CN111501890A - Excavator monitoring system and excavator - Google Patents
Excavator monitoring system and excavator Download PDFInfo
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- CN111501890A CN111501890A CN202010370814.XA CN202010370814A CN111501890A CN 111501890 A CN111501890 A CN 111501890A CN 202010370814 A CN202010370814 A CN 202010370814A CN 111501890 A CN111501890 A CN 111501890A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- Mining & Mineral Resources (AREA)
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- General Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application provides an excavator monitoring system and an excavator. The excavator monitoring system includes: the device comprises a processor, an image acquisition device and at least one pressure sensor. The image acquisition device and the pressure sensor are electrically connected with the processor. The image acquisition device is used for acquiring an environmental image in the cab. The pressure sensor is used for acquiring the current pressure value of one or more of the movable arm oil cylinder, the bucket oil cylinder and the rotary motor. The processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state. The error of only recognizing the current state of the driver through the image is eliminated, the accuracy of recognizing the current state of the driver is higher, and the method is more favorable for monitoring the excavator operating personnel and mastering the actual working time of the excavator, so that the driver is examined, and the efficiency of engineering construction is improved.
Description
Technical Field
The application relates to the field of excavators, in particular to an excavator monitoring system and an excavator.
Background
With the progress of infrastructure construction, excavators are widely used. The excavator can greatly improve the speed of foundation engineering construction. The work efficiency of the excavator operator determines the speed of the engineering construction to a certain extent. In order to guarantee the construction progress, the excavator operators are often required to be supervised.
However, the working environment of the excavator is often complex, the excavator operator is supervised by manpower, more manpower is needed, a large amount of time is spent, and potential safety hazards exist. Therefore, if the operating personnel of the excavator is intelligently monitored and the actual working time of the excavator is mastered, the assessment of the driver is a difficult problem to be solved at present.
Disclosure of Invention
An object of the present application is to provide an excavator monitoring system and an excavator, so as to solve the above problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides an excavator monitoring system, where the excavator monitoring system includes: the image acquisition device and the pressure sensor are both electrically connected with the processor;
the image acquisition device is used for acquiring an environment image in the cab;
the pressure sensor is used for acquiring current pressure values of one or more of a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder and a rotary motor;
the processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state.
Further, the processor is specifically configured to determine whether the current pressure value fluctuates within the standard value range when it is determined from the environment image that the driver is operating the handle; if yes, determining the current state as a working state; and if not, determining the current state as a rest state.
Further, the processor is specifically configured to obtain a disengagement time for disengaging the arm of the driver from the handle according to the environment image, and determine that the driver is operating the handle when the disengagement time is less than a preset time threshold.
Further, the processor is specifically configured to determine that the current state is the rest state if it is determined that the handle is not currently operated by the driver when the disengagement time is greater than or equal to the time threshold.
Further, the excavator monitoring system includes: the system comprises a data acquisition unit and 4 pressure sensors, wherein the 4 pressure sensors are electrically connected with the data acquisition unit, and the data acquisition unit is electrically connected with a processor;
the 4 pressure sensors are used for respectively acquiring the current pressure values of the movable arm oil cylinder, the bucket oil cylinder and the rotary motor;
the data collector is used for collecting the current pressure values of the 4 pressure sensors and transmitting the collected current pressure values to the processor.
Further, the processor is in communication connection with a user terminal, and the processor transmits the current state to the user terminal.
Further, the processor is configured to generate a pressure value fluctuation curve according to the current pressure value, and transmit the pressure value fluctuation curve to the user terminal.
Further, the processor is configured to transmit the environment image to the user terminal.
In a second aspect, an embodiment of the present application provides an excavator, where the excavator includes an excavator monitoring system, where the excavator monitoring system includes: the image acquisition device and the pressure sensor are both electrically connected with the processor;
the image acquisition device is used for acquiring an environment image in the cab;
the pressure sensor is used for acquiring current pressure values of one or more of a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder and a rotary motor;
the processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state.
Further, the processor is specifically configured to determine whether the current pressure value fluctuates within the standard value range when it is determined from the environment image that the driver is operating the handle; if yes, determining the current state as a working state; and if not, determining the current state as a rest state.
