Tracked vehicle including a user interface

Abstract

A tracked vehicle comprises: a frame (2); a plurality of tracks (6); at least one attachment device (7); and a user interface (11), comprising control means coupled to the plurality of tracks (6) for driving the tracked vehicle (1) forward and a joystick (13) coupled to the at least one attachment device (7) for driving its movement, the joystick (13) comprising a lever (21) configured to be movable relative to a rest position (PR) in any direction; wherein the joystick (13) comprises a detector assembly (23) for detecting the movement of the lever (21) relative to the rest position (PR) and for emitting an output signal (Su) in accordance with the detected movement, and the tracked vehicle (1) comprises a control unit (24) coupled to the detector assembly (23) of the joystick (13) for receiving the output signal (Su) and configured to output a control signal (Sc) in accordance with a first function (f) and the output signal (Su).

Description

[0001] Cross - reference to related applications

[0002] This patent application claims priority to Italian Patent Application No. 102019000021939, filed on November 22, 2019, the entire disclosure of which is incorporated herein by reference. Technical field

[0003] The present invention relates to a tracked vehicle comprising a user interface. Background art

[0004] Tracked vehicles, preferably snow groomers, typically include a shovel, a snow plow, and a winch; and a user interface including a joystick coupled to at least one of the above - mentioned accessories to drive the at least one accessory to move. Generally, the joystick includes a base, a lever coupled to the base, a detector assembly for detecting the movement of the lever relative to a rest position, and a control unit for issuing an output signal based on the movement detected by the detector assembly.

[0005] Currently used interfaces include joysticks having dead - zone values that are preset mechanically or electronically and cannot be modified.

[0006] A disadvantage of the prior art is that such a joystick may determine an output signal for non - voluntary movement of the lever of the joystick, such that movement of one or more accessories may occur that does not conform to the operator's wishes. Summary of the invention

[0007] An object of the present invention is to provide a tracked vehicle, preferably a snow groomer, which can overcome or at least mitigate the disadvantages of the prior art.

[0008] Accordingly, according to the present invention, a tracked vehicle is provided, comprising:

[0009] A frame extending along a longitudinal axis;

[0010] A plurality of tracks;

[0011] At least one accessory device selected from the group consisting of a push shovel, a snow plow assembly, and a winch assembly; and

[0012] A user interface including control means coupled to the plurality of tracks to drive the tracked vehicle forward; and a joystick coupled to at least one accessory device to drive the at least one accessory device to move,

[0013] wherein the joystick includes a lever configured to be movable relative to a rest position in any direction, and wherein the joystick includes a detector assembly for detecting the movement of the lever relative to the rest position and issuing an output signal based on the detected movement,

[0014] A tracked vehicle includes a control unit that is coupled to at least one attachment device to control at least one movement of the attachment device by means of control signals sent to the at least one attachment device. The control unit is coupled to a detector assembly of a joystick to receive an output signal and is configured to define a control signal based on a first function and the output signal, and wherein preferably the first function is a non-linear function, and preferably the parameters of the first function can be adjusted based on additional signals.

[0015] By means of the present invention, the first function can be dynamically adjusted by the control unit based on additional signals preferably related to other input signals, so that the sensitivity of the joystick can be dynamically adjusted and made insensitive or less sensitive to involuntary movements of the operator.

[0016] According to one embodiment, the first function is defined such that when the distance between the position of the lever and the rest position is within a specified displacement range, the control unit issues a control signal equal to zero or does not issue a control signal, wherein the specified displacement range is dynamically adjustable, preferably obtaining the control signal in the following manner by the first function: Sc = a*Su + k, where a and k are variable parameters and can be adjusted by the control unit, k is greater than zero and Su is the output signal.

[0017] By means of the present invention, the specified range is adjusted manually or automatically, and this produces the effect of having an adjustable sensitivity, which is also automatically adjustable, so as to have a high sensitivity for the operator's active commands, while being insensitive or less sensitive to involuntary movements of the operator (which in turn lead to involuntary movements of the attachment device).

[0018] Another object of the present invention is to provide a method for controlling an attachment of a tracked vehicle, in particular a snowplow, which method reduces the disadvantages of the prior art.

