Work machine

Abstract

To provide a work machine capable of monitoring a wide surrounding area with a small number of object detection sensors.SOLUTION: A rotating body 13 is disposed on a running body 15 and rotates relative to the running body 15. A first object detection sensor RD1 and a second object detection sensor RD2 are disposed at a distance from each other on a curved surface portion CL forming a curved line in an outer shape of the rotating body 13 when viewed from above.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to work machines. [Background technology]

[0002] A work machine having an object detection sensor such as a radar is disclosed, for example, in Japanese Patent Laid-Open No. 2002-48490 (Patent Document 1). The work machine of Patent Document 1 is equipped with a plurality of radars for monitoring the surroundings of the work machine. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-48490 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, a large number of radars were required to cover the entire periphery of the work machine.

[0005] An object of the present disclosure is to provide a work machine that is capable of monitoring a wide surrounding area with a small number of object detection sensors. [Means for solving the problem]

[0006] The work machine of the present disclosure includes a running body, a rotating body, a first object detection sensor, and a second object detection sensor. The rotating body is disposed on the running body and rotates relative to the running body. The first object detection sensor and the second object detection sensor are disposed at intervals from each other on a curved surface portion that forms a curved line in the outer shape of the rotating body when viewed from above. Effect of the Invention

[0007] According to the present disclosure, a work machine capable of monitoring a wide surrounding area with a small number of object detection sensors can be realized. [Brief description of the drawings]

[0008] [Figure 1] 1 is a side view showing a configuration of a work machine in one embodiment of the present disclosure. FIG. [Diagram 2] FIG. 2 is a top view of the work machine shown in FIG. [Diagram 3] FIG. 2 is a rear view of the work machine shown in FIG. [Figure 4] FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. [Diagram 5] FIG. 4 is a vertical cross-sectional view taken along line VV in FIG. [Figure 6] FIG. 11 is a rear view of the counterweight showing a modified example in which an object detection sensor is attached to the counterweight. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0010] In the specification and drawings, the same or corresponding components are denoted by the same reference numerals, and redundant explanations are not repeated. In addition, in the drawings, configurations may be omitted or simplified for convenience of explanation. In addition, at least some of the embodiments and modifications may be combined with each other in any desired manner.

[0011] In the following description, the front-rear direction is the direction in which the boom 16 extends between the base end and the tip end in a top view. The left-right direction is the direction perpendicular to the front-rear direction in a top view. The up-down direction is the direction perpendicular to a plane including the front-rear direction and the left-right direction which are perpendicular to each other.

[0012] The direction from the base end of the boom 16 to the tip end is the front, and the direction from the tip end of the boom 16 to the base end is the rear. When looking forward from the rear, the right and left sides are the right and left, respectively. In the up-down direction, the side with the ground is the bottom, and the side with the sky is the top. A top view refers to a view from which the work machine 10 is viewed from above downward. A rear view refers to a view from which the rotating body 13 is viewed from the rear to the front.

[0013] <Configuration of work machine 10>

[0014] Fig. 1 is a diagram showing a schematic configuration of a work machine according to an embodiment of the present disclosure. As shown in Fig. 1, the work machine 10 according to this embodiment is, for example, a hydraulic excavator, for example, a small hydraulic excavator. The work machine 10 according to this embodiment may be, for example, a small rear swing type or a very small swing type hydraulic excavator. However, the work machine 10 is not limited to a hydraulic excavator, and may be any work machine 10 having a rotating body 13 and a running body 15, in which the rotating body 13 has a curved surface portion that forms a curve when viewed from above.

[0015] A hydraulic excavator 10 as an example of a work machine 10 has a main body 11 and a hydraulically operated work implement 12. The main body 11 has a rotating body 13 and a traveling body 15.

[0016] The traveling body 15 has a pair of left and right crawlers 15Cr and a traveling motor 15M. The hydraulic excavator 10 can travel by rotation of the crawlers 15Cr. The traveling motor 15M is provided as a drive source for the traveling body 15.

[0017] The rotating body 13 is disposed on the running body 15 and is supported by the running body 15. The rotating body 13 can be rotated relative to the running body 15 about a rotation axis RX by a rotation motor (not shown). The rotation axis RX is an imaginary straight line that serves as the rotation center of the rotating body 13.

