The present invention is to provide a system, a method, and a program for adjusting the altitude of a robot provided with an omnidirectional camera which provides entire visual field images with improved image quality. The system 1 for adjusting the altitude of a robot 200 provided with an omnidirectional camera 100 acquires the altitude of the omnidirectional camera 100, adjusts the altitude of the robot 200 so that the acquired altitude is a constant, and generates a 360-degree image taken by the omnidirectional camera 100 by synthetic processing in a predetermined altitude error range.

A motor driving apparatus comprises a motor including a rotor that is rotatable and has a magnet whose outer peripheral surface divided in a circumferential direction is magnetized in multiple poles with alternating different polarities, and a position detecting unit having a first detecting element, a second detecting element, a third detecting element and a fourth detecting element, each of which detects a magnet pole, a driving unit that drives the motor on the basis of signals output from the first to fourth detecting elements, and a controlling unit that obtains a rotational quantity of the motor on the basis of signals output from the first and second detecting elements and that outputs a control signal of the motor to the driving unit on the basis of the rotational quantity of the motor.

The present invention is to provide a system, a method, and a program for adjusting the altitude of a robot provided with an omnidirectional camera which provides entire visual field images with improved image quality. The system 1 for adjusting the altitude of a robot 200 provided with an omnidirectional camera 100 acquires the altitude of the omnidirectional camera 100, adjusts the altitude of the robot 200 so that the acquired altitude is a constant, and generates a 360-degree image taken by the omnidirectional camera 100 by synthetic processing in a predetermined altitude error range.

A motor driving apparatus comprises a motor including a rotor that is rotatable and has a magnet whose outer peripheral surface divided in a circumferential direction is magnetized in multiple poles with alternating different polarities, and a position detecting unit having a first detecting element, a second detecting element, a third detecting element and a fourth detecting element, each of which detects a magnet pole, a driving unit that drives the motor on the basis of signals output from the first to fourth detecting elements, and a controlling unit that obtains a rotational quantity of the motor on the basis of signals output from the first and second detecting elements and that outputs a control signal of the motor to the driving unit on the basis of the rotational quantity of the motor.