Harvesting machine

Abstract

There is a combine harvester that changes a traveling speed in accordance with acceleration in order to secure safety. However, even if the vehicle travels at a constant speed without a change in acceleration, it is dangerous to travel at a high speed on a slope such as when crossing a ridge. To provide a harvester capable of safely traveling and preventing danger such as overturning of a machine body by regulating the maximum traveling speed according to the inclination of the machine body.SOLUTION: In the harvester equipped with a traveling device, a reaping device for reaping crops from a field and a threshing device for taking over and threshing the crops, a controller 35 for regulating the maximum speed when the reaping device and the threshing device are driven and an inclination detection part 36,37 for detecting the inclination of a machine body detects the inclination of the machine body at a prescribed level or above is installed.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a harvesting machine such as a combine harvester.

Background Art

[0002] There is a combine harvester that changes its traveling speed according to acceleration to ensure safety. (See Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] First invention related to the present invention According to this, the maximum speed is restricted when the harvesting device 15 and the threshing device 6 are driven and the tilt detection units 36 and 37, which detect the tilt of the machine, detect a tilt of the machine that exceeds a predetermined level, thus enabling safe operation and preventing dangers such as the machine tipping over.

[0008] A second invention related to the present invention When the tilt detection unit 36 ​​detects a forward tilt of the machine exceeding a predetermined level, it increases the speed more gradually than usual in accordance with the amount the main shift lever 24 is operated from the neutral position toward the forward position or toward the reverse position, thereby regulating the maximum speed. First invention related to the present invention It is a harvesting machine.

[0009] A second invention related to the present invention According to the system, when the tilt detection unit 36 ​​detects that the machine is tilted forward beyond a predetermined level, it increases the speed more gradually than usual according to the amount the main gear lever 24 is operated from the neutral position towards the forward position or towards the reverse position, thereby regulating the maximum speed. As a result, when the machine tilts forward beyond a predetermined level, the machine increases speed gradually by operating the main gear lever 24, and the maximum speed is regulated, allowing for safe operation and preventing dangers such as the machine tipping over.

[0010] A third invention related to the present invention This is a maximum speed restriction that maintains the speed at the restricted position and prevents the speed from increasing beyond that point, even if the main gear lever 24 is moved significantly forward or backward from the restricted position during operation. First invention related to the present invention It is a harvesting machine.

[0011] A fourth invention related to the present invention Even if the tilt detection units 36 and 37 detect horizontality within a predetermined range of the aircraft, the maximum speed restriction will not be released unless the main gear lever 24 is moved to the neutral position. First invention related to the present invention It is a harvesting machine.

[0012] A fourth invention related to the present invention According to this, even if the tilt detection units 36 and 37 detect horizontal within a predetermined range of the aircraft body, the regulation of the maximum speed is not released unless the main transmission lever 24 is in the neutral position. Therefore, it is possible to prevent the vehicle speed from unexpectedly increasing and entering a dangerous state.

[0013] Fifth invention related to the present invention When the wet paddy field mode setting tool 30 is operated to set the wet paddy field mode, the regulation of the maximum speed is released. First invention related to the present invention It is a combine harvester.

[0014] A sixth invention related to the present invention When it enters the handling operation state, the maximum speed is regulated. First invention related to the present invention It is a combine harvester.

[0015] A seventh invention related to the present invention When the grain discharging auger 8 changes from the stored state to the auger extended state, the maximum speed is regulated. First invention related to the present invention It is a combine harvester.

[0016] Eighth invention related to the present invention When an obstacle is detected near the aircraft body, the maximum speed is regulated. First invention related to the present invention It is a combine harvester.

Brief Description of the Drawings

[0017] [Figure 1] It is a side view of a combine according to an embodiment of the present invention. [Figure 2] It is a side view showing the operation of the main transmission lever. [Figure 3] It is a control block diagram. [Figure 4] It is a graph showing the relationship between the operation amount of the main transmission lever and the traveling speed.

Modes for Carrying Out the Invention

[0018] The following describes a combine harvester 1, which is one embodiment of the present invention, with reference to the attached drawings. For the sake of ease of understanding, directions are conveniently indicated as "front," "rear," "right," and "left" from the operator's perspective, but the configuration is not limited by these directions.