[0018] The rotating body 13 has a driver's cab 14. A driver's seat where an operator sits is provided in the driver's cab 14. The operator sits in the driver's seat in the driver's cab 14 and can operate the work equipment 12, rotate the rotating body 13 relative to the traveling body 15, and travel the hydraulic excavator 10 using the traveling body 15.

[0019] The revolving body 13 has an exterior panel 13a, a counterweight CW, and a drive source (for example, an engine). The exterior panel 13a has, for example, an engine hood, a sand cover, a sheet metal cover, etc. The counterweight CW is provided to balance the weight of the working implement 12, thereby improving the stability of the main body 11 when the work machine 10 is working. The drive source supplies drive force to drive the working implement 12, to rotate the revolving body 13, to travel the traveling body 15, etc. The drive source is disposed behind the operator's cab 14. The drive source is surrounded by the exterior panel 13a, the counterweight CW, etc. The drive source is not limited to an engine, and may be a motor driven by a battery.

[0020] The work machine 12 is supported by the rotating body 13. The work machine 12 has a boom 16, an arm 17, and a bucket 18. The work machine 12 further has a boom cylinder 19a, an arm cylinder 19b, and a bucket cylinder 19c.

[0021] The boom 16 is rotatably connected to the main body 11. Specifically, the base end of the boom 16 is rotatably connected to the rotating body 13 with a boom foot pin BF as a fulcrum. The base end of the boom 16 is disposed in the left-right direction of the operator's cab 14. The arm 17 is rotatably connected to the boom 16. Specifically, the base end of the arm 17 is rotatably connected to the tip of the boom 16 with a boom top pin BT as a fulcrum. The bucket 18 is rotatably connected to the arm 17. Specifically, the base end of the bucket 18 is rotatably connected to the tip of the arm 17 with an arm top pin AT as a fulcrum.

[0022] In addition, the work machine 10 may have a blade (not shown) attached to the running body 15.

[0023] Fig. 2 is a top view of the work machine shown in Fig. 1. As shown in Fig. 2, the revolving body 13 has a curved surface portion CL in a top view. The curved surface portion CL is a curved portion of the outer shape of the revolving body 13 in a top view. The curved surface portion CL is provided, for example, at the rear of the revolving body 13. The curved surface portion CL is located behind the work implement 12 (boom 16). The curved surface portion CL is also located behind the operator's cab 14.

[0024] The curved surface portion CL is located over the entire rear end of the rotating body 13. The curved surface portion CL is located over the entire left-right direction at the rear of the rotating body 13. Specifically, the curved surface portion CL is located over the entire outer shape of the rotating body 13 from one side to the other side.

[0025] In top view, the curved surface portion CL forms a convex curve from the inside to the outside of the outer shape of the revolving body 13. In other words, the curved surface portion CL forms a curve that protrudes from the inside to the outside of the revolving body 13 in top view.

[0026] The curve of the curved surface portion CL in top view may be configured with a curve having a single radius of curvature. The curved surface portion CL has, for example, an arc shape centered on the rotation axis RX of the rotating body 13 in top view.

[0027] Furthermore, the curved surface portion CL may be formed by a combination of curves having multiple radii of curvature when viewed from above. When the curved surface portion CL is formed by a combination of curves having multiple radii of curvature, each of the curves having different radii of curvature forms a convex curve from the inside to the outside of the outer shape of the rotating body 13.

[0028] The work machine 10 of this embodiment has an object detection sensor for detecting objects around the work machine 10. When an object is detected around the work machine 10 by the object detection sensor, the work machine 10 issues a warning to the operator, or controls the turning operation and the operation of the work implement 12 to slow down or stop. The object detection sensor employed in the work machine 10 of this embodiment will be described below with reference to Figures 1 to 6.

[0029] 2, the work machine 10 of this embodiment has a first object detection sensor RD1, a second object detection sensor RD2, and a third object detection sensor RD3. Each of the first object detection sensor RD1, the second object detection sensor RD2, and the third object detection sensor RD3 is a sensor that detects objects (including people) in the vicinity of the work machine 10.

