JP7615671B2 - Work vehicles - Google Patents

Description

The present invention relates to working vehicles such as agricultural tractors, and in particular to the arrangement of side obstacle sensors that detect obstacles on the sides of the vehicle body.

A known configuration is that a sensor stay for mounting a side obstacle sensor that detects obstacles on the side of the vehicle body is provided on the underside of a fuel tank provided on the bottom of the vehicle body and on the step for boarding and disembarking, the sensor stay is pipe-shaped with a lower part extending forward and bent upward, and the side obstacle sensor is provided in front of and above the fuel tank, between the front and rear wheels, and below the cabin floor surface and the upper end of the front wheels (Patent Document 1).

JP 2020-66411 A

Obstacle sensors are a means of ensuring safety, and are installed to ensure safety such as stopping the vehicle by detecting the presence of obstacles or the driver. However, in the configuration of the side obstacle sensor using a sensor stay disclosed in Patent Document 1, the sensor is somewhat distant from the boarding and alighting step, so it may miss detecting a driver getting on or off, posing a safety problem such as the vehicle body starting to move when getting on or off.

In view of the above, the present invention aims to provide a work vehicle that can reliably detect the driver using a sensor when getting on and off the vehicle.

This invention takes the following technical measures to solve the above problems:

The first invention relates to a work vehicle having a cabin (16) surrounding a driver's seat (7), a step (51a) for getting on and off a floor (17) of the cabin (16), and a cabin door (50) for opening and closing an entrance to the cabin (16), and a side obstacle sensor (24S) is provided below an opening and closing area of the cabin door (50) at a height between an upper surface of the floor (17) and the step (51a) so as to be located below the upper surface of the floor (17) and above the step (51a);
The side obstacle sensor (24S) and the sensor stay (53) are provided above the rear end of the fuel tank (51) where the tank main body is disposed below the step (51a), and the side obstacle sensor (24S) is provided at a position rearward of the rear end of the step (51a) so as to be capable of detecting a driver getting off the vehicle;
The sensor stay (53) includes a tank fixing portion (53c) having a stay (53a) aligned along an inclined surface of a tank rear side (51c) of the fuel tank (51), a sensor base portion (53d) detachably provided on the tank fixing portion (53c), and a housing (24a) fixed to the sensor base portion 53d,
The housing (24a) has a housing main body (24b) and a transmitter support plate (24f) into which a sensor transmitter (24e) is incorporated,
The work vehicle is characterized in that the transmitting unit support plate (24f) is provided so as to be freely adjustable in its vertical angle with respect to the main body (24b) of the housing.
The second present invention is a work vehicle according to the first present invention, wherein the side obstacle sensor (24S) is provided rearward of the front lower end of the cabin door (50) and in a position close to the front lower part of the fender (19).
The first invention related to the present invention is a work vehicle that has a cabin 16 surrounding a driver's seat 7, a step 51a for getting on and off to the floor 17 of the cabin 16, and a cabin door 50 for opening and closing the entrance to the cabin 16, in which a side obstacle sensor 24 is provided below the opening and closing area of the cabin door 50, at a height between the upper surface of the floor 17 and the step 51a.

A second invention related to the present invention is the first invention related to the present invention , in which the side obstacle sensor 24 is provided rearward of the front lower end of the cabin door 50 and in a position close to the front lower part of the fender 19.

A third aspect of the present invention is the first or second aspect of the present invention , wherein the side obstacle sensor 24 is positioned rearward of the rear end of the step 51a for getting on and off.

A fourth invention related to the present invention is any one of the first to third inventions related to the present invention , in which the step 51a portion is formed in a step portion of the fuel tank 51, and the side obstacle sensor 24 is supported on the fuel tank 51 by a sensor stay 53.

A fifth aspect of the present invention is the fourth aspect of the present invention , wherein a fuel tank filler port 51 d is provided at the front of the fuel tank 51 , and a side obstacle sensor 24 and a sensor stay 53 are provided at the rear of the fuel tank 51 .