[0019] As shown in Figure 1, the combine harvester 1 has a running gear 4 on the lower side of the chassis 2, with a pair of left and right crawler tracks 3 that travel on the soil surface. On the left and right sides of the chassis 2 are a threshing device 6 for threshing and sorting the stalks of grain that are carried and supplied by the feed chain 5, a grain tank 7 as a storage device for temporarily storing the grain, and a grain auger 8 as a discharge device for discharging the grain stored in the grain tank 7 to the outside of the machine. A straw disposal device 9 is mounted on the rear end of the threshing device 6.

[0020] The grain discharge auger 8 moves up and down by operating the auger lifting cylinder 10 when discharging grain.

[0021] A harvesting device 15 is installed in front of the threshing device 6, suspended from the front end of the chassis 2 so as to be able to move up and down relative to the soil surface by a harvesting lifting cylinder 16. The harvesting device 15 includes a grass-separating body 11 that separates unharvested grain stalks from the front end, a lifting unit 12 that raises the separated grain stalks, a cutting blade unit 13 that cuts the raised grain stalks, and a supply adjustment and conveying unit 14 that scoops up the harvested grain stalks and adjusts the handling depth during conveyance before handing them over to the feed chain 5.

[0022] An operating device 20 for controlling the operation of the combine harvester 1 and an operator's seat 21 are provided on the upper rear side of the harvesting device 15. Below the operator's seat 21, an engine 22a, a hydrostatic continuously variable transmission (hereinafter referred to as HST) 22b, and a transmission case are mounted, and the grain tank 7 is positioned at the rear, and a cabin 23 is provided to cover the operating device 20 and the operator's seat 21. These components, including the running gear 4, threshing device 6, harvesting device 15, operating device 20, engine 22, cabin 23, etc., are mounted on the chassis 2 of the combine harvester.

[0023] The operating device 20 includes a main transmission lever 24 that operates the trunnion shaft of the HST22b by forward and backward operation by the operator seated in the operator's seat 21 to switch between forward and reverse, shift forward and reverse, and stop; a steering lever 25 that operates the left and right side clutches and left and right side brakes of the left and right travel crawlers 3,3 by tilting to the left and right to perform left and right steering and turning in various turning modes, operates the harvesting lifting cylinder 16 by forward and backward operation to raise and lower the harvesting device 15; a harvesting / threshing lever 26 that operates the harvesting / threshing clutch actuator to turn the drive of the harvesting device 15 and the threshing device 6 on and off; and a left and right turning actuator that moves the position of the discharge port 8a at the tip of the grain auger 8 vertically by operation of the auger lifting cylinder 10. The machine is equipped with various operating devices, including an auger operation lever 27 that moves the auger left and right by the operation of a tuner, an auger drive switching lever 28 that activates the auger drive electromagnetic clutch to turn the drive of the grain auger 8 on and off and discharge the grain in the grain tank 7 to the outside of the machine from the discharge port 8a, a sub-transmission lever 29 that switches the gear-type transmission in the transmission case to change the road travel speed (rear side) and work speed (low speed side), a wet field mode setting switch 30 which, when pushed, controls the body to be horizontal and switches to pivot turning mode, etc., as a wet field mode setting device, a maximum speed setting dial 31 that regulates the maximum output of the HST 22b and adjusts the maximum travel speed, and a hand lever 32 that activates the threshing clutch actuator to turn the drive of the threshing device 6 on and off.

[0024] A headlight 40 is provided on the upper part of the harvesting device 15.

[0025] The headlights 40 are powered by a power supply linked to the power supply of the engine ECU, which has an after-run function.

[0026] Therefore, when disembarking from combine harvester 1 after finishing work at night, if the headlights 40 are turned on, the surroundings of combine harvester 1 can be checked, and they automatically turn off after the afterrun, which is convenient, and it is possible to determine when the engine ECU's afterrun has finished.

[0027] Furthermore, if the headlight 40 is turned on, or switched from the turned-on state to the off state, and the ignition is turned off within a certain period of time, the headlight 40 will remain on for a certain period of time before being turned off.

[0028] Therefore, by utilizing the after-run function of the engine ECU, a dedicated self-holding circuit to keep the headlights 40 illuminated becomes unnecessary.