[0030] Each of the object detection sensors RD1, RD2, and RD3 is, for example, a radar (Radio Detection and Ranging) that acquires information on an object by emitting radio waves. Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a LiDAR (Light Detection and Ranging) that acquires information on an object by emitting laser light. Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a millimeter wave radar that detects, with a receiving antenna, how millimeter wave band radio waves emitted from a transmitting antenna are reflected by the surface of an object and returned. Each of the object detection sensors RD1, RD2, and RD3 may be, for example, a visual sensor including a camera, or an infrared sensor.

[0031] The first object detection sensor RD1 and the second object detection sensor RD2 are disposed on a curved surface portion CL that forms a curve in the outer shape of the revolving body 13 when viewed from above. The first object detection sensor RD1 and the second object detection sensor RD2 are disposed on the curved surface portion CL so as to be spaced apart from each other when viewed from above.

[0032] In a state in which the direction of extension from the base end to the tip end of the boom 16 is parallel to the direction of extension of the crawler belt 15Cr, the first object detection sensor RD1 is located directly above one of the pair of left and right crawler belts 15Cr (the first crawler belt 15Cr), and the second object detection sensor RD2 is located directly above the other of the pair of left and right crawler belts 15Cr (the second crawler belt 15Cr). In a top view, a left-right distance D1 between the first object detection sensor RD1 and the second object detection sensor RD2 is larger than a left-right distance D2 between the pair of left and right crawler belts 15Cr. The distance D1 is the minimum dimension of a virtual line when the first object detection sensor RD1 and the second object detection sensor RD2 are connected by a virtual line. The distance D2 is also the minimum dimension of a virtual line when the pair of left and right crawler belts 15Cr are connected by a virtual line.

[0033] The third object detection sensor RD3 is disposed on the side of the revolving body 13. The third object detection sensor RD3 is located in the left-right direction of the boom 16 and boom cylinder 19a of the work implement 12. The third object detection sensor RD3 is disposed on the opposite side of the work implement 12 from the operator's cab 14. The third object detection sensor RD3 is located forward of the first object detection sensor RD1 and the second object detection sensor RD2 and near the work implement 12.

[0034] Each of the object detection sensors RD1 to RD3 is disposed so as to be able to detect objects outside the revolving structure 13. A detection range IR1 of the first object detection sensor RD1 is on the right side and rear side of the revolving structure 13. A detection range IR2 of the second object detection sensor RD2 is on the left side and rear side of the revolving structure 13. The detection range IR1 of the first object detection sensor RD1 and the detection range IR2 of the second object detection sensor RD2 overlap each other behind the revolving structure 13.

[0035] The detection range IR3 of the third object detection sensor RD3 is on the right side of the revolving structure 13. The detection range IR3 of the third object detection sensor RD3 and the detection range IR1 of the first object detection sensor RD1 overlap with each other on the right side of the revolving structure 13.

[0036] When the work machine 10 is placed on a level ground, each of the object detection sensors RD1 to RD3 faces, for example, in the horizontal direction. When each of the object detection sensors RD1 to RD3 is, for example, a radar, each of the object detection sensors RD1 to RD3 emits radio waves in the horizontal direction. When each of the object detection sensors RD1 to RD3 is, for example, a LiDAR, each of the object detection sensors RD1 to RD3 emits laser light in the horizontal direction. When each of the object detection sensors RD1 to RD3 is, for example, a visual sensor, the optical axis of each of the object detection sensors RD1 to RD3 extends in the horizontal direction. When each of the object detection sensors RD1 to RD3 is, for example, an infrared sensor, each of the object detection sensors RD1 to RD3 emits infrared rays in the horizontal direction.

[0037] Fig. 3 is a rear view of the work machine shown in Fig. 1. As shown in Fig. 1 to Fig. 3, the outer surface of the rotating body 13, except for the operator's cab 14, is mainly composed of an exterior panel 13a and a counterweight CW.

