TRACKED VEHICLE

Description

[0001] The invention relates to a tracked vehicle, in particular an agricultural tracked vehicle, having the features of the preamble of claim 1 and a method for detecting the operating state and / or determining the service life of at least one ground engagement means of a tracked vehicle according to the preamble of claim 13.

[0002] For the purposes of the invention, a tracked vehicle is understood to mean any form of vehicle with a tracked chassis and, if appropriate, an additional wheeled chassis. A tracked vehicle, in particular, has its own drive for generating propulsion, but can also be a non-powered vehicle, for example, a trailer. Although there are a multitude of different applications encompassed by the present invention, the focus below will be on tracked vehicles for performing agricultural work, referred to herein as agricultural tracked vehicles. Tractors and self-propelled harvesting machines such as combine harvesters or forage harvesters are mentioned only as examples.

[0003] Vehicles of this type can be designed as tracked vehicles or semi-tracked vehicles. These have a crawler undercarriage with at least one track, in particular with at least two tracked vehicles located opposite one another with respect to the vehicle's longitudinal axis (direction of travel). The tracked vehicles, in turn, each have several rollers that are connected to one another via a rotating ground engagement means in the form of a track belt (treadmill) or a track chain (caterpillar track). For example, tracked vehicles are known that have a drive roller driven by the travel drive, a guide roller, and intermediate track rollers. In another variant, the so-called triangular undercarriage, the track has two guide rollers and a drive wheel arranged centrally above them. The focus here will be on a variant of a vehicle with a tracked track.

[0004] Crawler tracks are often used on agricultural vehicles that have high axle loads. During road travel, the outer lugs of the track belts, or in the case of track chains, the track pads, are exposed to high temperatures because, when located below the track rollers, they are repeatedly compressed and released and cannot sink into the ground due to the hard road surface. The energy generated causes the outer lugs to heat up. At high ambient temperatures and over long driving times, the temperature in the outer lugs can rise to such an extent that they "boil." The resulting bead then leads to a sharp increase in wear on the respective track belt. Furthermore, the outer lugs wear comparatively quickly due to the abrasive road surface. High temperatures soften the rubber material and therefore promote wear.This adverse effect often occurs during transport operations and when the track belts are subject to high specific loads, which significantly increases wear costs for the end customer.

[0005] The agricultural vehicle (US 6,044,313 A) from which the invention is based is designed as a large off-road dump truck for transporting waste material. This vehicle has a wheeled chassis with multiple chassis wheels that have large-volume tires as ground-engaging components. In this agricultural vehicle, an estimate of the wear of the ground-engaging components is based on determined ton-miles per hour, which are related to the tire temperature. By storing such data over a certain time interval, wear development can also be recorded, which also allows an estimate of the remaining service life. DE 11 2008 003 244 T5 also discloses adjusting a speed limit to reduce tire wear using a payload control system based on vehicle-mounted force and speed sensors.The disadvantage of all these systems, however, is that sensors must be present or installed on the vehicle, making the system vehicle-bound.

[0006] It is also known from the prior art to provide temperature sensors in the ground-engaging elements. These sensors wirelessly transmit a temperature signal that can be used as driver information or to control the machine to avoid critical operating conditions. However, such sensors in the ground-engaging element, for example, in the track, entail additional manufacturing costs, especially since the manufacturing technology for embedding them in the rubber material is not straightforward. Furthermore, the sensors are used in critical environmental conditions (extreme temperatures, vibrations), which increase the risk of failure. Furthermore, the environmental conditions are not ideal for wireless transmission of a sensor signal.

[0007] From WO 2015 / 110841 A1 it is also known to determine the tread depth of a vehicle tire using a mobile device based on the evaluation of a photo.

[0008] From WO 2017 / 049393 A1 and WO 2017 / 000068 A1, tracked vehicles according to the preamble of claim 1 are also known.

[0009] The invention is based on the problem of designing and developing the known tracked vehicle in such a way that an operating state detection and / or service life determination of the ground engagement means is optimized.

[0010] The above problem is solved in a tracked vehicle according to the preamble of claim 1 by the features of the characterizing part of claim 1.

[0011] The proposed solution is based on the fundamental idea that the operating status of one or more ground-engaging devices is recorded based on parameters that can be determined independently of the vehicle, i.e., without the need for on-board sensors. These include environmental state variables (environmental parameters) and / or operating parameters that can be determined without on-board sensors, such as vehicle speed or GPS or geoposition, to name just a few examples. By using such parameters to determine the operating status, the operating status of ground-engaging devices can be recorded independently of the vehicle. If operating statuses are recorded regularly, the remaining service life of the ground-engaging devices can also be determined.

