The utility model provides the utility model discloses an automatic propulsive milling machine (1a, 1b), it includes: machine frame (2), a controller (3) for advancing and mill and dig the operation, work drum (22), can be for machine frame (2) rot. Transportation conveyer belt (12), it will mill and dig the material and unload on the point of impingement (16) on the loading surface (15) of putting different haulage vehicle (10) wherein to transport conveyer belt (12), wherein controller (3) including detection and control unit (24), and this detection and control unit is through image recording system (28) control haulage vehicle's (10) the variable position on loading surface (15) including being no less than sensor (26), and the sensor produces at least one digital image (48) be no less than of loading surface (15) consecutively, set to and realize following characteristic: detection and control unit (24) including analytical equipment (40), and this analytical equipment detects by trouble or error in sensor (26) of being no less than one produced image (48).