Compared with the prior art, the excavator monitoring system and the excavator provided by the embodiment of the application have the beneficial effects that: the excavator monitoring system includes: the device comprises a processor, an image acquisition device and at least one pressure sensor. The image acquisition device and the pressure sensor are electrically connected with the processor. The image acquisition device is used for acquiring an environmental image in the cab. The pressure sensor is used for acquiring the current pressure value of one or more of the movable arm oil cylinder, the bucket oil cylinder and the rotary motor. The processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state. The error of only recognizing the current state of the driver through the image is eliminated, the accuracy of recognizing the current state of the driver is higher, and the method is more favorable for monitoring the excavator operating personnel and mastering the actual working time of the excavator, so that the driver is examined, and the efficiency of engineering construction is improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of an excavator monitoring system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an image capturing device according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a pressure sensor provided in an embodiment of the present application;
fig. 4 is a communication diagram of a processor according to an embodiment of the present application.
In the figure: 10-a processor; 20-a pressure sensor; 30-an image acquisition device; 40-a data collector; 50-a user terminal; 201-boom pressure sensor; 202-stick pressure sensor; 203-bucket pressure sensor; 204-motor pressure sensor; 301-camera.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
The embodiment of the present application provides an excavator monitoring system, as shown in fig. 1, the excavator monitoring system includes a processor 10, an image capture device 30, and at least one pressure sensor 20.
The image capture device 30 and the pressure sensor 20 are both electrically connected to the processor 10.
Referring to fig. 2, the image capturing device 30 may be a camera 301 installed above the inside of the cab of the excavator. Of course, the image capturing device 30 may also be a camera, and is not limited herein.
The image capturing device 30 is used to capture an environmental image in the cab. Specifically, the environment image includes at least an image of the excavator operating handle and its surroundings. The image capturing device 30 is also used to transmit the captured environment image to the processor 10.
The pressure sensor 20 is configured to acquire a current pressure value of one or more of the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor, and transmit the acquired current pressure value to the processor 10.
The processor 10 may be an integrated circuit chip having signal processing capabilities. The processor 10 comprises a hardware integrated logic circuit or a module capable of executing software instructions. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The processor 10 is used for receiving the transmission belt environment image of the image acquisition device 30 and the current pressure value transmitted by the pressure sensor 20; and determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state.
Possibly, the driver only holds the handle without actual operation, and whether the driver is in the working state or not cannot be recognized through the image. When the driver is in the working state, the current pressure value of one or more of the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor may fluctuate continuously. The current state of the driver can be identified as a working state or a rest state by acquiring the current pressure values of one or more of the boom cylinder, the arm cylinder, the bucket cylinder and the rotary motor and analyzing the fluctuation of the current pressure values. The accuracy of the current state identification of the driver is higher, and the excavator monitoring device is more beneficial to monitoring excavator operators and mastering the actual working time of the excavator, so that the driver is examined, and the efficiency of engineering construction is improved.
To sum up, in the excavator monitoring system provided in the embodiment of the present application, the excavator monitoring system includes: the device comprises a processor, an image acquisition device and at least one pressure sensor. The image acquisition device and the pressure sensor are electrically connected with the processor. The image acquisition device is used for acquiring an environmental image in the cab. The pressure sensor is used for acquiring the current pressure value of one or more of the movable arm oil cylinder, the bucket oil cylinder and the rotary motor. The processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state. The error of only recognizing the current state of the driver through the image is eliminated, the accuracy of recognizing the current state of the driver is higher, and the method is more favorable for monitoring the excavator operating personnel and mastering the actual working time of the excavator, so that the driver is examined, and the efficiency of engineering construction is improved.
The embodiment of the present application also provides a possible implementation manner of how to determine the current state of the driver according to the environment image, the current pressure value, and the preset standard value range, please see the following.
The processor 10 is specifically configured to determine whether the current pressure value fluctuates within a standard value range when it is determined that the driver is operating the handle according to the environment image; if yes, determining the current state as the working state; if not, the current state is determined as the rest state.
Specifically, the current pressure value may be a current pressure value of one or more of a boom cylinder, an arm cylinder, a bucket cylinder, and a swing motor. The standard value ranges corresponding to the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor may be different. When a driver actually operates the handle, a current pressure value of at least one of the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor fluctuates. If the current pressure value of any one of the boom cylinder, the arm cylinder, the bucket cylinder and the rotation motor does not fluctuate within the corresponding standard value range, it indicates that the driver may only put the hand on the handle and does not actually operate, and at this time, the driver is in a rest state. When the current pressure value of any one of the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor fluctuates within the corresponding standard value range, the current device of the driver is in a working state.