According to the present invention, the side obstacle sensor 24 can reliably detect the presence of a driver getting on or off at step 51a.

According to a third aspect of the present invention , the side obstacle sensor 24 does not interfere with the driver getting in and out of the vehicle. According to a fifth aspect of the present invention , the side obstacle sensor 24 and the sensor stay 53 do not interfere with refueling.

FIG. FIG. FIG. 2 is a perspective view of the cabin from above and in front. FIG. 2 is a perspective view of the cabin from below and in front. FIG. 2 is a perspective view of the roof as seen diagonally from above and in the front. FIG. 2 is a perspective view of the roof as seen diagonally from above and behind. FIG. FIG. 4 is a perspective view showing a status indicator lamp and its supporting structure on the right side of the vehicle body. FIG. 2 is a perspective view showing a status indicator lamp and its supporting structure on the left side of the vehicle body. FIG. 2 is a perspective view of the positioning unit, the communication control unit, and the supporting structure, seen obliquely from the rear. FIG. 4 is a side view showing the operation of the rear obstacle sensor. FIG. 2 is a side view of the area around the boarding and alighting entrance of the tractor. FIG. 2 is a perspective view of the area around the boarding/exiting opening of the tractor, viewed obliquely from above and in the front; 2 is a perspective view of the fuel tank and its periphery as viewed from diagonally below and rearward. FIG. FIG. 2 is a perspective view of a side obstacle sensor and a sensor stay. FIG. FIG. 2 is a perspective view of a forward obstacle sensor and its surroundings. FIG. 1 is a perspective view of an example of a forward obstacle sensor;

The following describes in detail an embodiment of the present invention with reference to the drawings. Note that when referring to a pair of left and right components, the reference characters L and R are used to denote the left and right sides of the vehicle body 1, respectively, and L and R may be omitted in some cases.

Figure 1 shows a tractor, with a diesel engine E mounted inside a bonnet 2 at the front of the vehicle body 1. The rotational power of the engine E is transmitted to a transmission in a transmission case 3, and the rotational power is reduced by the transmission and transmitted to front wheels 4 and rear wheels 5. A steering wheel 6 for steering the front wheels 4 is provided behind the engine E, and a driver's seat 7 is installed behind the steering wheel 6. A hydraulic cylinder case 8 is provided at the upper rear of the transmission case 3, and lift arms 9, which form part of a hydraulic lifting mechanism, are attached to both the left and right sides of the cylinder case 8 so that they can be rotated. The lift arms 9 move up and down by the extension and contraction of a lifting hydraulic cylinder 10. A three-point link mechanism consisting of a top link 11 and left and right lower links 12 is provided at the rear of the vehicle body, and a rotary working machine R is attached to the link mechanism. The lower links 12 are connected to the lift arms 9 via lift rods 13, allowing the working machine R to be lifted and lowered.

The steering wheel 6, driver's seat 7, etc. are covered by a cabin 16. The cabin 16 is fixed to the vehicle body via an elastic member such as anti-vibration rubber, which makes it difficult for vibrations of the vehicle body to be transmitted to the cabin 16.

The cabin 16 is made up of a floor 17, front pillars 18 erected at the front left and right of the floor 17, rear pillars 20 erected at the rear left and right of the driver's seat 7, intermediate pillars 62 erected at the middle of the left and right fenders 19, and an upper frame 21 connecting the upper ends of these pillars, and is covered with a roof 22.

The roof 22 of the cabin 16 is equipped with driving support devices such as a surveillance camera, an obstacle sensor, a positioning controller, and a camera controller. The mounting configuration of these devices will be described in detail below. The surveillance camera 23 captures images of the front, rear, and sides of the tractor body to obtain image data, and the positioning controller 25 as a positioning unit transmits and outputs information for calculating the position of the body to a control unit C equipped on the body 1 via a camera controller 27 as a communication control unit that communicates with a communication terminal. The obstacle sensor 24 is, for example, an ultrasonic sensor or an infrared sensor, and can detect obstacles in the front, rear, left, and right of the body 1. In this embodiment, the camera controller 27 is given as an example of a communication control unit, but it may be replaced by a controller that calculates and controls sensor information from each part of the body 1.

