JPH01316809A - Traveling position controller for self-traveling vehicle - Google Patents

Abstract

PURPOSE:To automatically decide the coordinates of three light reflecting means by providing a calculation means to calculate distance information from one light reflecting means to another two light reflecting means and the coordinates of the three light reflecting means based on the aperture angle of each light reflecting means. CONSTITUTION:A light beam emitted from a light emitter 2 is scaned at a rotary table 4, and is reflected by a reflector 6, then, is made incident on a photoreceiver 3. At an angle detecting part 10, the aperture angle between each reflector 6 observed from a self-traveling vehicle is calculated based on a pulse count value transferred at every reception of reflected light. Meanwhile, the distance from one of the reflectors 6 to another reflector is measured and inputted by an operator. A reference coordinate calculation part 11 calculates the coordinates of another two reflectors setting one reflector as an origin based on the distance information from a setting part 8 and the aperture angle obtained at the angle detecting part 10.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a position control device for self-propelled vehicles, and particularly for self-propelled vehicles such as automobiles, unmanned moving conveyance devices in factories, agricultural and civil engineering machines, etc. The present invention relates to a travel position control device.

(Prior Art) Conventionally, as a device for detecting the current position of a mobile object such as the above-mentioned self-propelled vehicle, the following technology has been proposed, for example, in Japanese Patent Laid-Open No. 59-67476. This technology is a device that detects the position of a moving object by scanning a light beam generated from the moving object in a circumferential direction centering on the moving object, and includes a light reflecting means that reflects light in the direction of incident light. of,
The movable body has a light generating means, a light beam scanning means for scanning the light beam generated from the light generating means, and a light beam receiving means for receiving the reflected light from the light reflecting means. A light receiving means is provided.

Then, based on the light receiving output of the light receiving means, the opening angle between the three light reflecting means centered on the moving body is detected, and based on the detected opening angle and preset position information of the light reflecting means. The position of the moving object is calculated using

(Problem to be Solved by the Invention) However, with the above technology, even a slight error in the preset position information of the light reflecting means causes a large adverse effect on the entire system. Each time, the positional information of the light reflecting means to be installed, that is, the distance and relative angle between the light reflecting means installed at the three locations, is accurately measured in advance before work, and this measurement result is sent to the control device. I was working on inputting data. In this way, we can accurately measure the spacing and relative angles of light reflecting means placed in a large work area.
There was a problem in that inputting data was an extremely difficult task.

An object of the present invention is to solve the problems of the above-mentioned prior art, and to enable the position of the light reflecting means to be detected with a simple operation procedure.
It is an object of the present invention to provide a running position control device for a self-propelled vehicle that can control the running direction of a moving body based on the position information.

(Means and Effects for Solving the Problems) In order to solve the above-mentioned problems, the present invention aims at scanning a light beam generated from a self-propelled vehicle in the circumferential direction with the self-propelled vehicle as the center. , in the traveling position control device for a self-propelled vehicle, which detects the position of the self-propelled vehicle by detecting the reflected light of the light beam by light reflecting means installed at at least three locations apart from the self-propelled vehicle; a light beam generating means provided on the self-propelled vehicle and generating the light beam; a forward beam scanning means provided on the self-propelled vehicle and scanning the light beam in a circumferential direction centering on the self-propelled vehicle; A light receiving means provided on the self-propelled vehicle and configured to receive reflected light from the light reflecting means; and detection for detecting an opening angle between the light reflecting means as seen from the self-propelled vehicle based on the light receiving output of the light receiving means. means, a distance from one of the light reflecting means to the other two light reflecting means measured by any means, and an installation of the one light reflecting means as detected by the opening angle detection means. means for calculating the coordinates of the two light reflecting means based on the opening angles of the other two light reflecting means with the position as the center, and the opening angle between the three light reflecting means as seen from the self-propelled vehicle and the A feature of the present invention is that it includes means for calculating the position of the self-propelled vehicle based on the coordinates of the light reflecting means.

In the present invention having the above configuration, distance information from one of the three light reflecting means to the other two light reflecting means, and information on the distance from the other two light reflecting means centered on the one light reflecting means are provided. The coordinates of the three light reflecting means are calculated based on the opening angles of the reflecting means, and the traveling position of the self-propelled vehicle can be controlled using these coordinates as they are. In other words, by configuring a system that effectively utilizes the opening angle detection means that a self-propelled vehicle has to detect its own position, it is possible to detect the distance between the three light reflection means without having to measure all the distances. Each distance from one reflecting means to the other two light reflecting means is a
The coordinates of all light reflecting means can be determined by simply determining

(Example) An embodiment of the present invention will be described below with reference to the drawings.

