Control device, robot system, control method, and storage medium

A control device comprising:

• a control unit configured to monitor knowledge data in which element information relating to an operation environment of a robot is integrated and, when the element information of a predetermined item changes, identify a salient feature relating to the element information of the item, and operate the robot on the basis of an operation plan relating to a salient feature identified from related data representing at least a relevance between the salient feature and the operation plan of the robot,
• wherein, in the related data, a constraint condition is associated with at least some of the operation plans, and
• wherein the control unit determines whether or not the element information of the predetermined item satisfies a constraint condition corresponding to an operation plan relating to the identified salient feature and, when the constraint condition is not satisfied, does not operate the robot on the basis of the operation plan relating to the salient feature,
• wherein the knowledge data includes element information of a plurality of items, and the element information of the plurality of items is associated on the basis of attributes of the items, and
• wherein the control unit converts detection information detected from the operation environment into perception information of an attribute set in advance and updates element information of which an attribute is common to the perception information on the basis of the perception information, and
• wherein a class and event of interest information are associated for each salient feature in the related data, and
• wherein the control unit
• reads a common class for the salient feature,
• generates an instance by substituting the event of interest information into the read class,
• executes the generated instance,
• reads the operation plan corresponding to the event of interest information, and
• operates the robot in accordance with the read operation plan.