[0019] According to the present invention, there is provided a method for controlling an attachment of a tracked vehicle, the tracked vehicle including: two tracks; at least one attachment device selected from the group consisting of a bulldozer blade, a snowplow assembly, and a winch assembly; and a user interface that includes control means coupled to the plurality of tracks to drive the tracked vehicle forward and a joystick coupled to the at least one attachment device to drive the at least one attachment device to move, wherein the joystick includes a lever configured to be movable relative to a rest position in any direction. The method includes the steps of detecting the movement of the lever relative to the rest position and issuing an output signal based on the detected movement, and the method includes the step of controlling at least one movement of the at least one attachment device based on a first function and the output signal, wherein preferably the first function is a non-linear function, and preferably the parameters of the first function can be adjusted based on additional signals. Description of the Drawings

[0020] Other features and advantages of the present invention will become apparent from the following description of non-limiting example embodiments with reference to the accompanying drawings, in which:

[0021] - Figure 1 A side view of a tracked vehicle according to an embodiment of the present invention is shown;

[0022] - Figure 2 Shows Figure 1 A perspective view of the joystick of the tracked vehicle;

[0023] - Figure 3 Shows Figure 2 A top view of the joystick;

[0024] - Figure 4 Shows Figure 2 A side view of the joystick;

[0025] - Figure 5 Shows Figure 2 A front view of the joystick;

[0026] - Figure 6 Is a block diagram of details of the tracked vehicle 1;

[0027] - Figure 7 Shows a plurality of functions according to the following invention; and

[0028] - Figure 8 Shows additional multiple functions according to the following invention. Detailed Embodiments

[0029] Referring to Figure 1 , a tracked vehicle, particularly a snowplow, according to an embodiment of the present invention is generally designated by the reference numeral 1.

[0030] The tracked vehicle 1 includes a frame 2 extending along a longitudinal axis, a cab 3, and a drive unit 5 (such as an internal combustion engine or an electric motor). The cab 3 and the drive unit 5 are accommodated on the frame 2. The snowplow 1 is also provided with a pair of tracks 6 and a plurality of attachment devices 7. The attachment devices 7 include a pusher blade 8 supported by the frame 2 at the front; and a snow plow assembly 9 supported by the frame 2 at the rear. The snow plow assembly 9 includes a snow plow and a trimmer. In addition, the snow plow assembly 9 may include an auxiliary snow plow (not shown in the figures) and a snow track setter assembly (not shown in the figures) for setting cross-country ski trails.

[0031] In addition, the attachment device 7 includes a winch assembly 10.

[0032] The power transmission device 12 is operatively coupled to the drive unit 5 that provides the power required for the operation of the snowplow 1 and the accessory device 7. The power transmission device 12 can be of a hydraulic type, an electric type, or a combination of a hydraulic type and an electric type.

[0033] The accessory device 7 can also be referred to as an accessory.

[0034] In addition, the tracked vehicle 1 does not necessarily include all of the above-mentioned accessory devices 7. For example, the tracked vehicle 1 can include one or any two of the accessory devices 7 selected from the push shovel 8, the snow plow assembly 9, and the winch assembly 10.

[0035] A user interface 11 is installed in the cab 3, which enables the operator to control the direction of the tracked vehicle 1 and the operation of the accessory device 7.

[0036] In particular, the user interface 11 includes a control device and a joystick 13( Figures 2 to 5 ).

[0037] The control device is configured to drive the tracks 6. More precisely, the control device is coupled to the plurality of tracks 6 to drive the tracked vehicle 1 forward.

[0038] The joystick 13 is coupled to the accessory device 7 to drive the accessory device 7 to move.

[0039] The tracked vehicle 1 is provided with a control system 15.

[0040] The control system 15 detects the operating parameters of the tracked vehicle 1 (such as, but not limited to, the power provided by the drive unit 5, the power absorbed by each accessory device 7, the positions of the push shovel 8 and the snow plow assembly 9, the position of the winch assembly 10, the forward speed of the snowplow 1), and drives the drive unit 5 and / or the tracks 6 and / or the accessory device 7 based on the instructions it receives from the user interface 11.

[0041] The push shovel 8 can be raised or lowered. In addition, the push shovel 8 can preferably be rotated by means of lateral tilting or rolling, actually creating a height difference between the right end and the left end of the push shovel 8 with respect to the height of the tracks 6.

