JP3448088B2 - Obstacle detection system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle detection system for detecting obstacles in a travel route in order to ensure safe operation of a track vehicle.

[0002]

2. Description of the Related Art In a transportation system for running a vehicle along a track, such as a railroad, in order to ensure the safety of the running vehicle, not only inspection and maintenance of the vehicle and track but also falling objects, fallen trees, etc. It is important that there are no obstacles. That is, a vehicle for track running is a vehicle configured to run on a track (rail) laid on the ground, and if there is an obstacle such as a fallen object or a fallen tree in the track, the obstacle will be caught or run up. As a result, there is a risk of causing an unexpected situation such as damage, derailment, or capsizing of the vehicle. Therefore, it is necessary to make sure that there are no obstacles such as fallen objects or fallen trees in the track prior to operation, so that safer driving can be performed.

Therefore, conventionally, for the inspection of obstacles,
The manned inspection vehicle as illustrated in FIGS. 2 and 3 is used, and the inspection vehicle is run in advance to check safety.

2 and 3 are explanatory views of a known conventional obstacle detection method (apparatus). FIG. 2 is a front view and FIG. 3 is a side view. In the figure, reference numeral 15 denotes a manned inspection vehicle. The inspection vehicle 15 is located at the lower part of the front and rear ends and the lower end parts of both side faces, and has detection arms 16, 1 having a shape corresponding to the construction limit.
7a, 17b, and these detection arms 16, 17
When the obstacles a and 17b come into contact with the obstacle, a detection element such as a limit switch (not shown) is operated to notify the obstacle detection. In addition, the inspection vehicle 15
Is a self-propelled vehicle that can freely travel in the front-rear direction on a rail R laid on the ground.

When the inspection vehicle 15 having the above-described configuration is run on the track, if there is an obstacle 14 in the track, the obstacle contacts one of the detection arms 16 and 17, and the inspection vehicle 15 side. The limit switch is equipped with a warning switch to generate an alarm and notify the driver (inspector).

[0006]

As described above, in the conventional system for detecting obstacles in the track, the inspection vehicle having the detection arm corresponding to the building limit is actually run on the track by the operation of the driver. When the detection arm touches an obstacle, an alarm is generated so that the driver of the inspection vehicle or the inspector on board can detect it. Since it is a system that relies on human power to discover everything, it is not possible to save labor, and there is also a lot of time constraints due to the need to inspect before the first train operation starts, the work is difficult, and most of the confirmation is done. Since this is a system that relies on human power, it cannot be said to be a reliable method, and therefore there was a problem with reliability.

[0007] For railway transportation for transporting passengers, safe operation of vehicles is the most important mission, and there has been a strong demand for improving reliability of obstacle detection in the track and labor saving of the obstacle detection work.

Therefore, the object of the present invention is to
It is possible to patrol the route without relying on human hands to detect the presence or absence of obstacles, and if obstacles are within the construction limits, it is possible to reliably detect them and automate the safety confirmation work and save labor. The object of the present invention is to provide an obstacle detection system.

[0009]

In order to achieve the above object, the present invention is configured as follows. That is, a self-propelled vehicle that travels along a track, and this self-propelled vehicle,
A position information acquisition unit that acquires position information, an image pickup unit that is provided in the self-propelled vehicle, and obtains image information with at least the front in the traveling direction as an imaging field of view, and the self-propelled vehicle,
It has speed information and rail image information to be taken on the travel route and image information of the building limit corresponding to the travel position, and extracts and outputs information corresponding to the travel position from the position information obtained from the position information acquisition means. Information output means,
Control means for controlling the traveling of the self-propelled vehicle based on speed information of the extracted information and for stopping the traveling when the obstacle detection information is received, image information from the imaging means, and the information output. An image processing means for checking whether or not the obstacle is within the building limit from the rail image information from the means and the image information of the building limit, and outputting obstacle detection information when there is an obstacle.

Further, it comprises a transmission means for transmitting the obtained various information to the outside. Furthermore, the transmission means of the self-propelled vehicle enables information exchange with the outside,
The self-propelled vehicle can be controlled to travel by giving the received remote operation command to the control means.