FIG. 8 is a perspective view showing a self-propelled vehicle equipped with the control device of the present invention and the arrangement of light reflectors disposed in an area where the self-propelled vehicle travels.

In the figure, a self-propelled vehicle 1 is, for example, a self-propelled work vehicle such as a lawn mower. A rotary table 4 driven by a motor 5 is provided on the top of the self-propelled vehicle 1. and,
The rotary table 4 is equipped with a light emitter 2 that generates a light beam and a light receiver 3 that receives reflected light from the light beam. The light emitter 2 includes a light emitting diode that generates light, and the light receiver 3 includes a photodiode that receives incident light and converts it into an electrical signal (both not shown).

Further, the rotary encoder 7 is provided so as to be interlocked with the drive shaft of the rotary table 4, and by counting the pulses output from the rotary encoder 7, the rotation angle of the rotary table 4 can be detected. Reference numeral 1a denotes an operation panel, which is used for inputting information necessary for controlling the self-propelled vehicle 1 and displaying input results.

6 is a reflector arranged around the work area of the self-propelled vehicle 1. The reflector 6 includes a reflective surface that reflects incident light in the direction of incidence, and is conventionally commercially available.
A so-called corner cube prism or the like can be used.

Next, the configuration of the control device of this embodiment will be explained according to the block diagram shown in FIG. In FIG. 1, a light beam emitted from a light emitter 2 is scanned in the direction of rotation of a rotary table 4, and is reflected by a reflector 6. The light beam reflected by the reflector 6 is incident on the light receiver 3 and detected as a signal indicating the azimuth angle, which is the position of the reflector 6 with respect to the traveling direction of the vehicle body.

The counter 9 counts the number of pulses output from the row encoder 7 as the rotary table 4 rotates.

The pulse count value is transferred to the angle detection section 10 each time the light receiver 3 receives reflected light. The angle detection unit 10 calculates the opening angle between each reflector 6 as seen from the self-propelled vehicle 1 based on the count value (unidirectional angle) of the pulses transferred each time the reflected light is received.

The distance fl11 from one of the reflectors 6 to the other reflector is determined by an arbitrary means not shown, and the result is input to the distance setting unit 8.

The human power required for the distance is the operation panel 1a provided on the self-propelled vehicle 1.
done by the operator using.

SWI and SW2 are switches for selecting the reference coordinate calculation mode and the steering control mode. SWI.

When SW2 is switched to the reference coordinate calculation mode M1, the detection output of the angle detection section 10 and the distance information set in the distance setting section 8 are input to the reference coordinate calculation section 11. The reference coordinate calculation unit 11 determines whether one of the light reflectors 6 is the origin and the other two is based on the distance information input from the distance setting unit 8 and the opening angle obtained by the angle detection unit 10. The coordinates of the two light reflectors 6 are calculated using a calculation formula described later.

The coordinates of the other two light reflectors 6 with one of the light reflectors 6 as the origin obtained by the reference coordinate calculation section 11 are stored in a backup memory provided in the position/direction calculation section 13. Stored.

On the other hand, when switching between SWI and SW2 is set to steering control mode M2, the data of the distance setting section 8 is no longer input to the reference coordinate calculation section 11, and the detection output of the angle detection section 10 is used for position/direction calculation. The information is now input to section 13.

The position/heading calculation unit 13 calculates the coordinates and heading of the self-propelled vehicle 1 based on the detection output of the angle detection unit 10 and the reference coordinates using a calculation formula described later, and the calculation results are sent to the steering unit 14. Man-powered.

The steering unit 14 compares the calculation result of the position/heading calculation unit 13 with the driving course set in the driving course setting unit 16, and adjusts the steering connected to the front wheels 17 of the self-propelled vehicle based on the comparison result. A motor (not shown) is driven. The steering angle of the front wheels 17 by the steering motor is detected by a steering angle sensor 15 provided on the front wheels of the self-propelled vehicle 1 and fed back to the steering section 14 .

The drive unit 18 controls starting and stopping of the engine 19 and the operation of a clutch 20 that transmits the power of the engine 19 to the rear wheels 21.

Next, the procedure for determining the coordinates of the reflector 6 will be explained.