[0012] Specifically, it is proposed that an evaluation device be provided that is configured to determine an operating state of at least one of the ground-engaging means based on at least one or more environmental state variables and vehicle-independent, evaluation device-specific sensor data. The operating state or wear state can be determined, for example, based on the surface traveled (road, field, or the like), the speed, the driving duration, the ambient temperature, etc., to name just a few examples. "Vehicle-independent" here means that the sensor data is not generated by the vehicle's own sensors, but by sensors belonging to the evaluation device, i.e., sensors of the evaluation device.

[0013] The proposed solution is applicable to all types of undercarriages, for example, crawler undercarriages, wheeled undercarriages, or combinations thereof, in particular semi-crawler undercarriages. Accordingly, the ground engagement means can be crawler tracks (treadmills), crawler chains, and / or tires. However, the focus below will be on a crawler undercarriage with crawler tracks. The respective undercarriage, in particular a crawler undercarriage, can also have a driven undercarriage wheel, but can also be driveless, for example, in the case of a trailer. Accordingly, the tracked vehicle can be equipped with or without a drive system to generate propulsion.

[0014] According to the invention, the evaluation device is a mobile evaluation device, i.e., an evaluation device that is not necessarily permanently connected to the vehicle. A mobile evaluation device is, in particular, a smartphone, a tablet computer, a notebook, or the like. A significant advantage here is that such an evaluation device can be carried by any operator, which is common practice nowadays, especially with smartphones, which means that the evaluation device can also be used for various tracked vehicles, especially agricultural tracked vehicles.

[0015] According to the invention, the state variable(s) of the environment are determined directly by the evaluation device, for example, by retrieving them from the Internet or remote databases (e.g., a yard computer). According to the invention, the state variables of the environment are the ambient temperature and / or weather data (rain, drought, etc.).

[0016] According to the embodiment according to claim 3, the vehicle-independent sensor data are generated by at least one sensor of the evaluation device. According to claim 4, such vehicle-independent sensor data includes, for example, the vehicle speed, the GPS or geoposition (road, field, etc.) of the vehicle, and / or acceleration data (G-forces when cornering, starting, and / or braking) of the vehicle. The evaluation device can accordingly comprise a speed sensor, a GPS sensor, and / or an acceleration sensor.

[0017] According to the further preferred embodiment according to claim 5, the evaluation device also allows the operator to input vehicle-specific data and / or environmental state variables. Additionally or alternatively, the evaluation device can also be configured to receive vehicle-specific data and / or environmental state variables. A corresponding prior data acquisition can be carried out, for example, via a driver assistance system of the vehicle or via the mobile evaluation device, preferably in the form of a smartphone or the like. For this purpose, it is also conceivable to equip the evaluation device with appropriate application software, in particular a mobile app, which evaluates weather data, GPS positions, geodata, etc.Vehicle-specific data that can be input via the evaluation device and / or received by it are, according to claim 6, for example, the vehicle type, the respective axle load, the age of the respective ground engagement device, the tread depth or lug height of the respective ground engagement device and / or the width of the inside guide blocks (guide teeth) of the respective ground engagement device, etc.

[0018] According to the further embodiment according to claim 7, vehicle-specific sensor data can also be used to determine the operating state of the respective ground engagement device. However, it is preferable to base the determination of the operating state, if possible, exclusively on parameters that can be determined independently of the vehicle's own sensors.

[0019] Claims 8 to 10 define preferred ways in which the determined operating conditions can be further utilized. Thus, driver information corresponding to the respectively determined operating condition can be displayed and / or the vehicle can be controlled, for example, the vehicle speed. Such control occurs, in particular, automatically, i.e., without the need for operator intervention, via a driver assistance system of the tracked vehicle. The driver information can also include the operating condition or degree of wear and / or the remaining service life and / or recommendations regarding driving speed and / or maintenance (claim 9). Particularly preferably, certain driver information, in particular the operating condition or degree of wear, can be displayed graphically, which can be done in particular in real time using so-called augmented reality (claim 10).The latter makes it possible, for example, to visually record the respective ground engagement device using the camera of a mobile evaluation device, for example a smartphone, while at the same time the degree of wear is visually displayed on the reproduced image using the principle of augmented reality, for example by coloring the displayed ground engagement device.