[0011]

In this structure, the self-propelled vehicle is provided with the control means for controlling the traveling, the position information acquisition means for acquiring the position information, and the image pickup means for obtaining the image information with at least the front in the traveling direction as the photographing field of view. From the information output means, the speed information and the rail image information to be taken on the travel route and the image information of the building limit are provided in correspondence with the travel position, and the travel position is changed from the position information obtained from the position information acquisition means to the travel position. Extract the relevant information and output it. Therefore, the control means controls the traveling of the self-propelled vehicle based on the speed information of the extracted information.

On the other hand, the image processing means examines whether there is an obstacle within the construction limit based on the image information from the image pickup means, the rail image information from the information output means, and the image information of the construction limit, and determines whether there is an obstacle. When there is an object, the obstacle detection information is output. When the control means receives the obstacle detection information, the control means controls to stop traveling.

In this way, while the self-propelled vehicle is self-propelled, an image of the front in the traveling direction is picked up by the image pickup means provided in the self-propelled vehicle, and the image information obtained thereby is within the construction limit by the image processing means. The presence or absence of obstacles is checked on the image data, and if there is an obstacle, the obstacle detection information is output and the operation is stopped, so if the obstacle is within the building limits, it is automatically found. It can be put out and the self-propelled vehicle can be stopped.

Further, by comprising the transmitting means for transmitting the obtained various information to the outside, the various information obtained on the side of the self-propelled vehicle can be transmitted to a command center on the ground such as a control center. Can be sent and monitored by remote monitoring. As a result, unmanned orbital fault search can be performed, automation and labor saving can be achieved, and reliable fault search can be performed.

Furthermore, the transmission means of the self-propelled vehicle can exchange information with the outside, and the received remote operation command from the outside is given to the control means. It becomes possible to carry out traveling control and unmanned trajectory search, and automation and labor saving can be achieved, as well as reliable fault search.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. The present invention relates to a system for detecting obstacles in a track in order to ensure the safety of a vehicle running on a track, and includes a transponder installed in advance at a fixed position on the ground and a tachometer (rotometer) installed on the shaft of the vehicle. ) Is used together, the current traveling position of the vehicle is detected, and the route tracking device mounted on the vehicle is used to determine the orientation of the camera on the track following device by using the route information data input in advance by an IC card or the like. While tracking the track, draw the track (rail) drawing data of the route information data together with the building limits on the image obtained by the camera, match it with the actual image of the track (rail), and check if there are obstacles in the area. Is configured to control the automatic driving device (ATφ) of the vehicle based on the image processing determination result, and the result will be described in detail below.

FIG. 1 is an explanatory diagram of a schematic configuration of an obstacle detection system according to the present invention. INDUSTRIAL APPLICABILITY The present invention automatically detects and determines obstacles within the running range (building limit) of the vehicle, such as fallen objects on the track, fallen trees, etc., and automatically drives and drives the inspection vehicle from the ground side. It was made unmanned by making it possible to perform remote control of.

The structure and function will be described below. In FIG. 1, R is a rail (track). Further, 1 is an inspection vehicle, 1a is an engine generator, 1b is an electric motor control device, 1c is a traveling electric motor, 1d is a brake device,
The inspection vehicle 1 has these components and is configured to be self-propelled on the rail R. The traveling electric motor 1c is an electric motor for driving wheels, the engine generator 1a generates a required electric power, and the electric power generated by the engine generator 1a is a traveling electric motor via the electric motor control device 1b. The inspection vehicle 1 is rotated by being supplied to the inspection vehicle 1c.
Runs. Then, it is braked by the brake device 1d.

As described above, the inspection vehicle 1 of the system of the present invention includes the engine generator 1a, the electric motor control device 1b, the traveling electric motor 1c, and the brake device 1d, and is self-propelled traveling on the rail R laid on the ground. It is also a type vehicle.

In this system, a track following device 18 is provided on the roof in the front and rear of the inspection vehicle 1 and equipped with actuators capable of rotating in three axial directions of elevation, turning and roll.
a and 18b are mounted. This orbit tracking device 18
Lights (illumination lights) 9a and 9b are provided on a and 18b, respectively.
Cameras 10a and 10b are installed.

The cameras 10a and 10b are, for example, television cameras using a CCD (solid-state image pickup device) or the like as an image pickup device, and output images obtained by image pickup as video signals.

The lights 9a and 9b are cameras 10a and 10b.
It is provided correspondingly and illuminates the visual field areas of the cameras 10a and 10b. The light 9a and the camera 10a are mounted on the orbit tracking device 18a, and the light 9b and the camera 10b are mounted on the orbit tracking device 18b. When the orbit tracking devices 18a and 18b are moved, they are integrated with the movement. The shooting directions of the cameras 10a and 10b are changed.