FIG. 4(a) is a flowchart showing the preparation procedure for work by the self-propelled vehicle 1, FIG. 4-(b) is a layout diagram of the reflector 6, and FIG.
The figure is a flowchart of reflector coordinate calculation control.

First, place the reflector 6 at point A according to the work area.

Place the marker at point B, and place the marker at point 0 (Step S
100). One of the reflectors 6 will be installed at the point B later.

Next, the distance from point B to point A! 1, and 0 from point B
Distance to the point! 2 (step 5200). The distance f1.12 can be determined using any means such as an optical distance M illll or a tape measure.

In step 5300, the self-propelled vehicle 1 is moved to the zero point. At this time, the self-propelled vehicle 1 is moved so that the centers of rotation of the light emitter 2 and the light receiver 3 are positioned directly above the marker.

In step 5400, reference coordinates are calculated according to a routine described later.

In step 5500, the self-propelled vehicle 1 is moved to the work start position.

In step 5600, the remaining reflector 6 is placed on the marker.

When the above processing is completed, steering control is performed according to a routine described later.

Next, reference coordinate calculation control for the reflector 6 will be explained.

In FIG. 5, first, in step 5401, the light emitter 2 and the light receiver 3 are rotated at point B, and 0 as seen from point B.
Measure the opening angle θ between point and point A.

In step 5402, the opening angle θ is adjusted to the operating panel 1a.
display on the display section. Total of 2 in the display section
11 result is displayed, it is confirmed that the reflection of the light beam has been detected and the total of the opening angle θ has been calculated by Δ−1.

In step 5403, the operator determines whether the measurement result of the opening angle θ has been displayed on the display unit. When it is confirmed that the screen is displayed, a confirmation switch (not shown) on the operation panel 1aJ= is operated to proceed to step 5404.

Reflector 62 Emitter 2. If dirt adheres to the light receiver 3 or the like, the reflected light beam will not be received properly and the measurement results will not be displayed on the display. In such a case, after removing any obstructions such as dirt on the reflector 6, operate the reset switch (not shown) on the operation panel to return to step 540.
Return to step 1 and repeat step A-1.

In step 5404, distance! Display the input request (2) on the display section.

In step 5405, it is determined whether the distance 811 has been input, and if it is determined that the distance 811 has been input, step 54
Proceed to 06.

In step 5406, distance! Display the human power request in step 2 on the display section.

In step 5407, distance! It is determined whether or not 2 has been manually performed, and if it is determined that it has been performed manually, step 84
Proceed to 08.

In step 8408, the distance fir,
12 and the opening angle θ are displayed.

In step 5409, a distance of 21.1 is displayed on the display section.
2 and the opening angle θ are displayed, and it is determined whether the values are correct or not. Once displayed, step 5410
Proceed to.

In step 5410, the input distance! ■.

! 2 and the arrangement position A of each reflector 6 based on the opening angle θ
The coordinates of and C are calculated. Here, point B is the origin, and a line passing through point B and point 0 is the X axis of the coordinates. Point A,
The formula for calculating each coordinate value of the 0 point is as shown in the flowchart.

In step 5411, the coordinate values (reference coordinate values) of point A and point 0 calculated in step 5410 are stored in the backup memory of the position/travel direction calculation section 13.

The reference coordinate values are used as data for detecting the position and traveling direction of the self-propelled vehicle 1, which will be described below.

Regarding the control for detecting the position and traveling direction of the self-propelled vehicle 1 at the coordinates calculated by the procedure described in 1.
This will be explained with reference to the figures and FIG.

In FIGS. 2 and 3, the self-propelled vehicle 1 is at a position indicated by point T, and reflectors 6 are placed at points A, B, and 0 in the work area of the self-propelled vehicle 1. There is. The positions of the self-propelled vehicle 1 and each reflector 6 are expressed in an x-y coordinate system with point B as the origin and a line passing through point B and point 0 as the X axis.

As can be seen from the figure, the position T of the self-propelled vehicle 1 is a triangle BT.
It exists on the circumcircle of C and at the same time on the circumcircle of triangle ATB. Therefore, the position of the self-propelled vehicle 1 can be determined by calculating the two intersections of the circumscribed circles P and Q of the triangle BTC and the triangle ATB, respectively.

Since the 0 point is the origin of the coordinates, the position of the self-propelled vehicle 1 can be determined by calculating the other intersection T of the circumscribed circles P and Q according to the following procedure.

First, regarding the circumcircle P of the triangle BTC, its center is P
Then, P is on the perpendicular bisector of the line segment AC, and from the relationship between the central angle and the circumferential angle, it becomes cpw - β.

