Position detection device and moving object having same

The invention provides a position detection device capable of autonomously moving a moving body even if there is no mark on the ground. Each time a measured distance data set is received from a distance sensor mounted on a moving body, the position of the moving body is calculated on the basis of the measured distance data set and map data (data generated on the basis of one or more distance datasets and representing an indoor map including one or more transported object storage positions), and the orientation of the moving body is calculated. The position detection device performs a processincluding determining one or more transported objects from one or more measurement distance data sets. The position detection device outputs information relating to autonomous movement control on thebasis of the target position and target orientation of the moving body and the calculated position and orientation of the moving body. The target position is a position according to the position of anarbitrary transported objec