It is possible to reduce the number of the track tracking devices by placing one track tracking device at the center of the vehicle. On the other hand, on the ground side, the transponder 2 is laid at the center of the rail R (center between a pair of rails) at regular intervals, and the vehicle 1 is located on the bottom side of the transponder 2 so as to face the transponder 2. Sensitivity car child 3 which is a transmitting and receiving coil
Is provided. The transponder 2 is triggered by a signal from the vehicle side and returns a response signal. Since the transponder 2 is provided at a fixed position, the transponder 2 can be used for confirmation of a point.

A tachometer (TG; tachometer) 4 is installed on the axle of the vehicle 1. The tacho generator 4 generates a pulse at every predetermined rotation angle, and is used here for speed detection and traveling position detection. Further, the vehicle 1 is provided with a signal from the above-mentioned child carrier 3 and a tacho generator 4
A position calculator 5 for measuring the current position by receiving a pulse signal from the vehicle, a route information data input / output unit 6, an image processing device 7,
An automatic driving device (ATφ) 8 is provided.

Of these, the position calculator 5 is a device for obtaining the current position, and the pulse signal from the tachogenerator 4 is counted to obtain the traveling position, and the signal from the car top 3 is used to determine the absolute position on the route. It has a function of obtaining position information and correcting the obtained current position.

Further, the route information data input / output unit 6 is based on the current position information obtained by the position calculator 5, the vehicle speed corresponding to the traveling route, the drawing rail data, and the track following device 18.
The data for postures a and 18b are output, and these data are stored in advance. Based on the current position information obtained by the position calculator 5, the above various data at the corresponding position are read and output. It is configured to do.

The above-mentioned data of the route information data input / output unit 6 is, for example, I for each route and, if necessary, for each section.
It is advisable to store the data in a C card or the like, and install an IC card containing data corresponding to the route or section to be patroled so that necessary data can be set in the route information data input / output unit 6. Further, the drawing rail data is rail image data on the route at the position corresponding to the current position information and is illustration data. This rail image data also includes data on the line of the construction limit, which is the approach limit of obstacles when passing a train safely.

The automatic driving device 8 sends a control signal corresponding to the vehicle speed to the electric motor control device 1b based on the vehicle speed information output from the route information data input / output unit 6, and the electric motor control device 1b outputs the control signal. Based on this, the electric motor 1c is rotationally driven and controlled so that the vehicle travels at the vehicle speed. Further, the automatic driving device 8 is the image processing device 7
In response to the judgment information output by the brake device 1c, when the judgment information is "obstacle present"
In addition to activating the emergency brake, the electric motor controller 1b is instructed to cut off the power supply to the electric motor 1c.

The image processing device 7 converts the image signal (video signal of the actual rail image) output by the camera 10a (or 10b) in the traveling direction of the vehicle 1 into image data, and converts this image data into this image data. The drawing rail data provided from the route information data input / output unit 6 are overlapped and matched, and it is determined from the image data whether or not the obstacle 14 exists within the construction limit integrated with the drawing rail data. It has a function of outputting the determination result to the automatic driving device 8 as determination information.

A leaky coaxial cable LCX (loop carrier cross connection) 11, which is an example of a mobile communication system, is laid along the rail on the ground side.
An antenna 12 is provided on the vehicle 1 side, and the transmission device 1 is provided between the ground side and the vehicle side via the antenna 12.
3 is configured to be able to send and receive information and the like. Therefore, the command from the ground is received by the transmission device 13 and given to the automatic driving device 8, so that the vehicle 1 can be remotely controlled.

Next, the operation of the present system having the above configuration will be described. For example, when patroling a track for safety confirmation before starting daily commercial operation, the route information data input / output unit 6 of the inspection vehicle 1 used for the patrol has a route (or target section) to be patroled.
The IC card storing the vehicle speed, the drawing rail data, and the attitude tracking data of the track following device at each point is set so that the necessary data can be used.

Then, the system is activated to give an activation command to the automatic driving device (ATφ) 8 to start automatic traveling. The automatic driving device 8 is remotely operated by receiving a command from a control center (operator room) on the ground via the antenna 12 and the transmission device 13, or is operated by remote operation or automatic operation according to information from the route information data input / output unit 6. It is possible to drive. When the system starts, the camera
The orbit tracking device and the light function as required.

