CONTROL DEVICE, PROGRAM, AND CONTROL METHOD

PROBLEM TO BE SOLVED: To provide a mechanism to control a moving body which moves indoor.SOLUTION: A control device comprises: a storage unit that stores three-dimensional space information of a real space inside a building; an imaging unit that images the real space; a distance measuring unit for measuring a distance to an object; a movement control unit that controls a movement on the basis of the three-dimensional space information, a moving route associated with the three-dimensional space information and the distance to the object in the real space measured by the distance measuring unit; a three-dimensional space information acquisition unit that acquires three-dimensional space information of the real space imaged by the imaging unit during movement by control of the movement control unit; and an information updating unit that updates the three-dimensional space information stored in the storage unit on the basis of the three-dimensional space information acquired by the three-dimensional space information acquisition unit.SELECTED DRAWING: Figure 1 【課題】屋内を移動する移動体を制御する仕組みを提供する。【解決手段】制御装置は、建物内部の実空間の三次元空間情報を記憶する記憶部と、前記実空間を撮像する撮像部と、物体までの距離を測定する測距部と、前記三次元空間情報と、前記三次元空間情報に対応付けられた移動経路と、前記測距部が測定する前記実空間内の物体との前記距離とに基づいて移動を制御する移動制御部と、前記移動制御部の制御による移動中に、前記撮像部が撮像した前記実空間の三次元空間情報を取得する三次元空間情報取得部と、前記三次元空間情報取得部が取得する前記三次元空間情報に基づいて、前記記憶部に記憶されている前記三次元空間情報を更新する情報更新部と、を備える。【選択図】図１