The positioning controller 25 is equipped with a positioning antenna (not shown), a base station (not shown) information receiving antenna 26, a calculation unit (not shown), and an output unit (not shown). The positioning antenna acquires satellite signals from GPS satellites, etc., and the calculation unit processes the satellite signals and correction signals received by the antenna 26 from the base station to calculate the vehicle's position information, driving direction, etc. This position information, etc. is transmitted to the control unit C by the output unit.

The camera controller 27 also includes a calculation unit that processes the image data captured by the surveillance camera 23, a transmission circuit (not shown) that transmits the calculation results, and multiple (two in the illustrated example) communication antennas 28. The calculation results of the image data are transmitted to a control unit C mounted on the vehicle body 1.

The location information, image data, etc. sent to the control unit C can be configured to be sent to an external management server, and by providing a communication terminal (e.g., a mobile terminal) capable of communicating with this management server, it is possible to obtain information about the vehicle body 1 through this communication terminal, check the vehicle body condition, or remotely operate the vehicle body 1.

The housing 27a housing the camera controller 27 and the housing 25a housing the calculation unit of the positioning controller 25 are disposed above the front side of the roof 22. That is, a band-shaped front frame 31 is provided that is supported in a horizontal position so as to span between bracket members 30L, 30R fixed to the front support 18 or upper frame 21, and the housing 27a of the camera controller and the housing 25a of the positioning controller 25 are fixedly supported in the front and rear positions at the left and right intermediate portions of the front frame 31. The front frame 31 is disposed so as to be positioned slightly forward of the top end of the windshield 51 in a side view of the vehicle body 1.

In detail, a forward protruding frame 32f, which is U-shaped in plan view, is fixed to the front wall of the front frame 31 at the center of the left and right, and a rear protruding frame 32r, which is similarly U-shaped and somewhat long, is fixed to the rear wall. A flat plate 32a is fixed to the upper surfaces of the front and rear protruding bodies 32f and 32r, thereby forming a control unit bracket 32 that straddles the front and rear of the front frame 31. Then, the housing 27a of the camera controller 27 is fixed to the front position, and the housing 25a of the positioning controller 25 is fixed to the rear position on the upper surface of the control unit bracket 32. For example, a flange portion formed on the housing side is overlapped with the control unit bracket 32, and the overlapping portion is bolted. Then, antenna guards 33L and 33R are provided on the left and right of the control unit bracket 32 as protective frames. That is, a round bar is formed into a U-shape, and the lower ends of the front legs 33Lf, 33Rf are inserted into small receiving parts 34L, 34R fixed in a state of protruding forward from the upper end of the front frame 31, and fixed by nuts or the like. On the other hand, the rear legs 33Lr, 33Rr of the antenna guards 33L, 33R are provided so as to be able to approach and contact the upper surface of the cabin roof 22, and a shock-absorbing rubber 35 is provided at their lower ends. Specifically, the cylindrical rubber 35L, 35R is configured to be inserted from the lower ends of the rear legs 33Lr, 33Rr, and with this configuration, even if the antenna guards 33L, 33R are pressed by vehicle body vibration or external force and come into contact with the cabin roof 22, the upper surface will not be damaged. The antenna guards 33L, 33R are set to a height equal to or higher than the height of the antenna 26 of the positioning controller 25 and the height of the communication antennas 28, 28 of the camera controller 27. It is slightly wider than the left-right width of the housing 25a of the positioning controller 25 and the housing 27a of the camera controller 27, and is positioned slightly higher than the antennas 26, 28, and 28, so that the housings 25a and 27a and the antennas 26, 28, and 28 can be protected.