[0042] In addition, the push shovel 8 can be tilted downward to create a pitch, thereby defining the entry angle of the push shovel 8, also known as the cutting angle.

[0043] In addition, the push shovel 8 can be positioned perpendicular or inclined with respect to the forward direction of the snowplow 1, that is, tilted or moved to define a deflection.

[0044] The joystick 13 of the user interface 11 is configured to control the push shovel 8. The joystick 13 is housed in the cab 3 and allows the described pitch, roll, and deflection movements of the push shovel 8 to be driven.

[0045] The snow plow assembly 9 is connected to the frame 2 of the tracked vehicle 1 so that it can rotate (in practice, the pusher 8 is set perpendicular or inclined to the advancing direction of the snowplow 1 itself), raise or lower, and move laterally. In addition, the relative angular position of the snow plow assembly 9 can be determined to define the cutting angle of the snow plow assembly 9 relative to the snow cover layer.

[0046] The joystick 13 of the user interface 11 is configured to control the snow plow assembly 9 and allow driving of the described movements of the snow plow assembly 9.

[0047] The winch assembly 10 includes a drum 17 around which a cable 18 is wound and an arm 19. The drum 17 rotates about an axis A and is driven by a motor, and defines the traction force of the cable 18. The arm 19 rotates about an axis B and is driven by an actuator to define the position of the arm 19, thereby guiding the cable 18.

[0048] The joystick 13 of the user interface 11 is configured to control the winch assembly 10, in particular to control the traction force of the cable 18 and the angular position of the arm 19.

[0049] Refer to Figures 2 to 5 , the joystick 13 includes a base 20 and a lever 21 coupled to the base 20 such that the lever can move in any direction relative to the rest position PR, in particular tilt and / or rotate.

[0050] The joystick 13 includes a detector assembly 23 ( Figure 6 ), which is configured to detect the movement of the lever 21 relative to the rest position PR and to issue an output signal Su based on the detected movement.

[0051] The tracked vehicle 1 includes a control unit 24 configured to issue a control signal Sc.

[0052] More precisely, the control unit 24 is coupled to the detector assembly 23 to receive the output signal Su.

[0053] In addition, the control unit 24 is coupled to the control system 15 to send the control signal Sc to the control system 15 and receive an input signal Si from the control system 15.

[0054] The control unit 24 is coupled to the attachment device 7 by means of the control system 15 to control the movement of the attachment device 7 by means of the control signal Sc sent to the attachment device 7.

[0055] In a preferred embodiment provided by way of example without thereby losing generality, the control unit 24 is integrated in the control system 15.

[0056] In a preferred embodiment provided by way of example without thereby losing generality, the control unit 24 is housed in the joystick 13.

[0057] More precisely, the control unit 24 is configured to issue a control signal Sc based on the received output signal Su and based on a function f, where the function f is a non-linear function with dynamically adjustable parameters.

[0058] More precisely and with reference to Figure 7 , various forms of functions are provided that can replace each other. The function f can in particular be a proportional function, an exponential function, an asymptotic function or a regression function.

[0059] In a particular embodiment, the function f is defined such that when the distance between the position of the lever 13 and the rest position PR is within a specified displacement range, the control unit 24 issues a control signal Sc equal to zero or does not issue a control signal Sc; where the specified displacement range is dynamically adjustable. In particular, the specified displacement range is a range of tilt angles and / or rotation angles.

[0060] In other words, in this embodiment, the function f is of the type equal to a*x + k, where x is a variable, and a and k are parameters, and where k is greater than zero. In other words, the control signal Sc is obtained by the function f in the following way: Sc = a*Su + k, where a and k are variable parameters and can be adjusted by the control unit 24, k is greater than zero and Su is the output signal. Thus, the control unit 24 controls the joystick 13 by means of an adjustable dead zone. In fact, by changing k in the said function, the dead zone increases or decreases. This requires that the associated attachment device 7 does not move within the specified movement range of the lever 21. This movement range can be manually adjusted by the operator by means of a selector, or automatically adjusted by the control unit 24 based on various parameters of the tracked vehicle 1. More precisely and with reference to Figure 5 and Figure 6 , the lever 21 can be tilted in any direction relative to the rest position PR. The control unit 24 is configured to control at least one attachment device 7 by means of the control signal Sc through the control system 15 such that the attachment device 7 does not move when the angular distance between the position of the lever 21 and the rest position PR is within the tilt angle range.

