Patent ID: 8473141

Claim:
A robot system comprising: a robot having a running subsystem; a camera configured to capture a real-time image; a distance direction sensor configured to detect a distance between the distance direction sensor and an object and a direction from the distance direction sensor to the object; and a controller configured to control the robot and comprising: a memory configured to store a plurality of instruction images obtained as targets of the real-time image at each of a plurality of discrete instruction points provided on a predetermined running path; an image guidance configured to control the running subsystem based on a comparison result between the real-time image and the instruction image; a measurement distance guidance configured to control the running subsystem based on a detection result of the distance direction sensor; a switch configured to set one of the image guidance and the measurement distance guidance to be effective to control the running system based on predetermined switching conditions; and an extracting device configured to extract an area satisfying a predetermined condition from a pixel arrangement of the real-time image as a distinctive point, the switch being further configured to set the image guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where a number of the distinctive points is equal to or more than a predetermined image guidance beginning number, the switch being further configured to set the measurement distance guidance out of the image guidance and the measurement distance guidance to be effective to control the running system in a case where the number of the distinctive points is less than the predetermined image guidance beginning number.