In a side view, the antenna guards 33L, 33R are positioned so that they overlap the antenna 26 of the positioning controller 25 and the communication antennas 28, 28 of the camera controller 27, so that the antenna 26 can be protected when the hood member that covers the vehicle body to protect it from wind and rain is put on or removed, and there is little risk of damage due to unexpected interference.

The positioning controller 25 and camera controller 27 are arranged close to each other in the front and rear, so the harnesses 36 can be bundled together and run along the rear wall surface of the front frame 31, making the wiring work easier and improving the finished product.

A front camera 23f capable of capturing images of the area in front of the vehicle body 1 is disposed in front of the front frame 31. That is, a pair of camera brackets 37 are provided in the center of the front of the front frame 31, and the camera body is provided so that the image capturing angle can be adjusted up and down. Therefore, the front camera 23f can be protected by the control unit bracket 32 and camera controller 27 located above. Note that the positioning controller 25 as a positioning unit and the camera controller 27 as a communication control unit can be arranged in an interchangeable order, but if the positioning controller 25 is arranged in the front position, it can be protected by the control unit bracket 32 and positioning controller 25.

At the rear end of the control unit bracket 32, a flat plate 32a is fixed to the upper surfaces of the front and rear protrusions 32f, 32r to keep the gap with the cabin roof 22 constant. However, since there is a risk of the bracket 32 swinging back and forth around the contact point with the front frame 31, a treatment is provided to prevent damage due to contact with the roof 22. In other words, a buffer material 38 is provided below the rear end of the control unit bracket 32. With this configuration, vibrations transmitted from the roof 22 of the cabin 16 can be suppressed, preventing damage due to contact with the roof 22.

A rear obstacle sensor 24R is disposed on the rear end side of the roof 22 so that it can irradiate infrared rays diagonally downward to the rear of the vehicle body 1. In this embodiment, the rear obstacle sensor 24R is an infrared laser sensor or an ultrasonic sensor. This rear obstacle sensor 24R is mounted on the lower rear end of the roof 22 via a rear sensor bracket 39 so that the vertical angle can be freely adjusted. An angle detection sensor (not shown) is provided that can detect the vertical angle of the rear obstacle sensor 24R, and the control unit C is configured to input the angle of the rear obstacle sensor 24R.

By the way, regarding the infrared laser sensor as an obstacle sensor on the roof 22, the infrared laser sensor is configured to be able to grasp the distance to an obstacle by scanning a two-dimensional plane, and is preferably configured to be able to arbitrarily set the scanning angle centered on the infrared irradiation point, and the infrared sensor directs the scanning range from the rear end of the upper part of the roof 22 toward the rear of the vehicle body 1, but it is desirable to set the angle so that the scanning surface does not interfere with the work machine R. In FIG. 11, if the scanning surface of the rear obstacle sensor 24R of the obstacle X behind the work machine R is a steep scanning surface T1, it will interfere with the work machine R, so it is advisable to set the angle of the rear obstacle sensor 24R so that it is a somewhat gentler scanning surface T2.

In other words, by changing the angle, the laser irradiation angle can be changed, and the irradiation angle can be detected by the angle detection sensor, and the detection distance of the rear obstacle sensor 24R can be changed according to the angle. Therefore, depending on the size of the work machine R attached to the rear, the range behind the work machine R can be set as the detection target range without detecting the work machine R.

