| 摘要 |
PURPOSE:To select with high accuracy a target point which is required for detecting a position shift a moving robot, etc., by executing a coordination of the target point in accordance with a three-dimensional position relation between plural target points. CONSTITUTION:When a data of a three-dimensional coordinate of a target point of a running environment in the first coordinate system is registered in an environmental model memory 5 by a preparatory run, subsequently, an autonomous run of a moving robot is executed. In this case, a target point mutual position relation leading-out part 4 compares mutually each three- dimensional coordinate of plural target points in the second coordinate system which has been derived by a camera coordinate value calculating part 3, and each three-dimensional coordiante value of plural target points in the first coordinate system which has been stored in advance in an environmental model memory 5, and derives target points corresponding to each other between the first and the second coordinate systems from their position relation.
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