim 1 , further comprising generating a target trajectory of the at least one movable part among the one or more movable parts, the target trajectory extending deep into the target object below a surface of the target object when viewed from the at least one movable part. 
     
     
         8 . A contact determination system comprising:
 at least one processor, the at least one processor carrying out:   an acquisition process of acquiring information pertaining to a position of at least one movable part among one or more movable parts provided in a work machine; and   a determination process of carrying out determination of contact between the work machine and a target object on a basis of a result of a comparison between an amount of change in the position of the at least one movable part specified in accordance with the information pertaining to the position and a threshold value indicating an amount of change that serves as a criterion on which to determine contact between the work machine and the target object.   
     
     
         9 . The contact determination system according to  claim 8 , wherein the at least one processor further carries out a calculation process of calculating the amount of change in the position. 
     
     
         10 . The contact determination system according to  claim 8 , wherein the determination criterion for the contact determination includes a criterion that the amount of change in the position is equal to or less than the threshold value. 
     
     
         11 . The contact determination system according to  claim 10 , wherein the determination criterion for the contact determination includes a criterion that the amount of change in the position is equal to or less than the threshold value in a time period that serves as a criterion on which to determine contact between the work machine and the target object. 
     
     
         12 . The contact determination system according to  claim 11 , wherein
 in the acquisition process, the at least one processor further acquires information pertaining to work content of the work machine or the target object, and   the at least one processor further carries out a setting process of setting, in accordance with the work content or the target object, at least one selected from the group consisting of the threshold value and the time period.   
     
     
         13 . The contact determination system according to  claim 8 , wherein
 the at least one movable part is any movable part selected from the group consisting of a first movable part connected to a main body of the work machine, a second movable part connected to the first movable part, and a third movable part connected to the second movable part, and   in the acquisition process, the at least one processor acquires information pertaining to a rotational position of the at least one movable part.   
     
     
         14 . The contact determination system according to  claim 8 , wherein the at least one processor further carries out an action control process of generating a target trajectory of the at least one movable part among the one or more movable parts, the target trajectory extending deep into the target object below a surface of the target object when viewed from the at least one movable part. 
     
     
         15 . A contact determination apparatus comprising:
 at least one processor, the at least one processor carrying out:   an acquisition process of acquiring information pertaining to a position of at least one movable part among one or more movable parts provided in a work machine; and   a determination process of carrying out determination of contact between the work machine and a target object on a basis of a result of a comparison between an amount of change in the position of the at least one movable part specified in accordance with the information pertaining to the position and a threshold value indicating an amount of change that serves as a criterion on which to determine contact between the work machine and the target object.   
     
     
         16 . The contact determination apparatus according to  claim 15 , wherein the at least one processor further carries out a calculation process of calculating the amount of change in the position. 
     
     
         17 . The contact determination apparatus according to  claim 15 , wherein the determination criterion for the contact determination includes a criterion that the amount of change in the position is equal to or less than the threshold value. 
     
     
         18 . The contact determination apparatus according to  claim 17 , wherein the determination criterion for the contact determination includes a criterion that the amount of change in the position is equal to or less than the threshold value in a time period that serves as a criterion on which to determine contact between the work machine and the target object. 
     
     
         19 . The contact determination apparatus according to  claim 18 , wherein
 in the acquisition process, the at least one processor further acquires information pertaining to work content of the work machine or the target object, and   the at least one processor further carries out a setting process of setting, in accordance with the work content or the target object, at least one selected from the group consisting of the threshold value and the time period.   
     
     
         20 .- 21 . (canceled) 
     
     
         22 . A computer-readable non-transitory storage medium storing a program for causing a computer to function as the contact determination apparatus according to  claim 15 , the program causing the computer to carry out the acquisition process and the determination process.