Next, the installation configuration of the status indicator lamp 40 that displays the status during autonomous driving when the traveling vehicle body 1 is configured to be capable of autonomous driving will be described. The status indicator lamp 40 is configured to be layered and can light up different warning colors, and can distinguish the status of the vehicle body 1 during autonomous driving by various lighting methods, for example, by lighting up green for normal work driving, lighting up red for abnormality, lighting up yellow for obstacle detection, and flashing when the vehicle is stopped, and is arranged on the left and right front of the cabin 16. That is, the support seat bracket 42 is fixed to the indicator lamp bracket 41 on the front support pillar 18 of the cabin 16, and the above-mentioned status indicator lamp 40 is fixed in an upright position on this support seat bracket 42. The status indicator lamp 40 fixed to the support seat plate 42 is arranged so as to be located on the opposite side of the head position of the operator seated in the driver's seat 7 across the front support pillar 18, and during normal driving by various operations by the operator, the indicator lamp 40 can be hidden by the front support pillar 18 without obstructing the operator's field of vision.

The indicator light bracket 41 is fixed to the front support 16 by welding or the like, but the support seat bracket 42 is provided so that the angle can be freely changed relative to the indicator light bracket 41. In other words, the indicator light bracket 41 is fastened to the indicator light bracket 41 at two points by a combination of bolts 43 and nuts 44 so that it can be attached and detached, but one of the two points 43a, 44a can be arbitrarily changed in position along the arc-shaped guide hole 41a formed in the indicator light bracket 41, centered on the other 43b, 44b, and fastened. Therefore, the angle of the support seat plate 42 and the status indicator light 40 can be changed so that they can be collapsed backward together, and they can be switched between an upright working position and a collapsed storage position (Figure 7). The height of the support seat bracket 42 and the rotation angle of the status indicator light 40 are set (designed) so that in the upright working position, it protrudes above the cabin roof 22, and in the collapsed storage position, it does not protrude above the cabin roof 22. This allows the vehicle to be stored in the shed when not in motion, saving space in the shed. Furthermore, when the entire vehicle is covered, if the status indicator light 40 is in the upright position, it is susceptible to damage due to the load placed on it, but in the lying-down storage position, the load is reduced and damage can be prevented.

The status indicator light 40 in the stowed position is set to be located above the top of the cabin door 50 and below the cabin roof 22 (Figure 7). Therefore, even when the status indicator light 40 is in the stowed position, the cabin door 50 can be opened and closed, and there is no hindrance to raising and lowering.

As mentioned above, the support base bracket 42 is fastened to the indicator light bracket 41 at two points by bolts 43 and nuts 44 so that it can be detached from the indicator light bracket 41. One of these points, 43a and 44a, can be repositioned around the other point, 43b and 44b, along the arc-shaped guide hole 41a formed in the indicator light bracket 41. Therefore, the position can be easily changed by loosening one bolt 43b.

The support seat brackets are arranged on the left and right, and side cameras 23s, which are part of the surveillance camera 23, are arranged on the lower outer surface of each of the left and right support seat brackets 42L, 42R via camera brackets 45L, 45R. The side cameras 23s, 23s are arranged so that their vertical angles can be freely adjusted relative to the camera brackets 45L, 45R.

A bracket 46 for a side mirror is provided on the front support 18 of the cabin 16 below the indicator light bracket 41 that supports the indicator light 40, and a stay 48 having a side mirror 47 is attached to the front end of this bracket 45 so that it can be rotated freely around a vertical axis.

The status indicator light 40 is set in such a way that the top end of the status indicator light 40 in the upright position is lower than the height of the antenna guard 33, and the entire status indicator light 40 in the upright position is located inside the aircraft body relative to the side mirror 47. With this configuration, when the vehicle body is covered, the load can be distributed between the antenna guard 33 and the side mirror 47, and the load on the status indicator light 40 can be reduced even when the status indicator light 40 is in the upright position during work.

The side camera 23s is located inside the vehicle body 1 and below the status indicator lamp 40, and is protected by the status indicator lamp 40 and the side mirror 47, which is fixed to the front support 18 of the cabin 16.

