Work vehicles

Abstract

To provide a work vehicle capable of reliably detecting a driver during getting-on-and-off time by a sensor.SOLUTION: A work vehicle with a cabin surrounding a driver seat is provided with a step 51a for making a driver get on and off a floor 17 of the cabin, and a cabin door 50 for opening / closing an entrance of the cabin. A lateral obstacle sensor 24s is provided at a height between a top surface of the floor 17 and the step 51a below an opening / closing area for the cabin door 50.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a work vehicle such as an agricultural tractor, and more particularly to the arrangement of side obstacle sensors that detect obstacles on the sides of a traveling vehicle body. [Background technology]

[0002] A known configuration is provided on the underside of a fuel tank mounted on the bottom of the vehicle body and on the step for boarding and disembarking, for attaching a side obstacle sensor that detects obstacles on the sides of the vehicle body; the sensor stay is pipe-shaped with its lower part extending forward and bent upward, and the side obstacle sensor is mounted in front of and above the fuel tank, between the front and rear wheels, below the cabin floor surface and the upper end of the front wheels (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-66411 A Summary of the Invention [Problem to be solved by the invention]

[0004] Obstacle sensors are provided as a means of ensuring safety, such as by detecting the presence of obstacles or the driver, to ensure safety by stopping the vehicle body, etc. However, in the configuration of the side obstacle sensor using the sensor stay disclosed in Patent Document 1, the sensor is somewhat distant from the boarding / alighting step, so it may miss the detection of a driver getting on or off, which poses a safety problem, such as the vehicle body starting to move when the driver gets on or off.

[0005] In view of the above, an object of the present invention is to provide a work vehicle that can reliably detect a driver by a sensor when getting on and off the work vehicle. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention provides the following technical solutions.

[0007] The first invention relates to a work vehicle including 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 further includes a side obstacle sensor (24S) 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) in 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 vertically adjustable in angle with respect to the main casing portion (24b). A second aspect of the present invention is a work vehicle according to the first aspect of the present invention, wherein the side obstacle sensor (24S) is provided behind 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 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 the entrance to the cabin 16, 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.

[0008] The second invention related to the present invention teeth, The first invention related to the present invention In the vehicle, the side obstacle sensor 24 is provided at a position rearward of the front lower end of the cabin door 50 and close to the front lower part of the fender 19.

[0009] The third invention related to the present invention teeth, The first or second invention related to the present invention In the vehicle, the side obstacle sensor 24 is configured to be located rearward of the rear end of the step 51a for getting on and off.

[0010] The fourth invention related to the present invention teeth, Any one of the first to third inventions related to the present invention In the fuel tank 51, the step 51a is formed at a stepped portion of the fuel tank 51, and the side obstacle sensor 24 is supported on the fuel tank 51 by a sensor stay 53.

[0011] Fifth Invention Related to the Present Invention teeth, The fourth invention related to the present invention In the fuel tank, a fuel 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 . Effect of the Invention

[0012] 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.

[0013] In addition, The third invention related to the present invention According to the report, the side obstacle sensor 24 does not interfere with the driver getting on and off the vehicle. Fifth Invention Related to the Present Invention According to this, the side obstacle sensor 24 and the sensor stay 53 do not hinder fuel supply. [Brief description of the drawings]

[0014] [Figure 1] FIG. [Diagram 2] FIG. [Diagram 3] FIG. 2 is a perspective view of the cabin from above and in front. [Figure 4] FIG. 2 is a perspective view of the cabin from below and in front. [Diagram 5] FIG. 2 is a perspective view of the roof as seen diagonally from above and in the front. [Figure 6] FIG. 2 is a perspective view of the roof as seen diagonally from above and behind. [Figure 7] FIG. [Figure 8] FIG. 4 is a perspective view showing a status indicator lamp and its supporting structure on the right side of the vehicle body. [Figure 9] FIG. 2 is a perspective view showing a status indicator lamp and its supporting structure on the left side of the vehicle body. [Figure 10] This is an oblique view of the positioning unit, communication control unit, and supporting structure, seen diagonally from the rear. [Figure 11] FIG. 4 is a side view showing the operation of the rear obstacle sensor. [Figure 12] FIG. 2 is a side view of the area around the entrance and exit of the tractor. [Figure 13] FIG. [Figure 14] 2 is a perspective view of the area around the boarding / exiting opening of the tractor, viewed obliquely from above and in the front; [Figure 15] 2 is a perspective view of the fuel tank and its periphery as viewed from diagonally below and rearward. FIG. [Figure 16]FIG. 2 is a perspective view of a side obstacle sensor and a sensor stay. [Figure 17] FIG. [Figure 18] FIG. 2 is a perspective view of a forward obstacle sensor and its surroundings. [Figure 19] FIG. 1 is a perspective view of an example of a forward obstacle sensor; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. 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.