[0029] The operator's seat 21 is located off-center to the right of the aircraft, rather than in the center, and a work light is provided on the right side where the operator's seat 21 is located.

[0030] The work lights are powered by a power supply linked to the engine ECU's power supply, which has an after-run function.

[0031] Therefore, when disembarking from combine harvester 1 after finishing work at night, if the work lights are on, the surroundings of combine harvester 1 can be checked, and they automatically turn off after the after-run, which is convenient, and it is possible to determine when the engine ECU's after-run has finished.

[0032] Additionally, if the work light is turned on or switched from on to off, and the key is turned off within a certain period of time, the work light will remain on for a certain period of time before turning off.

[0033] Therefore, by utilizing the after-run function of the engine ECU, a dedicated self-holding circuit to keep the work lights on becomes unnecessary.

[0034] If the control seat 21 is located off-center to the left of the aircraft, a work light will be installed on the left side where the control seat 21 is located, and will be operated by a power supply linked to the power supply of the engine ECU with an afterrun function, as described above.

[0035] Furthermore, the work lights may be installed anywhere on the aircraft, and in that case as well, they will be powered by a power supply linked to the power supply of the engine ECU, which has an afterrun function, as described above.

[0036] Here, the operation of the main shift lever 24 and the control of the driving speed will be explained based on the operation diagram of the main shift lever 24 in Figure 2, the control block diagram in Figure 3, and the driving speed graph in Figure 4.

[0037] A main shift lever sensor 24a, which is a potentiometer, is provided on the pivot shaft portion on which the main shift lever 24 is operated back and forth. This sensor detects the forward and backward operating position of the main shift lever 24 and sends the detected operating position value to the control device 35.

[0038] The control device 35 operates the motor to rotate the trunnion shaft and control the HST 22b based on the detected operating position of the main shift lever 24 sent from the main shift lever sensor 24a.

[0039] In other words, when the main shift lever 24 is operated to the neutral position in the front-to-rear center, the motor is activated based on the detection value of the neutral position of the main shift lever 24 sent from the main shift lever sensor 24a, causing the trunnion shaft to rotate, stopping the output of the HST 22b, and stopping the machine.

[0040] The further the main shift lever 24 is moved from the neutral position towards the forward position, the more the motor is activated based on the detected value of the operating position of the main shift lever 24 sent from the main shift lever sensor 24a, causing the trunnion shaft to rotate and increasing the forward output of the HST 22b, thereby increasing the forward travel speed of the machine.

[0041] The further the main shift lever 24 is moved from the neutral position towards the reverse position, the more the motor is activated based on the detected value of the operating position of the main shift lever 24 sent from the main shift lever sensor 24a, causing the trunnion shaft to rotate and increasing the reverse force of the HST 22b, thereby increasing the reverse travel speed of the machine.

[0042] Furthermore, the central part of the aircraft is equipped with a front-to-back tilt detection unit (front-to-back tilt sensor) 36 for detecting the front-to-back tilt of the aircraft and a left-to-right tilt detection unit (left-to-right tilt sensor) 37 for detecting the left-to-right tilt.

[0043] Furthermore, a harvesting lever sensor 38 is provided at the base of the harvesting lever 26 to detect whether the harvesting device 15 and the threshing device 6 are being turned on or off. The sensor detects whether the harvesting lever 26 is driven on or off and sends the information to the control device 35.

[0044] Then, when the control device 35 receives a horizontal detection value from the front / rear tilt detection unit 36 ​​and the left / right tilt detection unit 37 for the machine body within a predetermined range (when the machine body is horizontal or nearly horizontal based on the horizontal detection value within the predetermined range), it shifts the HST 22b to a travel speed corresponding to the slope gradient line shown normally in Figure 4, according to the amount the main shift lever 24 is moved from the neutral position to the forward position or to the reverse position.

[0045] In other words, when the main transmission lever 24 is operated to its maximum forward position, the HST 22b outputs maximum power and the combine harvester 1 reaches its maximum forward speed, and when the main transmission lever 24 is operated to its maximum reverse position, the HST 22b outputs maximum power and the combine harvester 1 reaches its maximum reverse speed.

[0046] On the other hand, when operating the harvesting lever 26 to engage the drive, harvesting may begin as the machine enters the field from a ridge or road, or end as it leaves the field and returns to a ridge or road. In such cases, the machine is significantly tilted, and driving at maximum speed poses a risk of tipping over.