Next, the side obstacle sensor 24S for detecting obstacles on the side of the vehicle body 1 will be described. As shown in Figs. 12 to 15, the side obstacle sensors 24SL, 24SR for detecting side obstacles are arranged on the left and right. The left side obstacle sensor 24SL will be mainly described, but the right side obstacle sensor 24SR has the same configuration, and will be collectively referred to as the side obstacle sensor 24S below. The side obstacle sensor 24S is supported by a sensor stay 53 provided using a fuel tank 51 provided on the left and right sides of the transmission case 3 constituting the vehicle body 1. The fuel tank 51 is made of resin and is provided in the space below the entrance opening opened and closed by the cabin door 50. It is molded into a step part on the way to form a step 51a for ascending and descending, and the tank bottom 51b is appropriately placed on a support frame 54 fixed to the vehicle body 1 side. This support frame 54 is supported by a reinforcing connection frame 56 connected to a plurality of tank stays 55 extending from the vehicle body 1 side. That is, the reinforcing connection frame 56 includes an upper connection frame portion 56a that is directly connected to the tank stay 55, a front connection frame portion 56b that is connected to the upper connection frame portion 56a and has its lower end connected to the support frame 54, and a rear connection frame portion 56c that forms an inclined surface on the rear side 51c of the tank and extends along the inclination to the support frame 54. The reinforcing connection frame 56 and the support frame 54 are configured to support and reinforce the fuel tank 51 by surrounding it.

The sensor stay 53 is fixed to the rear side of the fuel tank 51, and the side obstacle sensor 24S is supported on the upper side of the sensor stay 53. That is, as shown in Figures 16 and 17, the sensor stay 53 is composed of a long first stay 53a and a short second stay 53 that are aligned with the inclined surface of the rear side 51c of the fuel tank 51, a tank fixing part 53c that is detachably fixed to the rear of the tank, and a sensor base part 53d that is detachably provided on the tank fixing part 53c, and the housing 24a of the side obstacle sensor 24S is fixed to the upper surface of the sensor base part 53d. The housing 24a includes a housing main part 24b whose upper surface and side surfaces are integrally molded, a housing bottom part 24c that is overlapped and fastened to the base part 53d of the sensor stay 53, and a support plate 24f on which the sensor transmitter 24e is attached to the bracket parts 24d, 24d of the housing main part 24b. In addition, the main body 24b and the bottom 24c of the housing are connected by a reinforcing plate 24g in a partition-like manner.

The obstacle sensor is an ultrasonic sensor that converts an electrical signal from the control unit C into ultrasonic waves using a transducer and transmits them. The ultrasonic waves are reflected by the obstacle and return, depending on how long it takes for the transmitted ultrasonic waves to return. The transmitter support plate 24f, which incorporates the sensor transmitter 24e, is provided with an adjustable vertical angle relative to the housing main body 24b.

The transmitter support plate 24f is fastened to a pair of bracket parts 24d with fasteners 54. These fasteners 54 are on the left and right, one on each side, and are coaxial with the horizontal axis. When loosened, the transmitter support plate 24f can change its vertical angle together with the transmitter 24e, and can be refastened to set it to any vertical angle.

The sensor transmitter 24e of the side obstacle sensor 24S configured as described above is located above the rear end of the fuel tank 51. The cabin door 50 is configured so that the front side opens outward with a vertical support shaft configured on the rear side as the opening and closing fulcrum, and the boarding and alighting door to the floor 17 can be opened and closed, and the opening and closing area is formed by the opening and closing trajectory of the cabin door 50. The side obstacle sensor 24S is installed at a height between the upper surface of the floor 17 and the step 51a below the opening and closing area of the cabin door 50. Therefore, the side obstacle sensor 24S, which can emit ultrasonic waves toward the side of the vehicle body, can reliably detect the presence of a driver getting on and off.

The side obstacle sensor 24S is located behind the front lower end of the cabin door 50 and close to the front lower part of the fender 19. By locating it in this way, the side obstacle sensor 24S can be placed near the driver getting on and off, and the presence of the driver can be detected reliably.

Furthermore, the side obstacle sensor 24S is located behind the rear end of the step 51a for getting on and off the vehicle. This means that it does not get in the way of the driver getting on and off the vehicle.