[0016] FIG. 1 shows a tractor, in which a diesel engine E is mounted inside a bonnet 2 at the front of a traveling body 1, and 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 constituting a part of a hydraulic lifting mechanism are rotatably attached to both the left and right sides of the cylinder case 8. 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, and the lower links 12 are connected to the lift arms 9 via lift rods 13, so that the working machine R can be lifted and lowered.

[0017] The steering wheel 6, the 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 vibration isolating rubber, so that vibrations of the vehicle body are not easily transmitted to the cabin 16.

[0018] The cabin 16 is formed as an integrated framework consisting of a floor 17, front pillars 18 erected at the front left and right parts of the floor 17, rear pillars 20 erected at the rear left and right parts of the driver's seat 7, an intermediate pillar 62 erected in 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.

[0019] The roof 22 of the cabin 16 is equipped with devices related to driving support such as a surveillance camera, an obstacle sensor, a positioning controller, a camera controller, etc. 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 one 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 with a controller that calculates and controls sensor information of each part of the body 1.

[0020] The positioning controller 25 includes 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), and acquires satellite signals from GPS satellites and the like using the positioning antenna, and calculates the vehicle's position information, traveling direction, and the like by processing the satellite signals and correction signals received from the base station by the antenna 26 in the calculation unit. This position information, etc. is transmitted to the control unit C by the output unit.

[0021] The camera controller 27 is also configured to include 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.

[0022] In addition, the location information and image data, etc. transmitted to the control unit C can be configured to be transmitted to an external management server, and by providing a communication terminal (e.g., a portable terminal) capable of communicating with this management server, it is possible to obtain information about the vehicle body 1 through this communication terminal to check the vehicle body condition, or to remotely operate the vehicle body 1.

[0023] The housing 27a housing the camera controller 27 and the housing 25a housing the computing unit and the like of the positioning controller 25 are disposed above the front side of the roof 22. That is, a band-shaped front frame 31 supported in a horizontal position so as to span between bracket members 30L, 30R fixed to the front support 18 or the upper frame 21 is provided, and the housing 27a of the camera controller and the housing 25a of the positioning controller 25 are disposed and fixed 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 upper end of the windshield 51 in a side view of the vehicle body 1.

[0024] In detail, a forward protruding frame 32f having a U-shape 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 having a similar U-shape and a slightly long length is fixed to the rear wall, and 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 ​​across 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 upper surface of the control unit bracket 32 ​​at the rear position. For example, a flange portion formed on the housing side is overlapped with the control unit bracket 32, and the overlapped 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 positioned 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 slightly higher than the antennas 26, 28, 28, so that the housings 25a, 27a and the antennas 26, 28, 28 can be protected.

[0025] In side view, the antenna guards 33L, 33R are positioned so as to 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 being put on or removed, and there is little risk of damage due to unexpected interference.

[0026] Since the positioning controller 25 and the camera controller 27 are arranged close to each other in the front and rear, the harnesses 36 can be bundled together and arranged along the rear wall surface of the front frame 31, thereby facilitating the wiring work and improving the neatness of the finished product.

[0027] A front camera 23f capable of capturing an image 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 the camera controller 27 located above. Note that the positioning controller 25 as the positioning unit and the camera controller 27 as the communication control unit can be disposed in an interchangeable manner, but when the positioning controller 25 is disposed in the front position, it can be protected by the control unit bracket 32 ​​and the positioning controller 25.

[0028] At the rear end side of the control unit bracket 32, flat plates 32a are fixed to the upper surfaces of the front and rear protrusions 32f, 32r so as to keep a constant gap between the bracket 32 ​​and the cabin roof 22, but since there is a risk that the bracket 32 ​​may swing 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. That is, a buffer material 38 is provided below the rear end side of the control unit bracket 32. With this configuration, vibrations transmitted from the roof 22 of the cabin 16 can be suppressed, and damage due to contact with the roof 22 is prevented.