[0047] Therefore, when the control device 35 receives information from the cutting lever sensor 38 that the cutting lever 26 has been operated to engage the drive, and also receives a detection value from the front / rear tilt detection unit 36 ​​and the left / right tilt detection unit 37 indicating that the machine is tilted beyond a predetermined horizontal range (when the machine is tilted significantly with a tilt detection value exceeding the predetermined range), the control device 35 shifts the HST 22b to a travel speed corresponding to the gentle slope gradient line shown in Figure 4, according to the amount the main shift lever 24 is operated from the neutral position toward the forward position or toward the reverse position, thereby regulating the maximum speed.

[0048] Furthermore, when the cutting lever sensor 38 receives information that the cutting lever 26 has been operated to engage the drive, and the front / rear tilt detection unit 36 ​​receives a detection value indicating that the machine is tilted forward or backward beyond a predetermined horizontal range (when the front / rear tilt detection value is greater than the predetermined range and the machine is tilted significantly forward or backward), the HST 22b may be shifted to a travel speed corresponding to the gentle slope gradient line shown in Figure 4, according to the amount the main shift lever 24 is operated from the neutral position toward the forward position or toward the reverse position, thereby regulating the maximum speed.

[0049] Therefore, when the raking lever 26 is operated to engage the drive and the combine harvester 1 is not in a horizontal position, the HST 22b is shifted to a travel speed corresponding to the gentle slope line shown in the regulation in Figure 4. As a result, the machine gradually increases speed, and the maximum speed is restricted, thus preventing dangers such as the machine tipping over.

[0050] Furthermore, the need to adjust the maximum travel speed by operating the maximum speed setting dial 31 when entering or leaving the field is eliminated, resulting in improved work efficiency.

[0051] Then, after entering the field from a path or road, or after leaving the field and returning to a path or road, the machine receives a horizontal detection value within a predetermined range from the front / rear tilt detection unit 36 ​​and the left / right tilt detection unit 37, and the main shift lever sensor 24a detects that the main shift lever 24 has been returned to the neutral position. At this point, the above restriction is released, and the control returns to shifting the HST 22b to a travel speed corresponding to the normal slope gradient line shown in Figure 4.

[0052] Therefore, even if the front / rear tilt detection unit 36 ​​and the left / right tilt detection unit 37 detect that the vehicle is horizontal within a predetermined range (i.e., the vehicle becomes horizontal), the maximum speed restriction will not be released unless the main gear lever 24 is returned to the neutral position. This prevents the vehicle speed from suddenly increasing and creating a dangerous situation.

[0053] When the wet field mode setting switch 30 is pressed to activate wet field mode, the maximum speed restriction based on the aircraft's tilt, as described above, is released.

[0054] Therefore, when switching to wet field mode in a wet field, the maximum speed restriction is removed, thus maintaining wet field driving performance.

[0055] Furthermore, as another control means for limiting the maximum speed, as shown in Figure 2, when the control device 35 receives a detection value from the front / rear tilt detection unit 36 ​​and / or the left / right tilt detection unit 37 indicating that the machine is tilted beyond a predetermined horizontal range, the control device 35 may limit the maximum speed by maintaining the output of the HST 22b at the speed at the restricted position and preventing the speed from increasing further, even if the main shift lever 24 is operated significantly forward or backward from the restricted position during the operation.

[0056] Furthermore, the control means for the maximum speed limit may be adapted to any of the following maximum speed limits.

[0057] <Other Embodiments>

[0058] (1) When the cutting lever 26 is turned off and the machine moves out of the field onto a ridge or road, or when the combine harvester 1 is being loaded or unloaded onto a truck, the maximum speed is restricted if a large tilting position of the machine is detected.

[0059] In other words, when the control device 35 receives information from the cutting lever sensor 38 that the cutting lever 26 has been operated to the drive-off position, and also receives a detection value from the front / rear tilt detection unit 36 ​​and / or the left / right tilt detection unit 37 indicating that the machine is tilted beyond a predetermined horizontal range (when the machine is tilted significantly with a tilt detection value exceeding the predetermined range), the control device 35 shifts the HST 22b to a travel speed corresponding to the gentle slope gradient line shown in Figure 4, according to the amount the main shift lever 24 is operated from the neutral position towards the forward position or towards the reverse position, thereby regulating the maximum speed.