[0020] According to the preferred embodiment according to claim 11, the respectively determined operating state can be stored in a memory. In particular, the determined operating states can be collected in the memory, whereby the evaluation device can then deduce the remaining service life.

[0021] The proposed solution particularly preferably allows for the omission of corresponding sensors for determining the operating state, which are provided within the ground engagement means (claim 12).

[0022] According to a further teaching according to claim 13, which has independent significance, a method for detecting the operating state and / or determining the service life of at least one ground engagement means of a tracked vehicle as defined above by means of a mobile evaluation device is claimed, in which a ground engagement means in the form of a track belt is assigned to individual chassis wheels and / or units of several chassis wheels of a chassis of the tracked vehicle designed as a tracked chassis.According to the proposal, it is provided that the mobile evaluation device determines an operating state of at least one of the ground engagement means based on at least one or more state variables of the environment and vehicle-independent, evaluation device-specific sensor data, wherein the mobile evaluation device determines the at least one state variable of the environment, wherein the operating state is a degree of closure of the ground engagement means, wherein the ambient temperature and / or weather data is / are taken into account as the state variable(s) of the environment, wherein the distance traveled on an agricultural field is included in the determination of the operating state, wherein the mobile evaluation device determines the evaluation device-specific sensor data without vehicle-specific sensors.

[0023] In the following, the invention is explained in more detail with reference to a drawing which merely illustrates exemplary embodiments. In the drawing, Fig. 1 shows a proposed tracked vehicle in the form of an agricultural vehicle with a semi-tracked chassis and a mobile evaluation device, Fig. 2 shows a representation of driver information according to a first exemplary embodiment, Fig. 3 shows a representation of driver information according to a second exemplary embodiment, Fig. 4 shows a representation of driver information according to a third exemplary embodiment and Fig. 5 shows a representation of driver information according to a fourth exemplary embodiment.

[0024] The proposed tracked vehicle, which is embodied here as an agricultural tracked vehicle 1 by way of example, can be designed in a variety of ways. For example, the agricultural vehicle 1 can be a tractor, a self-propelled harvesting machine, such as a combine harvester or a forage harvester, or a powered or non-powered trailer. The advantages of the proposed solution are particularly evident in tracked vehicles or semi-tracked vehicles with a tracked chassis. In the illustrated and thus preferred embodiment, the agricultural vehicle 1 is a combine harvester with a semi-tracked chassis, as will be explained below.

[0025] The chassis 2 of the agricultural vehicle 1 described here as an example has here and preferably at least two chassis wheels 3 - 5 located opposite one another with respect to the vehicle's longitudinal axis or direction of travel L. In the view in Fig. 1Only the left-hand undercarriage wheels 3-5 are visible. Relative to the vehicle's longitudinal axis or direction of travel L, these undercarriage wheels 3-5 are opposite corresponding undercarriage wheels 3-5. The undercarriage wheels 3, 4 are part of a crawler track 2a, and the undercarriage wheels 5 are part of a wheeled undercarriage 2b. Accordingly, the undercarriage wheels 3, 4 run in associated crawler tracks 6, whereas the undercarriage wheels 5 roll on the ground via tires 7. The term "undercarriage wheel" is therefore to be understood broadly in this context. It encompasses both wheels that are assigned to a crawler track 2a and run in corresponding crawler tracks 6, as well as wheels that are assigned to a wheeled undercarriage 2b and are each provided with a tire 7. It should be noted that, although several crawler tracks 6 are mentioned here, it is generally also conceivable to provide only a single crawler track 6.

[0026] The crawler track 2a here has two opposing crawler tracks 6 relative to the vehicle's longitudinal axis or direction of travel L, each of which preferably has a front crawler wheel 3 as a guide wheel or guide roller, a rear crawler wheel 4 as a drive wheel or drive roller, and preferably two intermediate running wheels or rollers 8a, 8b. The crawler tracks 6 also each have a crawler belt 9 that connects the crawler wheels 3, 4 and running wheels or rollers 8a, 8b. The running wheels or rollers 8a, 8b keep the lower strand of the respective crawler belt 9 in continuous ground contact, resulting in a uniform weight distribution across the entire contact area between the ground and the respective crawler belt 9.In principle, other types of crawler vehicles are also conceivable, for example, those with a triangular shape with two guide rollers that provide continuous ground contact and a drive roller arranged centrally above them (triangular track).