[0061] Such a tilt angle range can be manually adjusted by the operator by means of a selector, or automatically adjusted by the control unit 24 based on various parameters of the tracked vehicle 1.

[0062] More precisely and with reference to Figure 3, the lever 21 can rotate in any direction relative to the rest position PR. The control unit 24 is configured to control at least one attachment device 7 by means of the control system 15 with the aid of a control signal Sc such that the attachment device 7 does not move when the angular distance between the position of the lever 21 and the rest position PR is less than a specified range of the rotation angle. The specified range of the rotation angle can be manually adjusted by the operator by means of a selector, or automatically adjusted by the control unit 24 based on various parameters of the tracked vehicle 1.

[0063] In an embodiment shown by way of example without thereby losing generality of the present invention, the user interface 11 includes a selector 18, which can be accommodated on the lever 21 of the joystick 13, or externally accommodated in the instrument panel of the tracked vehicle 1, or implemented via software and can be selected, for example, by means of the control panel or touch monitor of the tracked vehicle through the user interface. The selector 18 is coupled to the control unit 24 and is configured to define at least one parameter a and / or k of the function f.

[0064] In an embodiment where the function f is of the type Sc = a*Su + k, the selector 18 is configured to define k and thus define one or more specified ranges in the rotation angle range and / or tilt angle range. In this way, the one or more ranges can be manually adjusted by the operator. With this manual adjustment, each operator can select a preferred one or more ranges based on the personal usage style and personal preferences of the attachment 7. In addition, with manual adjustment, wear of the joystick 13 over time can be avoided.

[0065] Referring to Figure 6 , the control unit 24 receives the position of the lever 21 from the detector assembly 23 and issues a control signal Sc based on the detected position and the function f. The control unit 24 is coupled to the control system 15, which in turn is coupled to the attachment device 7 and drives them based on the control signal Sc of the control unit 24. In particular, the control signal Sc can be a signal having a linear characteristic or a progressive characteristic or a regression characteristic with respect to the detected position of the lever 21.

[0066] Referring to Figures 2 to 5 , the joystick 13 includes a plurality of operation buttons 26, a plurality of micro levers 29, a plurality of selector buttons 30, and a potentiometer 27. In an alternative embodiment not shown in the drawings, the joystick includes a plurality of potentiometers.

[0067] In one embodiment, one of the potentiometers adjusts the pulling force of the winch 10 and / or the pressure exerted by the snow plow assembly 9 on the snow layer and / or the rotation speed of the snow plow assembly 9.

[0068] In one embodiment of the present invention, the selector button 30 is used to select the type of the attachment 7 to be operated and controlled. In another embodiment of the present invention, one or more of the button 26, the micro lever 29, the selector button 30, and the potentiometer 27 are operated to select and / or control the type of the attachment 7.

[0069] The joystick 13 sends signals or data to the control unit 24 based on the operated operation buttons 26, the micro lever 29, the selector button 30, and the potentiometer 27 and their possible values.

[0070] In one embodiment of the present invention, the control unit 24 defines one or more parameters of the function f, particularly the amplitudes of the parameters a and k, based on the buttons pressed by the operator, particularly based on the time elapsed since the operator last operated one of the buttons 26, the micro lever 29, the selector button 30, and the potentiometer 27.

[0071] In one embodiment, the control unit 24 is configured to change the type of the function f and / or its parameters based on the time elapsed since the last instruction received through one of the button 26, the micro lever 29, the button 30, or the potentiometer 27, and thus preferably reduce the amplitudes of one or more specified ranges of the rotation angle or the tilt angle, and then increase the amplitudes of one or more specified ranges over time since the last operation of one or more of the button 26, the micro lever 29, the selector button 30, or the potentiometer 27.

[0072] In a preferred but non-limiting embodiment of the present invention, the control unit 24 defines the type of the function f and its parameters based on the operation of one or more selector buttons 30 indicating which attachment 7 the joystick 13 is driving, and thus defines the amplitudes of one or more specified ranges of the rotation angle, the tilt angle, and the distance.