The embodiment of the present application also provides a possible implementation manner of how to determine that the driver is operating the handle according to the environment image, please refer to the following.
The processor 10 is specifically configured to obtain a disengagement time for disengaging the arm of the driver from the handle according to the environment image, and determine that the driver is operating the handle when the disengagement time is less than a preset time threshold. And when the disengagement time is greater than or equal to the time threshold, determining that the handle is not operated currently by the driver, and determining the current state as the rest state.
In particular, the excavator relies heavily on the handle in its operation. When the arm of the driver is separated from the handle for a long time, the driver obviously does not operate the excavator and is not in a working state. And identifying whether the arm of the driver is separated from the handle in the image through the continuously received environment image. When the arms of the driver are all separated from the handle in the environment images received continuously, the separation time of the arms of the driver from the handle can be obtained. And judging whether the separation time is less than a preset time threshold value. And if the disengagement time is less than the preset time threshold, the operation of the driver is normal operation, and at the moment, the driver is determined to be operating the handle. And when the disengagement time is greater than or equal to the time threshold, determining that the handle is not operated by the driver currently, and determining the current state as the rest state.
On the basis of fig. 1, regarding how to collect the current pressure value, the embodiment of the present application further provides a possible structure, please refer to fig. 3, the excavator monitoring system includes: a data collector 40 and 4 pressure sensors 20. The 4 pressure sensors 20 are a boom pressure sensor 201, an arm pressure sensor 202, a bucket pressure sensor 203, and a motor pressure sensor 204, respectively.
The boom pressure sensor 201, the arm pressure sensor 202, the bucket pressure sensor 203, and the motor pressure sensor 204 are electrically connected to the data collector 40. The data collector 40 is electrically connected to the processor 10.
The boom pressure sensor 201, the arm pressure sensor 202, the bucket pressure sensor 203 and the motor pressure sensor 204 are respectively installed at oil inlets of the boom cylinder, the arm cylinder, the bucket cylinder and the swing motor for measuring respective corresponding current pressure values.
Specifically, a boom pressure sensor 201, an arm pressure sensor 202, a bucket pressure sensor 203, and a motor pressure sensor 204 are used to measure current pressure values of a boom cylinder, an arm cylinder, a bucket cylinder, and a swing motor, respectively.
The data collector 40 is used for collecting the current pressure values of the 4 pressure sensors 20 and transmitting the collected current pressure values to the processor 10.
Referring to fig. 4, a possible communication structure is further provided in the embodiments of the present application. The processor 10 is communicatively coupled to the user terminal 50 via a wired or wireless network.
The processor 10 may transmit the current state of the driver to the user terminal 50 in real time. The user terminal 50 may be a terminal corresponding to a driver company or a boss. The holder of the user terminal 50 can supervise the driver in real time through the received current state, and when the rest time of the driver is too long, the user terminal 50 can send reminding information to the processor 10, so that the driver works, and the working efficiency of the excavator is improved.
In order to facilitate the observation of the holder of the user terminal 50, the embodiment of the present application also provides a possibility, please see below.
The processor 10 is configured to generate a pressure value fluctuation curve according to the current pressure value, and transmit the pressure value fluctuation curve to the user terminal 50.
The pressure value fluctuation curve is corresponding to the pressure value fluctuation in a period of time, and the real state of a driver can be more conveniently known by observing the pressure value fluctuation curve.
Possibly, the processor 10 is arranged to transmit an environment image to the user terminal 50 for viewing by a holder of the user terminal 50.
Possibly, the processor 10 is electrically connected to a data transfer terminal, which is communicatively connected to the user terminal 50.
The embodiment of the application also provides an excavator. The excavator comprises the excavator monitoring system.
The excavator monitoring system includes: the image acquisition device 30, and the at least one pressure sensor 20, the image acquisition device 30 and the pressure sensor 20 are all electrically connected with the processor 10.
The image capturing device 30 is used to capture an environmental image in the cab.