[0027] The tires 7 and the crawler belts 9 each form a ground engagement means 10. As an alternative to a crawler belt 9 as the ground engagement means 10, which here means a treadmill made of several rubber-coated layers of fabric and steel, the proposed solution can also be applied to a crawler chain or track chain with several steel tread links, which can be provided with rubber cushions.

[0028] Furthermore, a traction drive 11 is preferably provided here for generating propulsion of the agricultural vehicle 1, although this is not mandatory in the proposed solution, for example, in the case of a non-driven trailer. In the exemplary embodiment shown here, the chassis wheels 4 can be driven by the traction drive 11. In principle, it is also conceivable that, additionally or alternatively, the chassis wheels 3 of the crawler track 2a or all chassis wheels 3-5 of the agricultural vehicle 1 can be driven by the traction drive 11.

[0029] It is essential that an evaluation device 12 is provided, which is configured to determine an operating state of at least one of the ground-engaging means 10, in accordance with the invention the crawler belt 9, based on environmental state variables and at least on vehicle-independent, evaluation device-specific sensor data. The "operating state" here and preferably refers to the degree of wear of the respective ground-engaging means 10. Since environmental state variables, as well as the evaluation device-specific sensor data, i.e., data generated by the evaluation device 12 itself, can be determined or generated without the vehicle's own sensors, an operating state of the respective ground-engaging means 10 can be determined independently of the vehicle 1 itself. According to the invention, the evaluation device 12 is a mobile evaluation device 12, here, for example, a smartphone 13.The operator 18 usually carries such an evaluation device with him anyway, so that the operating state of the respective ground intervention means 10 can be determined for each agricultural vehicle 1 that can be operated by the operator 18, in particular each agricultural vehicle 1 of a farm collective.

[0030] Alternatively to the Fig. 1 The smartphone 13 shown can be provided as an evaluation device 12, in particular a mobile evaluation device 12, for example, a tablet computer, notebook, or the like. Preferably, the evaluation device 12, in particular the mobile evaluation device 12, has a keyboard and / or a screen, with a touchscreen, in particular with virtual operating elements, being particularly preferred.

[0031] According to the invention, the environmental state variable(s) is / are determined by the evaluation device 12, here the smartphone 13. The determination of the environmental state variables occurs in particular by retrieving corresponding information from the internet, symbolized here by "www." According to the invention, such environmental state variables are the ambient temperature at the location of the tracked vehicle 1 and / or the weather data there. These state variables are particularly important when determining the operating state of the respective ground engagement means 10, since wear is influenced by both the temperature and the weather, or the humidity or dryness. At high temperatures, the temperature of the outer lugs of the tracked undercarriage 2a can rise to such an extent that they boil or vulcanize, especially during long driving times on hard road surfaces. This can cause a bead to form, which further increases wear.

[0032] In addition to determining environmental state variables, the evaluation device 12 is preferably also provided with sensors 14, 15, with which the aforementioned evaluation device-specific sensor data can be generated. Thus, the sensors here are a GPS sensor 14 and an acceleration sensor 15. These sensors can preferably be used to determine the vehicle speed, GPS position, geodata, and / or acceleration data of the tracked vehicle 1. It is also conceivable to provide an evaluation device 12 that has its own speed sensor, which determines the speed of the vehicle 1 directly and not, as here, via the change in the GPS position.The sensor data generated in this way are also relevant for determining the operating status of the respective ground-engaging device 10, since the vehicle speed, the road surface determined from the vehicle position, and the acceleration of the vehicle 1 when starting or braking or cornering also influence the wear of the respective ground-engaging device 10 and, in particular, the outer lugs of the respective track belt 9. Road surfaces are significantly more abrasive than the ground surface of agricultural paths or an agricultural field. Wear also increases due to high speeds and high acceleration values.

[0033] Furthermore, the evaluation device 12 is configured here for operator input and, here and preferably, also for receiving vehicle-specific data. Vehicle-specific data such as the vehicle type, the axle load, the age of the respective ground engagement device 10 or track belt 9, the tread depth or height of the outer lugs of the respective ground engagement device 10, and / or the width of the inner guide blocks or teeth of the respective ground engagement device 10 are also parameters that characterize the operating state of the respective ground engagement device 10. The corresponding data can be entered here and preferably by the operator via the evaluation device 12 or the smartphone 13, but can also be received by a driver assistance system 16 of the agricultural tracked vehicle 1 in this case.Such a driver assistance system 16 can, for example, determine the axle load via a corresponding sensor 17 and then forward the values ​​to the evaluation device 12, here the smartphone 13. The vehicle type can also be transmitted, for example, from a corresponding driver assistance system 16 to the evaluation device 12, in particular automatically.