When the automatic driving device 8 is activated, it controls the electric motor control device 1b so that it runs on the basis of the vehicle speed information from the route information data input / output unit 6, and the electric motor control device 1b uses this to generate engine power. The supply of the output power from the machine 1a to the traveling electric motor 1c is controlled to drive the traveling electric motor 1c so that the train speed matches the vehicle speed information.

When the traveling is started, the traveling position of the inspection vehicle 1 is gradually changed by the pulse generated by the tachogenerator (TG) 4 provided on the axle of the vehicle. When the vehicle 1 passes over the transponders 2a, 2b, which are provided at regular intervals by the position calculator 5, and the vehicle upper child 3 receives the absolute distance information from the transponders 2a, 2b. Is detected, and accurate position information is acquired while canceling the accumulated error of the tacho generator 4.

In this way, the position calculator 5 grasps at which position on the route to be patroled the vehicle is. The output (position information) of the position calculator 5 is input to the route information data input / output unit 6, and the route information data input / output unit 6 determines the vehicle speed corresponding to the current position on the traveling route under patrol,
The posture data and the drawing rail data of the track following device 18a (18b) are read out and output to the automatic driving device 8, the track following device 18a (18b), and the image processing device 7.

Since the obstacle is monitored in the traveling direction of the vehicle 1, the track following device 18 is used.
a, 18b and lights 9a, 9b, cameras 10a, 1
Of 0b, the one located on the traveling direction side is operated.
However, as a general rule, the lights 9a and 9b are used only when it is necessary to illuminate the target area to be monitored.

When these track-following devices 18a and 18b are moved, they are integrated with the movement so that the visual fields of view of the cameras 10a and 10b are directed toward the center of the monitoring area by using the output of the route data input / output unit 6. ing. Since the attitude data to the track following device 18a (18b) corresponds to the current position of the vehicle on the patrol route, the field of view of the camera should be directed toward the center of the target point on the track ahead of the vehicle. Since it is a thing, the image from the camera constantly captures the target point accurately in the center of the screen.

In the image processing device 7, the camera 10a (10
The rail image for drawing given from the route information data input / output unit 6 is superimposed on the actual rail image of the image photographed in b) and matched, and from the image data integrated with the drawing rail data, obstacles within the construction limit The presence or absence of 14 is determined, and the result is output to the automatic driving device 8.

If the image processing device 7 outputs the result of "no obstacle", the automatic driving device 8
Continues to control the electric motor according to the speed information, and continues to drive. When the result of "obstacle present" is output, rotation of the electric motor is stopped and the brake device 1d of the vehicle 1 is stopped.
The execution command of the emergency brake operation is given to, and the emergency brake is applied to stop the vehicle 1. Therefore, it is assumed that the monitoring distance between the vehicle 1 and the obstacle 14 is set to be a sufficient distance in consideration of the braking distance corresponding to the vehicle speed.

The determination result of the image processing device 7, the image information from the image processing device 7, the vehicle position information from the position calculator 5, and the speed information from the route information data input / output unit 6 are all transmitted by the transmission device 13. , And is transmitted to the monitor device in the control center on the ground side via the antenna 12 and the leaky coaxial cable LCX 11 for display. As a result, countermeasures can be taken when an obstacle is detected, and the inspection vehicle 1 stopped before the obstacle 14 is sent a control command from the ground side through the reverse route to the automatic driving device 8. By giving it, the vehicle 1 can be remotely controlled.

Then, for example, the vehicle 1 is brought close to the obstacle 14 by remote control to operate the camera close-up.
From the close-up screen, what is the obstacle 14,
It is also possible to dispatch various workers to the site by taking various countermeasures in advance on the control center side, such as whether it is an obstacle to running or what to do if there is an obstacle. .

Therefore, appropriate measures can be promptly performed, and failure recovery can be promptly performed. In the above embodiment, the current position is detected by the transponder provided in advance on the ground and the tacho generator provided on the shaft of the vehicle, and the track following device is operated by the IC card or the like in which the information of the actual running route is input. Following the above, the orbit is controlled to be in the center of the camera's field of view, and the rails and building limits stored in the IC card are drawn on the image obtained by the camera to check if there are obstacles within the building limits. It is configured to judge by image processing and to control the ATφ (automatic driving device) of the vehicle, and the information obtained by image processing is transmitted to the ground side through a mobile communication type data transmission device. On the other hand, on the contrary, the command signal can be transmitted from the ground side to the vehicle side ATφ (automatic driving device) through the same means (route) and controlled.