[0060] Therefore, when the harvesting lever 26 is operated to the drive-off position and the combine harvester 1 is not in a horizontal position, the HST 22b is shifted to a travel speed corresponding to the gentle slope line shown in the regulation in Figure 4. As a result, the machine gradually increases speed, and the maximum speed is restricted, thus preventing dangers such as the machine tipping over.

[0061] Furthermore, even if the front / rear tilt detection unit 36 ​​and / or the left / right tilt detection unit 37 detect that the machine has returned to a predetermined horizontal range, the above-mentioned maximum speed restriction will not be released until the main gear lever 24 is returned to the neutral position.

[0062] Therefore, even if the front / rear tilt detection unit 36 ​​and / or the left / right tilt detection unit 37 detect that the vehicle is horizontal within a predetermined range (i.e., the vehicle becomes horizontal), the maximum speed restriction will not be released unless the main gear lever 24 is returned to the neutral position. This prevents the vehicle speed from suddenly increasing and creating a dangerous situation.

[0063] (2) When the hand-operated lever 32 is moved to the hand-operated position, the maximum speed is restricted.

[0064] In other words, when the control device 35 receives information from the hand-operated state detection sensor 32a that the hand-operated lever 32 is operated to the hand-operated state, the control device 35 shifts the HST 22b to a travel speed corresponding to the gentle slope line shown in Figure 4, according to the amount the main shift lever 24 is operated from the neutral position toward the forward position or toward the reverse position, thereby regulating the maximum speed.

[0065] Therefore, when the hand-operated lever 32 is operated to the hand-operated state, the HST 22b is shifted to a travel speed corresponding to the gentle slope line shown in the regulation in Figure 4. As a result, the machine gradually increases in speed, and the maximum speed is restricted, thus increasing safety when an operator is performing hand-operated work near the combine harvester 1.

[0066] Furthermore, even if a detection value is received indicating that the hand-operated lever 32 has returned from the hand-operated state to the normal harvesting state, the above-mentioned restriction on the maximum speed will not be released until the main speed shift lever 24 is returned to the neutral position.

[0067] Therefore, even if the manual lever 32 is detected to have returned from manual operation to normal harvesting operation, the maximum speed restriction will not be released unless the main gear lever 24 is returned to the neutral position, thus preventing the vehicle speed from suddenly increasing and creating a dangerous situation.

[0068] (3) When the auger operation lever 27 is operated to move the grain auger 8 from the stored position to the extended position (discharge position), the maximum speed is restricted.

[0069] In other words, when the control device 35 receives information from the auger position detection sensor 27a that the auger operating lever 27 is operated to the auger extended state (discharge state), it shifts the HST 22b to a travel speed corresponding to the gentle slope line shown in Figure 4, according to the amount the main shift lever 24 is operated from the neutral position toward the forward position or toward the reverse position, thereby regulating the maximum speed.

[0070] Therefore, when the auger operating lever 27 is operated to the auger extended state (discharge state), the HST 22b is shifted to a travel speed corresponding to the gentle slope line shown in the regulation in Figure 4. As a result, the machine gradually increases in speed, and the maximum speed is restricted, making it easy to adjust the position of the discharge port 8a at the tip of the grain-discharging auger 8.

[0071] Even when the vehicle starts moving with the auger extended (discharged), it's easy to notice because the vehicle speed is low. Furthermore, even if a detection value is received indicating that the auger operation lever 27 has returned from the auger extended state (discharge state) to the retracted state, the above-mentioned maximum speed restriction will not be released until the main transmission lever 24 is returned to the neutral position.

[0072] Therefore, even if the auger operation lever 27 is detected to have returned from the extended (discharged) state to the retracted state, the maximum speed restriction will not be released unless the main transmission lever 24 is returned to the neutral position, thus preventing the vehicle speed from suddenly increasing and creating a dangerous situation.

[0073] (4) If a proximity sensor located on the side of the aircraft detects an obstacle near the aircraft, the maximum speed will be restricted.