[0038] As shown in FIG. 3, the curved surface portion CL is composed of a counterweight CW and an exterior panel 13a. The first object detection sensor RD1 and the second object detection sensor RD2 are attached to the exterior panel 13a. The first object detection sensor RD1 and the second object detection sensor RD2 are disposed in recesses CP1 and CP2, respectively. The recesses CP1 and CP2 are provided on the curved surface portion CL. The recesses CP1 and CP2 are provided on the exterior panel 13a. The recesses CP1 and CP2 are recessed toward the inside of the revolving body 13.

[0039] The recesses CP1 and CP2 are disposed so as to sandwich the counterweight CW therebetween. For example, the recesses CP1 and CP2 are disposed so as to be in contact with the counterweight CW. The recesses CP1 and CP2 are shaped symmetrically with respect to the rotation axis RX when viewed from the rear.

[0040] The first object detection sensor RD1 and the second object detection sensor RD2 are disposed so as to sandwich the counterweight CW. The first object detection sensor RD1 and the second object detection sensor RD2 are disposed apart from the counterweight CW. The first object detection sensor RD1 and the second object detection sensor RD2 may be disposed in contact with the counterweight CW.

[0041] The curved surface portion CL is divided into a lower region RL, a middle region RM, and an upper region RU by dividing the vertical height HC of the curved surface portion CL into thirds. The middle region RM is located above the lower region RL, and the upper region RU is located above the middle region RM. The middle region RM is sandwiched between the lower region RL and the upper region RU. Both the first object detection sensor RD1 and the second object detection sensor RD2 are disposed in the middle region RM.

[0042] The height HC in the vertical direction of the curved surface portion CL is the height from the lower end of the rotating body 13 to the upper end of the counterweight CW. The lower end of the rotating body 13 may be the lower end of the counterweight CW.

[0043] 1, the third object detection sensor RD3 is attached to the exterior panel 13a. The third object detection sensor RD3 is disposed in a recess CP3. The recess CP3 is provided in the exterior panel 13a. The recess CP3 is recessed toward the inside of the rotating body 13. The third object detection sensor RD3 is disposed in the middle region RM. The third object detection sensor RD3 is disposed at a lower height position in the vertical direction than both the first object detection sensor RD1 and the second object detection sensor RD2. The third object detection sensor RD3 may be disposed at the same height position in the vertical direction as both the first object detection sensor RD1 and the second object detection sensor RD2.

[0044] Figures 4 and 5 are cross-sectional views taken along lines IV-IV and VV in Figure 3, respectively. As shown in Figures 4 and 5, the recess CP1 has a bottom wall CPB, one side wall CPS1, the other side wall CPS2, a lower wall CPL, and an upper wall CPU. Each of the one side wall CPS1, the other side wall CPS2, the lower wall CPL, and the upper wall CPU extends from the outer surface of the rotating body 13 toward the inside of the rotating body 13. Each of the inner ends of the one side wall CPS1, the other side wall CPS2, the lower wall CPL, and the upper wall CPU is connected to the bottom wall CPB.

[0045] The bottom wall CPB, one side wall CPS1, lower wall CPL and upper wall CPU are each formed of an exterior panel 13a. The other side wall CPS2 is formed of a counterweight CW. The other side wall CPS2 may be formed of the exterior panel 13a.

[0046] The first object detection sensor RD1 is disposed so as to remain within the recess CP1 and does not protrude from the recess CP1. In other words, as shown in FIG. 5, the upper end surface TS of the first object detection sensor RD1 is located inside the recess CP1 with respect to a virtual straight line SL connecting the upper end UE and the lower end LE of the recess CP1, and does not protrude outside the recess CP1. The upper end UE is the connection portion between the upper wall CPU of the recess CP1 and the outer surface of the exterior panel 13a. The lower end LE is the connection portion between the lower wall CPL of the recess CP1 and the outer surface of the exterior panel 13a.

[0047] Like the first object detection sensor RD1, the second object detection sensor RD2 and the third object detection sensor RD3 are arranged so as to remain within the recesses CP2 and CP3, respectively, and are configured so as not to protrude from the recesses CP2 and CP3.

[0048] In the above description, the first object detection sensor RD1 and the second object detection sensor RD2 are attached to the exterior panel 13a, but they may be attached to the counterweight CW.

