To provide an object discrimination system, an object discrimination method, and an object discrimination control program, which discriminate simply a distance or a direction to an object.

An upper light-emitting body 221, a left light-emitting body 224 and a right light-emitting body 225 are arranged like three points of vertical angles of a triangle on the object (A). When a robot is in a position deviated to the right or the left relative to the object, the interval between the left light-emitting body 224 and the right light-emitting body 225 is shortened (B). It can be known on which side the robot is positioned by shifting its position to the right or the left (C, D). The distance to the object is determined from, for example, the size or the area of the triangle or the length of each side.

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