However, W' is a point on the perpendicular bisector of line segment CA, and is sufficiently far away from point T on the opposite side of line BC.Here, triangle BPW (W is the midpoint of line segment BC) ), the coordinates of the center of circle P are fxc/2. (xc/2)cota) The radius is lxc/(2sinβ)1, and the circumscribed circle P is expressed by the following formula.

(x-xc/2)2 + (y-(xc/2)cota)2 - (xc/(2s inβ))2 Furthermore, by rearranging the chain equation, the following equation is obtained.

x2-xc' x+y2-XCIIy11Cotβ1llIO...
Then, there is one Q on the perpendicular bisector of line segment AB, and it becomes BQV--α.

However, V' is the second point of the perpendicular bisector of line segment BA,
It is assumed that point T is located sufficiently far away from the straight line BA on the opposite side.

Now, focusing on triangle BQV (V is the midpoint of line segment CB), the coordinates of the center of circle Q are lxa/2+ (yb/2)cota.

ya/2−(xa/2)cotα1 The instep diameter is IJxa +ya2/ (2s 1na)1, and the circumscribed circle Q is expressed by the following formula.

x”-x (xa+ya-cota)+y2-y (y
a-xa-cota)-0-・-(2)” 2 (1),
From equation (2), the coordinates (x, y) of point T are calculated using the following equation.

x-xc i (-cotβ to 1+) / (2 to 1+)
1・・・・・・(3) y−kx・・・・・・・・・・・・・・・
・・・・・・・・・・・・(4) However = (xc-xa
-ycecotcr)/(ya-xa*cota-xc
*cotβ) (5) and represents the slope of the straight line BT.

Further, the traveling direction of the self-propelled vehicle 1 is calculated as follows. In FIG. 3, the angle between the traveling direction of the self-propelled vehicle 1 and the θb,
In the case of θC, the slope of the line segment CT is k, so θ f−180° −(θ c −j a n
-1k) =-((i) Note that the above θC is the self-propelled vehicle 1
Since this is the rotation angle to the reflector based on the traveling direction of and β
Find θC based on.

Next, steering control of the self-propelled vehicle 1 based on the position information of the self-propelled vehicle 1 calculated by the above procedure will be described. 6th
The figure shows the travel course of the self-propelled vehicle 1 and the arrangement of the reflectors 6, and FIG. 7 is a flowchart of steering control.

In FIG. 6, points A, B, and C indicate the placement positions of the reflector 6, and the coordinate system of the self-propelled vehicle 1 with point C as the origin and the line passing through point C and point A as the X axis. The location and work area 22 are represented.

(Xret, Yret) indicates the return position of the self-propelled vehicle 1,
The work area 22 has coordinates (Xs t, Ys t), (X
s t, Ye), (Xe, Yst), (Xe.

This is an area connecting the points indicated by Ye).

In addition, in the figure, the coordinates of the position T of the self-propelled vehicle 1 are (X
p, Yp).

In FIG. 6, in order to simplify the explanation, an example is shown in which the four sides of the work area 22 are made parallel to the X axis or the X axis, but it is also possible to arrange the reflector 6 around the work area 22. If so, the direction of the work area 22 is arbitrary.

The control procedure will be explained according to flowchart 1 in FIG.

First, in step S1, the current position (Xre, Y
ret) and the coordinates (Xst) of the work start position set in the travel course setting section 16.

Based on Y8[), the steering amount of the front wheels 17 of the self-propelled vehicle 1 is calculated in the steering section 14.

In step S2, the steering section 14 steers the front wheels 17 in the direction determined by the steering amount, and the drive section 1
8, start the engine, connect the clutch, drive the self-propelled vehicle 1, and move to the work starting position (Xs t, Ys
t) Proceed.

In step S3, Xst is set as the driving course Xn, and the driving course is determined.

When the self-propelled vehicle 1 starts running in step S4, the self-propelled vehicle 1 calculates its own position (Xp, Yp) and heading θf (step S5).

In step S6, the amount of deviation from the driving course (ΔX=Xp
-Xn, Δθf) are calculated, and in step S7, steering angle control is performed by the steering section 14 according to the amount of deviation.

In step S8, it is determined whether the self-propelled vehicle 1 is traveling in the y-axis direction, in a direction away from the origin (going direction) or in a direction approaching the origin (returning direction).