With such a structure, automation can be achieved and the inspection vehicle can be completely unmanned. That is, the route information data (vehicle driving speed pattern, track following control pattern, rail drawing data drawn in the image) is stored in the vehicle and the current position of the vehicle is detected to control the vehicle and the track following device, By drawing rails, we found obstacles within the building limits and enabled unmanned automatic driving to stop the vehicle by applying an emergency brake. At the same time, it became possible to improve the safety of the system by using the transmission system and enabling monitoring on the ground.

Further, the above-mentioned transmission system can be used to perform remote operation by command intervention from the ground to the vehicle, and the flexibility of the system is also increased. As described above, the present system according to the present invention includes a self-propelled vehicle that travels along a track, a position information acquisition unit that is provided in the self-propelled vehicle, and that acquires position information, and is provided in the self-propelled vehicle, and at least the traveling An image pickup means for obtaining image information with a field of view in the front in the direction, provided on the self-propelled vehicle, and having speed information and rail image information to be taken on the travel route and image information of the building limit corresponding to the travel position, Information output means for extracting and outputting information corresponding to the traveling position from the position information obtained from the position information acquisition means, and traveling control of the self-propelled vehicle based on speed information of the extracted information Control means for controlling to stop traveling when receiving the object detection information, image information from the image pickup means, rail image information from the information output means, and image information of a building limit. Image processing means for checking whether or not the obstacle is within the construction limit and outputting obstacle detection information when there is an obstacle, and transmitting the position information, image information and speed information, and obstacle detection information to the outside. And a transmission means.

In this structure, the self-propelled vehicle is provided with the control means for controlling the traveling, the position information acquisition means for acquiring the position information, and the image pickup means for obtaining the image information with the front of the traveling direction as the photographing field of view. The information output means has speed information and rail image information to be taken on the travel route and image information of the building limit corresponding to the travel position, and travels from the position information obtained from the position information acquisition means. Since the information corresponding to the position is extracted and output, the control means can control the traveling of the self-propelled vehicle based on the speed information of the extracted information.

On the other hand, the image processing means checks from the image information from the image pickup means, the rail image information from the information output means and the image information of the building limit whether or not an obstacle exists within the building limit, and the obstacle is detected. When there is an object, the obstacle detection information is output. When the control means receives the obstacle detection information, the control means controls to stop traveling.

In this way, while the self-propelled vehicle is self-propelled, the front of the traveling direction is imaged by the image pickup means provided in the self-propelled vehicle, and the image information obtained thereby is within the construction limit by the image processing means. The presence or absence of obstacles is checked on the image data, and if there is an obstacle, the obstacle detection information is output and the operation is stopped, so if the obstacle is within the building limits, it is automatically found. It can be put out and the self-propelled vehicle can be stopped.

Further, by comprising the transmitting means for transmitting the obtained various information to the outside, the various information obtained on the side of the self-propelled vehicle can be transmitted to the ground such as the control center. It can be sent to a location and monitored by remote monitoring. As a result, unmanned orbital fault search can be performed, automation and labor saving can be achieved, and reliable fault search can be performed.

Furthermore, the transmission means of the self-propelled vehicle can exchange information with the outside, and the received remote operation command from the outside is given to the control means. It becomes possible to carry out travel control, and also to perform an unattended orbital obstacle search, which makes it possible to achieve automation and labor saving, as well as reliable fault detection.

Although the details of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention. For example, information transmission is not limited to the above method, and various methods can be applied.

[0051]

As described in detail above, according to the present invention,
The following effects can be obtained. (1) Since the automatic driving device provided in the inspection vehicle enables automatic driving and remote control, the vehicle can be unmanned.

(2) Further, the current traveling position of the traveling inspection vehicle and the route information and vehicle information obtained by the image processing at that position can be confirmed on the ground side (operator room) by the transmission means. Therefore, when an obstacle is found, it is possible to take measures immediately adapted to the situation, ensuring safety and prompt failure recovery.