The pressure sensor 20 is configured to acquire a current pressure value of one or more of the boom cylinder, the arm cylinder, the bucket cylinder, and the swing motor.
The processor 10 is configured to determine a current state of the driver according to the environment image, the current pressure value, and a preset standard value range, where the current state is a working state or a rest state.
Possibly, the processor 10 is specifically configured to determine whether the current pressure value fluctuates within the standard value range when it is determined from the environment image that the driver is operating the handle; if yes, determining the current state as the working state; if not, the current state is determined as the rest state.
It should be noted that the excavator provided in this embodiment may perform the function and purpose of the excavator monitoring system, so as to achieve the corresponding technical effect. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. An excavator monitoring system, comprising: the image acquisition device and the pressure sensor are both electrically connected with the processor;
the image acquisition device is used for acquiring an environment image in the cab;
the pressure sensor is used for acquiring current pressure values of one or more of a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder and a rotary motor;
the processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state.
2. The excavator monitoring system of claim 1 wherein the processor is specifically configured to determine whether the current pressure value fluctuates within the standard value range when it is determined from the environment image that the driver is operating the handle; if yes, determining the current state as a working state; and if not, determining the current state as a rest state.
3. The excavator monitoring system of claim 2 wherein the processor is specifically configured to obtain a disengagement time for the operator's arm to disengage from the handle based on the environment image, and determine that the operator is operating the handle when the disengagement time is less than a preset time threshold.
4. The excavator monitoring system of claim 3 wherein the processor is specifically configured to determine the current state as the rest state if the driver determines that the handle is not currently operated when the disengagement time is greater than or equal to the time threshold.
5. The excavator monitoring system of claim 1 wherein the excavator monitoring system comprises: the system comprises a data acquisition unit and 4 pressure sensors, wherein the 4 pressure sensors are electrically connected with the data acquisition unit, and the data acquisition unit is electrically connected with a processor;
the 4 pressure sensors are used for respectively acquiring the current pressure values of the movable arm oil cylinder, the bucket oil cylinder and the rotary motor;
the data collector is used for collecting the current pressure values of the 4 pressure sensors and transmitting the collected current pressure values to the processor.
6. The excavator monitoring system of claim 1 wherein the processor is communicatively coupled to a user terminal, the processor transmitting the current status to the user terminal.
7. The excavator monitoring system of claim 6 wherein the processor is configured to generate a pressure value fluctuation curve based on the current pressure value and transmit the pressure value fluctuation curve to the user terminal.
8. The excavator monitoring system of claim 6 wherein the processor is configured to transmit the environmental image to the user terminal.
9. An excavator, the excavator comprising an excavator monitoring system, the excavator monitoring system comprising: the image acquisition device and the pressure sensor are both electrically connected with the processor;
the image acquisition device is used for acquiring an environment image in the cab;
the pressure sensor is used for acquiring current pressure values of one or more of a movable arm oil cylinder, a bucket rod oil cylinder, a bucket oil cylinder and a rotary motor;
the processor is used for determining the current state of the driver according to the environment image, the current pressure value and a preset standard value range, wherein the current state is a working state or a rest state.
10. The excavator according to claim 9, wherein the processor is specifically configured to determine whether the current pressure value fluctuates within the standard value range when it is determined from the environment image that the driver is operating the handle; if yes, determining the current state as a working state; and if not, determining the current state as a rest state.
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| CN202010370814.XA CN111501890A (en) | 2020-05-06 | 2020-05-06 | Excavator monitoring system and excavator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010370814.XA CN111501890A (en) | 2020-05-06 | 2020-05-06 | Excavator monitoring system and excavator |
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| CN102677730A (en) * | 2011-12-30 | 2012-09-19 | 柳工常州挖掘机有限公司 | Automatic idle speed control system of excavator |
| US20180171579A1 (en) * | 2016-12-20 | 2018-06-21 | Caterpillar Trimble Control Technologies Llc | Excavator Control Achitecture For Generating Sensor Location And Offset Angle |
| CN110998035A (en) * | 2017-08-08 | 2020-04-10 | 住友重机械工业株式会社 | Shovel, shovel support device, and shovel management device |
| CN110869566A (en) * | 2017-08-23 | 2020-03-06 | 住友建机株式会社 | Excavator |
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Application publication date: 20200807 |