The step 51a is formed in the step of the fuel tank 51, and the side obstacle sensor 24 is supported on the fuel tank 51 by a sensor stay 53, so each component can be rationally positioned based on the fuel tank 51.

The fuel tank filler port 51d is provided at the front of the left fuel tank 51, and the side obstacle sensor 24S and the sensor stay 53 are provided at the rear of the fuel tank 51, so that the side obstacle sensor 24S and the sensor stay 53 do not interfere with refueling.

Next, the forward obstacle sensor 24F for detecting obstacles in front of the vehicle body 1 will be described. The forward obstacle sensor 24F employs either an ultrasonic wave transmission type or an infrared laser irradiation type, or both. In FIG. 18, the configuration for installing the ultrasonic obstacle sensor (hereinafter, the first forward obstacle sensor) 24F1 and the infrared laser irradiation type obstacle sensor (hereinafter, the second forward obstacle sensor) 24F2 will be described.

A weight bracket 62 is provided in front of the front axle bracket 60, to which a front weight 61 can be attached as well as a front obstacle sensor. The first front obstacle sensor 24F1 is supported by a box-shaped support frame 63 provided on the upper front part of the weight bracket 62, and is arranged as a pair on the left and right. The pair of first front obstacle sensors 24F1 are arranged so that their illumination direction forms an eight-shape.

The second front obstacle sensor 24F2 is placed in a space formed in the lower front part of the weight bracket 62. As shown in FIG. 19, the main body of the second front obstacle sensor 24F2 is mounted on a base 64 via three bolts 65 and coil springs 66 wound around each bolt 65, allowing the angle to be freely adjusted forward, backward, left and right.

The detection range of the first front obstacle sensor 24F1 and the detection range of the second front obstacle sensor 24F2 are set up so that they partially overlap. In this way, obstacles in front are detected by two obstacle sensors using ultrasonic waves and infrared lasers, so they can be detected reliably. In the above embodiment, the first front obstacle sensor 24F1 and the second front obstacle sensor 24F2 are provided, but either one may be used, or a pair of sensors, one above the other, may be provided with a common detection means.

7 Driver's seat 16 Cabin 17 Floor 19 Fender 24 Side obstacle sensor 50 Cabin door 51 Fuel tank 51a Step 51d Fuel tank filler port 53 Sensor stay

Claims (2)

In a work vehicle having a cabin (16) surrounding a driver's seat (7), a step (51a) for getting on and off to a floor (17) of the cabin (16), and a cabin door (50) for opening and closing an entrance to the cabin (16), a side obstacle sensor (24S) is provided below an opening and closing area of the cabin door (50) at a height between an upper surface of the floor (17) and the step (51a) so as to be located below the upper surface of the floor (17) and above the step (51a) ,
The side obstacle sensor (24S) and the sensor stay (53) are provided above the rear end of the fuel tank (51) where the tank main body is disposed below the step (51a), and the side obstacle sensor (24S) is provided at a position rearward of the rear end of the step (51a) so as to be capable of detecting a driver getting off the vehicle;
The sensor stay (53) includes a tank fixing portion (53c) having a stay (53a) aligned along an inclined surface of a tank rear side (51c) of the fuel tank (51), a sensor base portion (53d) detachably provided on the tank fixing portion (53c), and a housing (24a) fixed to the sensor base portion 53d,
The housing (24a) has a housing main body (24b) and a transmitter support plate (24f) into which a sensor transmitter (24e) is incorporated,
A work vehicle characterized in that a transmitting unit support plate (24f) is provided on a main body (24b) of a housing so that the vertical angle of the transmitting unit support plate (24f) can be freely adjusted . 2. The work vehicle according to claim 1, wherein the side obstacle sensor (24S) is provided at a position rearward of a front lower end of a cabin door (50) and close to a front lower portion of a fender (19).

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