Control device, control system, and control method

A control system for controlling a work machine, said control system comprising a control apparatus and a first sensor that acquires state information indicating a posture of the work machine,

• the control apparatus including at least one processor, the at least one processor carrying out:
• a specification process of specifying, based on the state information and action information indicating an action of the work machine, a safe distance that is set between a movable part of the work machine and a surrounding object;
• and
• an action control process of controlling an action of the work machine in accordance with the safe distance and surrounding information indicating an arrangement of the surrounding object around the work machine.

A control method for controlling a work machine, said control method comprising:

• acquiring state information, action information, and surrounding information by at least one processor, the state information indicating a posture of the work machine, the action information indicating an action of the work machine, and the surrounding information indicating an arrangement of a surrounding object around the work machine;
• specifying, by the at least one processor and based on the state information and the action information, a safe distance that is set between a movable part of the work machine and the surrounding object;
• and
• controlling, by the at least one processor, an action of the work machine in accordance with the safe distance and the surrounding information.