[0049] Fig. 6 is a rear view of the counterweight showing a modified example in which an object detection sensor is attached to the counterweight. As shown in Fig. 6, recesses CP1 and CP2 are provided in the counterweight CW. Each of the recesses CP1 and CP2 is arranged so as to reach both side ends of the counterweight CW. Each of the recesses CP1 and CP2 is recessed from the outer surface of the rotating body 13 toward the inside of the rotating body 13. The first object detection sensor RD1 is arranged in the recess CP1. The second object detection sensor RD2 is arranged in the recess CP2.

[0050] Since the configuration of the modified example shown in FIG. 6 is substantially the same as the configuration shown in FIGS. 1 to 5 except for the above, the same elements are given the same reference characters and description thereof will not be repeated.

[0051] <Effects>

[0052] Next, the effects of this embodiment will be described.

[0053] 2, in this embodiment, the first object detection sensor RD1 and the second object detection sensor RD2 are arranged at intervals from each other on a curved surface portion CL that forms a curve in the outer shape of the revolving structure 13 when viewed from above. This makes it possible to detect objects in a wide range around the revolving structure 13 with a small number of object detection sensors.

[0054] 2, in this embodiment, the curved surface portion CL forms a convex curve from the inside to the outside of the outer shape of the revolving unit 13 in a top view. This prevents the curved surface portion CL of the revolving unit 13 from obstructing the detection range of the object detection sensors RD1 and RD2.

[0055] 2, in this embodiment, the rotating body 13 has recesses CP1 and CP2 in a part of the height direction of the curved surface portion CL. The first object detection sensor RD1 and the second object detection sensor RD2 are disposed in the recesses CP1 and CP2, respectively. This prevents the first object detection sensor RD1 and the second object detection sensor RD2 from protruding outward from the outer surface of the rotating body 13. This prevents the first object detection sensor RD1 and the second object detection sensor RD2 from interfering with an obstacle outside the rotating body 13.

[0056] If the object detection sensors RD1, RD2 are attached too low, there is a possibility that they may erroneously detect a part of the work machine 10, such as a blade (not shown) attached to the traveling body 15, as an obstacle. Also, if the object detection sensors RD1, RD2 are attached too high, they will be unable to detect objects near the ground (such as a person standing on the ground) unless the object detection sensors RD1, RD2 are pointed downward. However, if the object detection sensors RD1, RD2 are pointed downward, there is a possibility that they may erroneously detect the ground as an obstacle.

[0057] In this embodiment, as shown in Fig. 3, both the first object detection sensor RD1 and the second object detection sensor RD2 are disposed in a middle area RM sandwiched between a lower area RL and an upper area RU. This prevents the first object detection sensor RD1 and the second object detection sensor RD2 from erroneously detecting a part of the work machine 10 and the ground as an obstacle.

[0058] 2, in this embodiment, the third object detection sensor RD3 is disposed on a side of the rotating body 13 opposite the operator's cab 14 with respect to the work machine 12 in a top view. This makes it possible to compensate for blind spots for an operator sitting in the operator's cab 14 by detection by the third object detection sensor RD3.

[0059] 1, in this embodiment, when the curved surface portion CL is divided into thirds in the vertical direction into a lower area RL, a middle area RM, and an upper area RU, the third object detection sensor RD3 is disposed in a middle area RM sandwiched between the lower area RL and the upper area RU. This prevents the third object detection sensor RD3 from erroneously detecting a part of the work machine 10 or the ground as an obstacle.

[0060] In this embodiment, both the first object detection sensor RD1 and the second object detection sensor RD2 may be disposed on the counterweight CW as shown in Fig. 6. Also, both the first object detection sensor RD1 and the second object detection sensor RD2 may be disposed on the exterior panel 13a as shown in Fig. 1 and Fig. 3. This reduces restrictions on the arrangement positions of the first object detection sensor RD1 and the second object detection sensor RD2, increasing the freedom of design.

[0061] <Additional Notes>

[0062] The above-described embodiment includes the following technical ideas.

[0063] (Appendix 1) A running body, A rotating body is disposed on the running body and rotates relative to the running body; A work machine comprising: a first object detection sensor and a second object detection sensor arranged at a distance from each other on a curved surface portion that forms a curved line in the external shape of the rotating body when viewed from above.