(3) Further, the automation greatly improves the reliability of the obstacle detection determination (there is no human error in the determination), so that the safety can be further ensured. (4) Furthermore, this system is not only labor-saving in daily inspections, but can also be used in commercial trains, so unattended effects can be expected in the event of a disaster such as a natural disaster.

Therefore, according to the present invention, it is possible to patrol the route and detect the presence or absence of obstacles without relying on manpower.
It is possible to provide an obstacle detection system capable of reliably detecting an obstacle, if any, within the building limit so as to automate the safety confirmation work and save labor.

[Brief description of drawings]

FIG. 1 is a diagram for explaining an embodiment of the present invention,
The schematic structure explanatory view of the obstacle detection system concerning the present invention.

FIG. 2 is a diagram for explaining a conventional example and is a front view for explaining the configuration of a conventional obstacle detection device.

FIG. 3 is a view for explaining a conventional example, which is a side view for explaining the configuration of a conventional obstacle detection device.

[Explanation of symbols]

1 ... Inspection vehicle 2 ... Transponder 3 ... car child 4 Tacho generator (tachometer) 5 ... Position calculator 6 ... IC card 7 ... Image processing device 8 ... ATD (Automatic Driving Device) 9a, 9b ... Light (illumination light) 10a, 10b ... Camera 11 ... Leaky coaxial cable 12 ... Antenna 13 ... Transmission device 14 ... Obstacle 15 ... Conventional inspection vehicle 16, 17 ... Detection arm 18a, 18b ... Orbit tracking device R ... rail G ... Ground.

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Atsushi Sasaki 2-4-6-1 Kita-Futaba-cho, Takasaki City, Gunma Prefecture (72) Inventor Ikuhiko Sato 2-1-19-10409 Hiromachi, Shinagawa-ku, Tokyo (72) ) Inventor Hidemi Takahashi 3-10-21-201 Kamirenjaku, Mitaka-shi, Tokyo (72) Inventor Katsuhiko Sakamoto 5007 Itozaki-cho, Mihara-shi, Hiroshima Mitsubishi Heavy Industries, Ltd. Mihara Works (72) Inventor, Yoshiki Nita 5907 Itozaki-cho, Mihara-shi, Hiroshima Mitsubishi Heavy Industries, Ltd. Mihara Works (72) Inventor Hiroshi Yamashita 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Mitsubishi Heavy Industries Ltd. Hiroshima Research Institute (56) References Hei 4-189672 (JP, A) JP 59-156089 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B61L 23/00

Claims (3)

(57) [Claims] 1. A self-propelled vehicle that travels along a track, a position information acquisition unit that is provided in the self-propelled vehicle and acquires position information, and a self-propelled vehicle that is provided in at least the front of the traveling direction. As image pickup means for obtaining image information, rail information provided on the self-propelled vehicle and corresponding to speed information to be taken on a traveling route and part of the photographing field of view, and image information of a building limit are associated with traveling positions. And an information output means for extracting and outputting information corresponding to a traveling position from the position information obtained from the position information acquisition means, and traveling the self-propelled vehicle based on speed information of the extracted information. Control means for controlling and stopping the traveling when receiving obstacle detection information, image information from the image pickup means, rail image information from the information output means, and a construction limit Checks for the architectural limits of the obstacle from the image information, obstacle detection system when there is obstacle is that configured by including an image processing means for outputting obstacle detection information. 2. A self-propelled vehicle that travels along a track, a position information acquisition unit that is provided in the self-propelled vehicle and acquires position information, and a self-propelled vehicle that is provided in at least the front of the traveling direction. As image pickup means for obtaining image information, rail information provided on the self-propelled vehicle and corresponding to speed information to be taken on a traveling route and part of the photographing field of view, and image information of a building limit are associated with traveling positions. And an information output means for extracting and outputting information corresponding to a traveling position from the position information obtained from the position information acquisition means, and traveling the self-propelled vehicle based on speed information of the extracted information. Control means for controlling and stopping the traveling when receiving obstacle detection information, image information from the image pickup means, rail image information from the information output means, and a construction limit An image processing means for checking whether or not the obstacle is within the construction limit from the image information and outputting obstacle detection information when there is an obstacle, and a transmission means for transmitting the obtained various information to the outside Obstacle detection system configured by. 3. The transmission means of the self-propelled vehicle is capable of exchanging information with the outside, and is capable of controlling the traveling of the self-propelled vehicle by giving a remote operation command received from the outside to the control means. The obstacle detection system according to claim 2.