[0034] In principle, in addition to the axle load sensor 17 mentioned here as an option, other vehicle-specific sensors (not shown here) can also be provided, the sensor data of which can be taken into account when determining the operating state of the respective ground engagement device 10. However, it is particularly preferred that the ground engagement devices 10 themselves do not have their own sensors for determining the respective operating state. Finally, data from external databases, for example, data from a yard computer or the like, can also be taken into account.

[0035] Based on the determined operating state of the respective ground engagement means 10, the evaluation device 12 can now and preferably display one or more driver information, which is shown in the various embodiments in the Figures 2 - 5 is shown. The evaluation device 12 can also be configured to display such driver information in the driver assistance system 16. Furthermore, it can be provided that the evaluation device 12 effects, in particular, automatic control of the tracked vehicle 1, in particular its speed, which can also be accomplished by means of the driver assistance system 16 of the tracked vehicle 1. For this purpose, the evaluation device 12, which is in particular mobile, can communicate, preferably wirelessly, with the driver assistance system 16 of the vehicle 1.

[0036] In Fig. 2is now an example of an augmented reality-based visualization of an operating state or degree of wear of the respective ground engagement means 10, here the crawler belt 9, on which in Fig. 1shown smartphone 13. The visualization of the degree of wear is preferably carried out here by coloring the actual image of the respective ground engagement means 10 or crawler belt 9 in real time. The visual representation is carried out here via the device's own camera of the evaluation device 12 or the smartphone 13. The operator 18 only has to point the device's own camera at the respective ground engagement means 10 or crawler belt 9 after a corresponding computer program or a corresponding mobile app for recording the operating state and / or determining the service life has been called up on the evaluation device 12, whereupon the software carries out the respective coloring of the ground engagement means 10 or crawler belt 9 in real time. The coloring is selected here and preferably depending on the degree of wear.For example, if there is no wear or at least non-critical wear, the color is green, whereas if there is a high degree of wear or critical wear, the color is red. At least one intermediate stage, for example, symbolized by a yellow color, is also conceivable if the wear is not yet critical, but short-term maintenance is recommended. In the example in . Fig. 2 For example, in the upper view a critical degree of wear of the right crawler belt 9 is displayed, whereas in the lower view a medium degree of wear of the left crawler belt 9 is displayed.

[0037] Alternative or additional driver information with further details can be found in the Figures 3 - 5 shown.

[0038] In Fig. 3For example, the degree of wear for the right-hand crawler belt 9 is graphically displayed, also in real time but not on the actual image, firstly for the tread depth of the outer lugs (view P) and secondly for the width of the radially inner guide blocks or guide teeth (view F). The wear of the outer lugs is in the medium range here, whereas the wear of the guide blocks or teeth is not critical. In addition, a view W is provided in which information about the ambient temperature and the weather for the current location is displayed. In yet another view i, further information, in particular text-based, can be displayed, for example recommendations for a preferred travel speed and / or upcoming maintenance. In principle, in addition to the degree of wear, information about the remaining service life can also be displayed.

[0039] In Fig. 4As further driver information, the GPS position of the agricultural tracked vehicle 1 within an agricultural field is shown, with the map being based in particular on a map freely available from the Internet. Furthermore, the distance traveled on the agricultural field is shown. According to the invention, the distance traveled on the agricultural field is used to determine the operating status. Fig. 5 The GPS position of agricultural vehicle 1 on a road is displayed as driver information. The distance traveled on the road is also shown. This also contributes to determining the operating status.

[0040] The operating states determined according to the proposed solution are all stored and, in particular, collected in a memory (not shown). The memory can be part of the evaluation device 12 or the driver assistance system 16 of the tracked vehicle 1, or an external memory, e.g., a farm computer. In particular, the memory is a memory of a farm collective that also contains corresponding operating state data from other agricultural vehicles. List of reference symbols

[0041] 1Crawler vehicle 2Chassis 2aCrawler chassis 2bWheel chassis 3-5Chassis wheels 6Crawler tracks 7Tires 8a, 8bWheels 9Crawler track 10Ground engagement device 11Traction drive 12Evaluation device 13Smartphone 14GPS sensor 15Acceleration sensor 16Driver assistance system 17Axle load sensor 18Operator LDirection of travel