If it is the forward direction, it is determined in step S9 whether the -stroke has ended (Yp>Ye); if it is the return direction, it is determined in step SIO whether the -stroke has ended (Yp<Ye).
st) is determined. Step S9 or S
If it is determined in IO that the -stroke has not been completed, steps 85 to S8 are performed.

If it is determined in step S9 or SIO that the -stroke has ended, then in step Sll it is determined whether all the strokes have ended (Xp>Xe).

If the entire stroke has not been completed, the process moves from step Sll to step S12, where a U-turn control of the self-propelled vehicle is performed, and in step S13, Xn is set to (Xr++L) and the next travel course is set. Once the next travel course is set, the process returns to step S5 and the above-mentioned process is performed.

When the entire stroke is completed, return to the return position (Xret).

Yret) (step 514), and the traveling is stopped (step 515).

Note that the U-turn control in step S12 includes steps 85 to S in which the position information of the self-propelled vehicle 1 calculated by the position/heading calculation unit 13 is fed back to the steering unit 14.
The process is performed according to a preset program without depending on the process in step 7.

For example, when the self-propelled vehicle 1 shifts from traveling in a straight line to turning, the steering angle of the self-propelled vehicle 1 is fixed at a constant angle and the turning operation is performed.
When the self-propelled vehicle 1 reaches a fixed position, the fixation of the steering angle is released and the self-propelled vehicle 1 is caused to travel in a straight line again.

In addition, in the above embodiment, an example was shown in which the coordinates (Xs t, Ys t) of the work start position with respect to the origin C (0, 0) are set in advance in the travel course setting section 16. In addition, the self-propelled vehicle 1 is guided to an arbitrary position by radio guidance etc., and the position is set as the work start position (Xs t, Ys t).
It is also possible to define this and start running.

As described above, in this embodiment, first, the distances from one reflector to the other two of the reflectors 6 installed at three locations are measured in advance.

Next, the opening angles of the other two reflectors 6 viewed from the installation position of the one reflector 6 are measured by the opening angle detection means provided in the self-propelled vehicle 1. Then, based on the distance information and the opening angle, the coordinates of each reflector 6 with the one reflector as the origin are calculated, and based on the coordinate values of the reflector 6, the current position and traveling direction of the self-propelled vehicle 1 are calculated. is being calculated.

As described above, in the present invention, by using the opening angle detection function provided in the self-propelled vehicle 1, even if the distance between each reflector installed in the work area is not known, the distance between the self-propelled vehicle 1 and Reflection? 56 can be detected, and the steering control of the self-propelled vehicle 1 can be performed based on the detection result.

Further, among the reflectors 6 placed at the three places, the distance between the reflectors placed at two places is measured, the result is set in the distance setting section 8, and the distance and the distance between the reflectors placed at the two places are set. Even if the reference coordinates are calculated based on the opening angle between the other two reflectors as seen from the reflector 6, the same effect as in the above embodiment can be obtained.

(Effects of the Invention) As is clear from the above description, according to the present invention, the following effects can be achieved.

(1) Using the reflector opening angle information obtained by the angle detection function installed in the self-propelled vehicle to detect its own position and the minimum distance information, it is possible to determine the base point for work travel. The reference coordinates can be easily calculated.

