Control device, control system, control method, and program

A control device comprising:

• a control unit configured to control a movement of a robot on the basis of movement trajectory information indicating a movement trajectory of the robot;
• a judgment unit configured to judge whether a first distance between a position of the robot and a position of a person is shorter than a first predetermined distance, the positions being detected by a detection unit;
• a first prediction unit configured to predict a future position of the robot on the basis of the position of the robot;
• a second prediction unit configured to predict a future position of the person on the basis of the position of the person;
• and
• a modification unit configured to judge whether a second distance between the future position of the robot and the future position of the person is shorter than a second predetermined distance and, in a case in which the second distance is shorter than the second predetermined distance, modify the movement trajectory information such that the second distance is equal to or longer than the second predetermined distance,
• wherein the control unit
• in a case in which the first distance is shorter than the first predetermined distance, stops or decelerates the movement of the robot, regardless of whether the movement trajectory information is modified, or
• in a case in which the first distance is equal to or longer than the first predetermined distance and the movement trajectory information is modified, controls the movement of the robot on the basis of the movement trajectory information after modification.

A control method executed by a computer, the control method comprising:

• a control step of controlling a movement of a robot on the basis of movement trajectory information indicating a movement trajectory of the robot;
• a judgment step of judging whether a first distance between a position of the robot and a position of a person is shorter than a first predetermined distance, the positions being detected by a detection unit;
• a prediction step of predicting a future position of the robot on the basis of the position of the robot and predicting a future position of the person on the basis of the position of the person;
• and
• a modification step of judging whether a second distance between the future position of the robot and the future position of the person is shorter than a second predetermined distance and, in a case in which the second distance is shorter than the second predetermined distance, modifying the movement trajectory information such that the second distance is equal to or longer than the second predetermined distance,
• wherein, in the control step,
• in a case in which the first distance is shorter than the first predetermined distance, the movement of the robot is stopped or decelerated, regardless of whether the movement trajectory information is modified, or
• in a case in which the first distance is equal to or longer than the first predetermined distance and the movement trajectory information is modified, the movement of the robot is controlled on the basis of the movement trajectory information after modification.