[0029] A rear obstacle sensor 24R is disposed on the rear end side of the roof 22 so as to be capable of emitting 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. The rear obstacle sensor 24R is disposed 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 which can detect the vertical angle of the rear obstacle sensor 24R, and the control unit C is configured to be able to input the angle of the rear obstacle sensor 24R.

[0030] Incidentally, to supplement 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 its scanning range from the rear end of the upper part of the roof 22 toward the rear side of the vehicle body 1, and it is desirable that the scanning plane be set at an angle that does not interfere with the work machine R. In Fig. 11, if the scanning plane of the rear obstacle sensor 24R among obstacles X behind the work machine R is a steep scanning plane 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 becomes a somewhat gentler scanning plane T2.

[0031] That is, by changing the angle, the irradiation angle of the laser can be changed, the irradiation angle is detected by the angle detection sensor, and the detection distance of the rear obstacle sensor 24R can be changed according to the angle. Therefore, according to 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.

[0032] 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 able to travel autonomously will be described. The status indicator lamp 40 is configured to be layered and capable of lighting different warning colors, and is configured to distinguish the status of the vehicle body 1 during autonomous driving by various lighting methods, for example, by lighting green for normal work driving, lighting red for abnormality, lighting yellow for obstacle detection, and flashing when the vehicle is stopped, and is arranged on the left and right sides of the front of the cabin 16. That is, a support seat bracket 42 is fixed to an indicator lamp bracket 41 on the front support column 18 of the cabin 16, and the above-mentioned status indicator lamp 40 is fixed to this support seat bracket 42 in an upright state. 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 column 18, and during normal driving by various operations by the operator, the indicator lamp 40 can be hidden by the front support column 18 without obstructing the operator's field of vision.

[0033] The indicator light bracket 41 is fixed to the front support 16 by welding or the like, and the support seat bracket 42 is provided so that the angle can be freely changed relative to the indicator light bracket 41. That is, 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 detached from the bracket, 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 (Fig. 7). The height of the support seat bracket 42 and the rotation angle of the status indicator light 40 are set (designed) so that the indicator light 40 protrudes above the cabin roof 22 in the upright working position and does not protrude above the cabin roof 22 in the collapsed storage position. By keeping the vehicle in the stored position when not traveling, such as when stored in a barn, the space in the storage barn can be saved, and further, when the entire vehicle body is covered, if the status indicator lamp 40 is in the upright position, a load is applied and the vehicle is likely to be damaged, but in the stored position where the vehicle is laid down, the load can be reduced and damage can be prevented.

[0034] The status indicator lamp 40 in the stored position is set to be located above the upper end of the cabin door 50 and below the cabin roof 22 (FIG. 7). Therefore, even when the status indicator lamp 40 is in the stored position, the cabin door 50 can be opened and closed, and there is no hindrance to ascent and descent.

[0035] As described 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 freely attached and detached. One of these points 43a, 44a can be fastened at any position centered on the other point 43b, 44b along the arc-shaped guide hole 41a formed in the indicator light bracket 41, so that its position can be easily changed by loosening one bolt 43b.

[0036] The support seat brackets are arranged on the left and right, and side cameras 23s, which are one of the surveillance cameras 23, are arranged on the lower outer surfaces of the left and right support seat brackets 42L, 42R via camera brackets 45L, 45R. The side cameras 23s, 23s are provided so that their vertical angles can be freely adjusted relative to the camera brackets 45L, 45R.

[0037] A bracket 46 for a side mirror is provided on the front support 18 of the cabin 16, lower than 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 freely rotated and adjusted around a vertical axis.

[0038] The status indicator light 40 is set in a relationship in which the upper 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.

[0039] In addition, the side camera 23s is located inside the vehicle body 1 more than the side mirror 47 fixed to the front support 18 of the cabin 16 and lower than the status indicator lamp 40, so that the side camera 23s can be protected by the status indicator lamp 40 and the side mirror 47.

[0040] 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 a space below the entrance opening opened and closed by the cabin door 50. It is formed into a step part on the way to serve as 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. In other words, the reinforcing connecting frame 56 comprises an upper connecting frame portion 56a that is directly connected to the tank stay 55, a front connecting frame portion 56b that is connected to this upper connecting frame portion 56a and has its lower end connected to the support frame 54, and a rear connecting frame portion 56c that forms an inclined surface on the tank rear side 51c, which is formed into an inclined surface and extends along the inclination to the support frame 54, and the reinforcing connecting frame 56 and the support frame 54 are configured to surround the fuel tank 51, reinforcing and supporting it.

