PURPOSE:To easily detect a position where an obstacle exists, by receiving a signal from an obstacle detecting means then determining the position of an obstacle based on a running distance of a self-running machine and focal distance of a camera. CONSTITUTION:When a self-running machine 2 runs and arrives at a point A where a steel tower 22a exists, a steel tower judging means (not shown) specifies an absolute position of the steel tower 22a based on the number of steel towers being passed. When the self-running machine 2 passes through the steel tower 22a, a distance detecting means 6 is set, then the rotation of a roller 4 is detected and running distance is obtained. When a tree 23 approaches an overhead transmission line 21 and the self-running machine 2 approaches a point B where the distance between the self- running machine 2 and the tree 23 coincides with the focal distance (f) of a television camera 7, it means that the tree 23 intruded into allowable range of the overhead transmission line 21. An image thereof is processed through an obstacle detecting means 8 and a detection signal is provided. A position detecting means 10 receives the signal and determines the position of the tree 23 based on a running distance S of the self-running machine 2 at that time and the focal distance (f) of the television camera 7.
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