(2) Even if the work area of the self-propelled vehicle changes and the light reflectors are reinstalled each time, there is no need to measure all the distances between each reflector, so the effort required to determine the distance r91 is reduced. and time can be reduced.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is an explanatory diagram of the principle of position detection of a self-propelled vehicle, Fig. 3 is an explanatory diagram of the principle of detection of the traveling direction of a self-propelled vehicle, and Fig. 4 ( a) is a flowchart showing the work preparation procedure, FIG. 7 is a flow chart of steering control, and FIG. 8 is a perspective view of the self-propelled vehicle and the reflector. 1... Self-propelled vehicle, 2... Emitter, 3... Light receiver, 4
... rotary table, 5 ... motor, 6 ... reflector, 7 ... rotary encoder, 8 ... distance setting section,
9...Counter, 10...Angle detection section, 11...
Coordinate calculation unit, 13...Position/progressing direction calculation unit, 14.
...Representatives for the steering department Patent attorney Michito Hiraki and one other person Figure 2 Figure 3 Scroll to the top Figure 5 Figure 8 Procedure amendment iF (voluntary) 1. Indication of the case Patent application No. 149620 of 1983 Relationship Patent applicant (532) Honda Motor Co., Ltd. 4, Agent Famil Nishi-Shinjuku 403 No. 5, 3-3-23 Nishi-Shinjuku, Shinjuku-ku, Tokyo, Detailed description of the invention column and drawings in the specification subject to amendment 6. Contents of the amendment (1) Changed “one direction angle” from line 19 to line 20 of specification 9 to “
Corrected as "unilateral angle". (a, page 12, line 9, “installed at point B, 0 point” is corrected as “installed at point 0, point B”. (3) Line 16, same page, “0 point” is changed to “point B”) (4) Line 15 of page 16, “0 point” is corrected to “18 points.” (5) Line 19 of page 19 [Correct the line segment ACJ to “line segment BCJ.” (6) Line 17 of the same page Page 1st line r, <CPW-J r, 4BP
Corrected with W'J. (7) Line 2 of the same page, “Correct line segment CAJ to line segment BCJ.” (8) Line 8, page 18 [Correct line segment CBJ to “line segment BAJ.” (9) Line 10, page ry b / 2 J to rya/
Corrected with 2J. (10) Page 19, line 13, “line segment CTJ [line segment BT
J and correction. (11) Corrected "θC" in line 14 of the same page to "θb". (12) Page 19, line 15 to page 20, line 3 [In addition, . . . obtain. ” was deleted. (13) Lines 10 to 11 of the same page “With point C as the origin,
...Correct the line passing through point A to ``the line with point B as the origin and passing through point B and point C''. (14) Corrected "Point C" on page 23, line 20, to "Point B." (15) Figures 4 and 5 of the drawings have been corrected as shown in the attached sheet. Figure 5

Claims (4)

[Claims] (1) By scanning a light beam generated from a self-propelled vehicle in a circumferential direction centering on the self-propelled vehicle, the light beam is reflected by light reflecting means installed at at least three locations apart from the self-propelled vehicle. A traveling position control device for a self-propelled vehicle that detects the position of the self-propelled vehicle by detecting reflected light of a beam, comprising: a light beam generating means that is provided on the self-propelled vehicle and generates the light beam; a light beam scanning means provided on the vehicle and scanning the light beam in a circumferential direction around the self-propelled vehicle; a light receiving means provided on the self-propelled vehicle receiving reflected light from the light reflecting means; detection means for detecting the opening angle between the light reflection means as seen from the self-propelled vehicle based on the light reception output of the light reception means; The distance between the two light reflecting means and the opening angle of the other two light reflecting means with the installation position of the one light reflecting means as the center detected by the opening angle detection means. The present invention further includes means for calculating the coordinates of the reflecting means, and means for calculating the position of the self-propelled vehicle based on the opening angle between the three light reflecting means as seen from the self-propelled vehicle and the coordinates of the light reflecting means. Features: Travel position control device for self-propelled vehicles. (2) By scanning a light beam generated from a self-propelled vehicle in a circumferential direction centering on the self-propelled vehicle, the light beam is reflected by light reflecting means installed at at least three locations apart from the self-propelled vehicle. A traveling position control device for a self-propelled vehicle that detects the position of the self-propelled vehicle by detecting reflected light of a beam, comprising: a light beam generating means that is provided on the self-propelled vehicle and generates the light beam; a light beam scanning means provided on the vehicle and scanning the light beam in a circumferential direction around the self-propelled vehicle; a light receiving means provided on the self-propelled vehicle receiving reflected light from the light reflecting means; A detection means for detecting an opening angle between the light reflection means as seen from the self-propelled vehicle based on the light reception output of the light reception means, and a distance between two of the light reflection means measured by an arbitrary means. , and the two light beams of the light reflecting means based on the opening angles of the other two light reflecting means centered on the respective installation positions of the two light reflecting means, detected by the opening angle detection means. The present invention further includes means for calculating the coordinates of the reflecting means, and means for calculating the position of the self-propelled vehicle based on the opening angle between the three light reflecting means as seen from the self-propelled vehicle and the coordinates of the light reflecting means. Features: Travel position control device for self-propelled vehicles. (3) The coordinates of the light reflecting means are on a coordinate system in which one of the light reflecting means is the origin and one coordinate axis is a straight line passing through one of the one light reflecting means and the other light reflecting means. The travel position control device for a self-propelled vehicle according to claim 1 or 2, wherein the travel position control device for a self-propelled vehicle is calculated by: (4) The self-propelled vehicle is equipped with an operation panel, and the measured distance from one of the light reflection means to the other two light reflection means is inputted from the operation panel by any means. 4. The traveling position control device for a self-propelled vehicle according to claim 1, 2 or 3.