[0041] A 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 Fig. 16 and Fig. 17, the sensor stay 53 is composed of a long first stay 53a and a short second stay 53 arranged along the inclined surface of the tank rear side 51c of the fuel tank 51, a tank fixing part 53c which is detachably fixed to the rear of the tank, and a sensor base part 53d which is detachably provided on the tank fixing part 53c, and a 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 which is overlapped with and fastened to the base part 53d of the sensor stay 53, and a support plate 24f on which the sensor transmitting part 24e is attached to the bracket parts 24d, 24d of the housing main part 24b. The housing main body 24b and the housing bottom 24c are connected to each other by a reinforcing plate 24g acting as a partition.

[0042] The obstacle sensor is an ultrasonic sensor that converts an electric signal from the control unit C into ultrasonic waves using a transducer, transmits the ultrasonic waves, and determines the presence and distance of an obstacle based on the time it takes for the transmitted ultrasonic waves to reflect off the obstacle and return. The transmitter support plate 24f incorporating the sensor transmitter 24e is provided so that the vertical angle can be freely adjusted relative to the housing main body 24b.

[0043] The transmitter support plate 24f is fastened to the pair of bracket portions 24d with fasteners 54. These fasteners 54, one on each side, are coaxial with the horizontal axis and make it possible to change the vertical angle of the transmitter support plate 24f together with the transmitter 24e when relaxed, and can be refastened to set the desired vertical angle.

[0044] 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 a fulcrum for opening and closing, and the entrance to the floor 17 can be opened and closed, and an opening and closing area is formed by the opening and closing trajectory of the cabin door 50. The side obstacle sensor 24S is provided 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 presence of a driver getting on and off can be reliably detected by the side obstacle sensor 24S that can transmit ultrasonic waves toward the sides of the vehicle body.

[0045] In addition, the side obstacle sensor 24S is provided behind the front lower end of the cabin door 50 and in a position close to the front lower part of the fender 19. By arranging it in this manner, the side obstacle sensor 24S can be placed in the vicinity of the driver getting in and out of the vehicle, so that the presence of the driver can be reliably detected.

[0046] Furthermore, the side obstacle sensor 24S is located behind the rear end of the step 51a for getting on and off the vehicle, so that it does not get in the way of the driver getting on and off the vehicle.

[0047] And, since the step 51a is formed at a stepped portion of the fuel tank 51 and the side obstacle sensor 24 is supported on the fuel tank 51 by a sensor stay 53, each component can be rationally arranged based on the fuel tank 51.

[0048] 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.

[0049] Next, a description will be given of the front obstacle sensor 24F for detecting an obstacle in front of the vehicle body 1. The front obstacle sensor 24F employs either an ultrasonic wave transmission type or an infrared laser irradiation type, or both. In Fig. 18, a configuration for installing the ultrasonic wave type obstacle sensor (hereinafter, the first front obstacle sensor) 24F1 and the infrared laser irradiation type obstacle sensor (hereinafter, the second front obstacle sensor) 24F2 will be described.

[0050] A weight bracket 62 on which a front weight 61 can be attached and on which a front obstacle sensor can be attached is provided in front of the front axle bracket 60. The first front obstacle sensors 24F1 are supported by a box-shaped support frame 63 provided on the upper front part of the weight bracket 62, and are arranged in a pair on the left and right. The pair of first front obstacle sensors 24F1 are arranged so that their irradiation direction forms an eight-shape.

[0051] On the other hand, the second front obstacle sensor 24F2 is disposed in a space formed in the front lower part of the weight bracket 62. 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 so that the angle can be freely adjusted in the front-rear and left-right directions, as shown in Fig. 19 .

[0052] The detection range of the first front obstacle sensor 24F1 and the detection range of the second front obstacle sensor 24F2 are provided so as to overlap partially. In this way, obstacles in front are detected by two obstacle sensors using ultrasonic waves and infrared lasers, so that 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 provided, or a pair of sensors, one above and one below, may be provided with a common detection means. [Explanation of symbols]

[0053] 7 Driver's seat 16 Cabin 17th Floor 19 Fender 24 Side Obstacle Sensor 50 Cabin Door 51 Fuel Tank Step 51a 51d Fuel tank filler 53 Sensor stay

Claims

1. 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. A work vehicle as described in claim 1, 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).

Images