To provide the self-position determination device for a traveling object for easily matching an angle (azimuth) in the traveling direction of a traveling object at a start point of a position determination arithmetic operation with an angle (azimuth) set in an area where the traveling object actually travels with reducing an error.
Photoelectric sensors 12 and 13 are attached to both side faces of a traveling object 10 at a right angle to the traveling direction of the traveling object 10, and reflection boards 14 and 15 for reflecting the rays of light of the photoelectric sensors 12 and 13 are arranged at both sides of a storehouse entrance 1 of a traveling area so as to be faced to the optical axes of the photoelectric sensors 12 and 13. An operation time difference between the photoelectric sensors 12 and 13 when the traveling object 10 passes through the storehouse entrance 1 is used to calculate the angle of the traveling object in passage.
SHIBUTA TAKATSUGU
| JPS63148312A | 1988-06-21 |
Kajinami order
Shunichi Ueda
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