Claims

1. A crawler vehicle, in particular an agricultural crawler vehicle, with a mobile evaluation device (12) and a chassis (2) constructed as a crawler chassis (2a) with at least two chassis wheels (3, 4, 5), wherein units of a plurality of chassis wheels (3, 4) are associated with ground engaging means (10) in the form of a crawler belt (9), characterized in that the mobile evaluation device (12) is configured to determine an operating state of the crawler belt (9) based at least on one or more state variables of the environment and vehicle-independent, evaluation device-specific sensor data, wherein the mobile evaluation device (12) is configured to determine the at least one state variable of the environment, wherein the operating state is a degree of wear of the ground engaging means (10), wherein the environmental temperature and / or weather data is / are taken into consideration as the state variable(s) of the environment, wherein the route travelled on an agricultural field is incorporated into the determination of the operating state, wherein the mobile evaluation device (12) is configured to determine the evaluation device-specific sensor data without vehicle-specific sensors.

2. The crawler vehicle according to claim 1, characterized in that the mobile evaluation device (12) is a smartphone (13), a tablet computer, a notebook or the like, and / or in that the mobile evaluation device (12) has a keypad and / or a screen and / or a touchscreen.

3. The crawler vehicle according to one of the preceding claims, characterized in that the mobile evaluation device (12) has at least one sensor (14, 15) for generating the vehicle-independent, evaluation device-specific sensor data.

4. The crawler vehicle according to one of the preceding claims, characterized in that the vehicle speed, the GPS positioning or geopositioning of the vehicle (1) and / or acceleration data of the vehicle (1) are determined as the vehicle-independent, evaluation device-specific sensor data, and / or the mobile evaluation device (12) has a speed sensor, a GPS sensor (14) and / or an acceleration sensor (15).

5. The crawler vehicle according to one of the preceding claims, characterized in that the mobile evaluation device (12) is configured for input by an operator and / or for receiving vehicle-specific data and / or the at least one state variable of the environment.

6. The crawler vehicle according to one of the preceding claims, characterized in that the type of vehicle, the axle load of the vehicle (1), the age of the respective ground engaging means (10), the profile depth of the respective ground engaging means (10) and / or the width of the interior guiding blocks of the respective ground engaging means (10) can be input by the operator and / or can be received as the vehicle-specific data.

7. The crawler vehicle according to one of the preceding claims, characterized in that furthermore, vehicle-specific sensor data are taken into consideration in order to determine the operating state.

8. The crawler vehicle according to one of the preceding claims, characterized in that the mobile evaluation device (12) is configured for displaying an item of driver information and / or for producing a display of an item of driver information in a driver assistance system (16) of the vehicle (1) and / or for causing a regulation of the vehicle (1) via a driver assistance system (16) of the vehicle (1) based on the determined operating state.

9. The crawler vehicle according to claim 8, characterized in that the item of driver information comprises the operating state and / or remaining service life and / or recommendations for the driving speed and / or for maintenance of the respective ground engaging means (10).

10. The crawler vehicle according to claim 8 or claim 9, characterized in that the item of driver information is displayed graphically and / or by means of augmented reality.

11. The crawler vehicle according to one of the preceding claims, characterized in that the respectively determined operating state is stored and / or compiled in a memory.

12. The crawler vehicle according to one of the preceding claims, characterized in that the ground engaging means (10) the operating state of which is / are determined is / are free from sensors.

13. A method for detecting the operating state and / or for determining the service life of at least one ground engaging means (10) of a crawler vehicle (1) according to one of the preceding claims by means of at least one mobile evaluation device (12), wherein individual chassis wheels (5) and / or units of a plurality of chassis wheels (3, 4) of a chassis (2) constructed as a crawler chassis (2a) of the vehicle (1) are respectively associated with a ground engaging means (10) in the form of a crawler belt (9), characterized in that the mobile evaluation device (12) determines an operating state of the crawler belt (9) based at least on one or more state variables of the environment and vehicle-independent, evaluation device-specific sensor data, wherein the mobile evaluation device (12) determines the at least one state variable of the environment, wherein the operating state is a degree of wear of the ground engaging means (10), wherein the environmental temperature and / or weather data is / are taken into consideration as the state variable(s) of the environment, wherein the route travelled on an agricultural field is incorporated into the determination of the operating state, wherein the mobile evaluation device (12) determines the evaluation device-specific sensor data without vehicle-specific sensors.