[0074] In other words, when the control device 35 receives information that a proximity sensor installed on the side of the aircraft has detected an obstacle near the aircraft, it shifts the HST 22b to a travel speed corresponding to the gentle slope line shown in Figure 4, according to the amount the main shift lever 24 is moved from the neutral position to the forward position or to the reverse position, thereby regulating the maximum speed.

[0075] Therefore, when the proximity sensor detects an obstacle near the aircraft, the HST22b changes speed to a travel speed corresponding to the gentle slope line shown in the regulation in Figure 4. As a result, the aircraft gradually increases speed, and the maximum speed is restricted, preventing collisions with obstacles and improving maneuverability by allowing for gradual speed increases near obstacles.

[0076] Furthermore, even if the proximity sensor no longer detects any obstacles near the aircraft, the above-mentioned maximum speed restriction will not be lifted until the main gear lever 24 is returned to the neutral position.

[0077] Therefore, even if the proximity sensor no longer detects any obstacles near the vehicle, the maximum speed restriction will not be released unless the main gear lever 24 is returned to the neutral position, thus preventing the vehicle speed from suddenly increasing and creating a dangerous situation.

[0078] (5) In fields with low yields, for example, it is acceptable to use the same maximum speed as a 6-row harvester even when using a 7-row harvester. Therefore, in order to increase efficiency by raising the maximum speed only when the load is low, the maximum speed is increased when the engine load is below a certain level at the working speed.

[0079] In other words, when the control device 35 receives information from the sub-transmission operation position detection sensor that the sub-transmission lever 29 is being shifted to the working speed (low speed side), and only when it receives information from the engine ECU controlling the engine 22a that the engine load is less than a predetermined amount, it shifts the HST 22b to a travel speed corresponding to a line with a steeper slope and a higher maximum speed than the slope gradient normally shown in Figure 4, according to the amount the main transmission lever 24 is moved from the neutral position to the forward position or to the reverse position, thereby increasing the maximum speed.

[0080] Therefore, when the auxiliary transmission lever 29 is shifted to the working speed (low speed side) and harvesting work is being performed in the field, the HST 22b is shifted to a travel speed corresponding to a steeper slope and higher maximum speed than the slope gradient normally shown in Figure 4, only when the load on the engine 22a is low. As a result, the maximum speed is higher in fields with low load, and work efficiency is increased. [Explanation of Symbols]

[0081] 4. Traveling device 6. Threshing device 8. Grain Auger 15 Reaping device 24 Main gear shift lever 30. Wet field mode setting device (wet field mode setting switch) 35 Control device 36. Tilt detection unit (front / rear tilt detection unit) 37. Tilt detection unit (left / right tilt detection unit)

Claims

1. A harvesting machine comprising a traveling device (4), a harvesting device (15) for cutting crops from a field, and a threshing device (6) for taking over and threshing crops, wherein a control device (35) is provided that restricts the maximum speed when the harvesting device (15) and the threshing device (6) are driven and the tilt detection unit (36, 37) for detecting the tilt of the machine body detects a tilt of the machine body of a predetermined value or more. A harvesting machine characterized in that, when the tilt detection unit (36) detects a forward tilt of the machine body exceeding a predetermined level, it increases the speed more gradually than usual in accordance with the amount the main gear lever (24) is operated from the neutral position toward the forward position or toward the reverse position, thereby regulating the maximum speed.

2. The harvesting machine according to claim 1, characterized in that when the main gear lever (24) is operated forward or backward from the neutral position, even if it is operated significantly to the forward or reverse position from the restricted position during operation, the maximum speed restriction maintains the travel speed at the restricted position and does not increase the travel speed beyond that point.

3. The harvesting machine according to claim 1, characterized in that even if the tilt detection unit (36, 37) detects horizontal within a predetermined range of the machine body, the restriction on the maximum speed is not released unless the main speed shift lever (24) is moved to the neutral position.

4. The harvester according to claim 1, characterized in that the maximum speed restriction is released when the wet field mode setting device (30) is operated to switch to wet field mode.

5. The harvesting machine according to claim 1, characterized in that it restricts the maximum speed when manual operation is required.

6. The harvesting machine according to claim 1, characterized in that the maximum speed is restricted when the grain auger (8) moves from the retracted state to the extended state.

7. The harvesting machine according to claim 1, characterized in that it restricts the maximum speed when it detects an obstacle near the machine.

Images