[0064] (Appendix 2) The work machine described in Appendix 1, wherein the curved surface portion forms a convex curve from the inside to the outside of the outer shape of the rotating body when viewed from above.

[0065] (Appendix 3) The rotating body has a recess in a part of the curved surface portion in a height direction, 3. The work machine of claim 1 or 2, wherein each of the first object detection sensor and the second object detection sensor is disposed within the recess.

[0066] (Appendix 4) The work machine according to any one of Appendix 1 to Appendix 3, wherein when the curved surface portion is divided into a lower region, a middle region, and an upper region by dividing the curved surface portion into thirds in the vertical direction, both of the first object detection sensor and the second object detection sensor are arranged in the middle region that is sandwiched between the lower region and the upper region.

[0067] (Appendix 5) The rotating body has a cab, A work machine supported on the rotating body; 4. The work machine according to claim 1, further comprising: a third object detection sensor arranged on a side of the rotating body opposite the operator's cab with respect to the work machine in a top view.

[0068] (Appendix 6) The work machine described in Appendix 5, wherein when the curved portion is divided into thirds in the vertical direction into a lower region, a middle region, and an upper region, the third object detection sensor is arranged in the middle region that is sandwiched between the lower region and the upper region.

[0069] (Appendix 7) The rotating body has a counterweight, 7. The work machine of any one of Supplementary Note 1 to Supplementary Note 6, wherein both the first object detection sensor and the second object detection sensor are disposed on the counterweight.

[0070] (Appendix 8) The rotating body has a counterweight and an exterior panel made of a separate member from the counterweight, 7. The work machine according to any one of Supplementary Note 1 to Supplementary Note 6, wherein both the first object detection sensor and the second object detection sensor are disposed on the exterior panel.

[0071] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0072] 10 work machine, 11 main body, 12 work equipment, 13 rotating body, 13a exterior panel, 14 cab, 15 running body, 15Cr track, 15M running motor, 16 boom, 17 arm, 18 bucket, 19a boom cylinder, 19b arm cylinder, 19c bucket cylinder, AT arm top pin, BF boom foot pin, BT boom top pin, CL curved surface portion, CP1, CP2, CP3 recess, CPB bottom wall, CPL lower wall, CPS1 one side wall, CPS2 other side wall, CPU upper wall, CW counterweight, LE lower end, RD1 first object detection sensor, RD2 second object detection sensor, RD3 third object detection sensor, RL lower area, RM middle area, RU upper area, RX rotating shaft, TS upper end surface, UE upper end.

Claims

1. A running body, A rotating body is disposed on the running body and rotates relative to the running body; A work machine comprising: a first object detection sensor and a second object detection sensor arranged at a distance from each other on a curved surface portion that forms a curved line in the external shape of the rotating body when viewed from above.

2. The work machine according to claim 1 , wherein the curved surface portion forms a convex curve from the inside to the outside of the outer shape of the rotating body when viewed from above.

3. The rotating body has a recess in a part of the curved surface portion in a height direction, The work machine of claim 1 , wherein each of the first object detection sensor and the second object detection sensor is disposed within the recess.

4. 2. The work machine according to claim 1, wherein when the curved surface portion is divided into thirds in the vertical direction into a lower region, a middle region, and an upper region, both of the first object detection sensor and the second object detection sensor are arranged in the middle region sandwiched between the lower region and the upper region.

5. The rotating body has a cab, A work machine supported on the rotating body; The work machine according to claim 1 , further comprising: a third object detection sensor arranged on a side of the rotating body opposite the operator's cab with respect to the work machine in a top view.

6. 6. The work machine according to claim 5, wherein when the curved surface portion is divided into thirds in a vertical direction into a lower region, a middle region, and an upper region, the third object detection sensor is disposed in the middle region that is sandwiched between the lower region and the upper region.

7. The rotating body has a counterweight, The work machine of claim 1 , wherein both the first object detection sensor and the second object detection sensor are disposed on the counterweight.

8. The rotating body has a counterweight and an exterior panel made of a separate member from the counterweight, The work machine according to claim 1 , wherein both the first object detection sensor and the second object detection sensor are disposed on the exterior panel.

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