[0073] In a non-limiting embodiment, the type of the function f and its parameters, and thus one or more specified ranges of the rotation angle and / or the tilt angle, vary according to the value selected on the potentiometer 27.

[0074] In a preferred but non-limiting embodiment of the present invention, the control unit 24 defines the type of the function f and its parameters based on the detected moving speed of the lever 21, and thus defines the amplitudes of one or more specified ranges of the rotation angle and the tilt angle. In particular, the detector assembly 23 sends the positions of the rotation angle and the tilt angle of the lever 21. The control unit 24 is configured to receive these signals or data related to the positions, and define the type of the function f and its parameters and thus define the value of the moving speed of the lever 21, and increase the amplitudes of one or more specified ranges of the rotation angle and the tilt angle when the detected moving speed of the lever 21 is greater than a threshold value.

[0075] In a preferred but non-limiting embodiment of the present invention, the control unit 24 defines the type of the function f and its parameters according to the vibration frequency and / or amplitude of the lever 21, and thus defines the amplitudes of one or more specified ranges of the rotation angle and the tilt angle.

[0076] In particular, the detector assembly 23 sends the positions of the tilt angle and the rotation angle to the lever 21.

[0077] The control unit 24 is configured to receive these signals or data related to the positions and define the vibration frequency of the lever 21, and increase the amplitudes of one or more specified ranges of the rotation angle and the tilt angle by means of the change of the type of the function f and its parameters when the detected vibration frequency of the lever 21 is within the range of the vibration frequency.

[0078] In a preferred but non-limiting embodiment of the present invention, the joystick 13 includes a proximity sensor 28 for detecting whether there is a hand on the lever 21. The sensor 28 can be a pressure sensor or a capacitance sensor or a magnetic sensor or other types of sensors capable of detecting the hand thereon.

[0079] The control unit 24 defines the type of the function f and its parameters based on whether there is a hand on the lever, and thus defines the amplitudes of one or more specified ranges of the rotation angle and the tilt angle. Preferably, when the existing sensor 28 detects that there is a hand on the lever 21 of the joystick 13, the control unit 24 reduces the amplitudes of one or more specified ranges.

[0080] In a preferred but non-limiting embodiment of the present invention, the control unit 24 defines the type of the function f and its parameters based on one of the operating parameters of the tracked vehicle 1 (such as, but not exhaustively, the power provided by the drive unit 5, the power absorbed by each attachment device 7, the positions of the bulldozer blade 8 and the snowplow assembly 9, the position of the winch assembly 10, the forward speed of the snowmover 1). In this way, preferably, the control unit 24 also defines the amplitudes of one or more specified ranges of the rotation angle and the tilt angle.

[0081] In one non-limiting embodiment, the control unit 24 is configured to issue the control signal Sc based on the output signal Su and the input signal Si, preferably defining one or more parameters of the function f based on the input signal Si.

[0082] In one non-limiting embodiment, the control unit 24 is configured to select a function f from a plurality of functions f based on the input signal Si.

[0083] In a preferred embodiment, the joystick 13 includes a light indicator 50, which can be a lamp, an LED or any other element that can be lit according to instructions. Preferably, the light indicator 50 is housed on the lever 21. The light indicator 50 is controlled by the control unit 24, and the intensity of the light is adjusted based on the parameters a and k and the type of function f. In other words, the intensity of the light is adjusted based on the dead zone or the response speed of the joystick. In another embodiment, the light indicator 50 emits light of different colors, and the color and / or the light intensity of the color are adjusted based on the parameters a and k and the type of function f. In other words, the color and / or light intensity are adjusted based on the dead zone or the response speed of the joystick 13. For example, the joystick 13 can emit red light when the dead zone is greater than a specified range, and the joystick 13 can emit green light when the dead zone is less than a specified range. In addition, the light indicator 50 is configured to indicate an error and / or fault in the joystick 13. In particular, the light indicator 50 is configured to indicate a blocking state of the joystick 13.

[0084] By means of the present invention, the joystick 13 has a dead zone in which it does not issue a control signal Sc for the attachment 7. This dead zone, which is defined by a specified range of rotation angles and / or tilt angles, can be adjusted manually or automatically, and this allows to have a variable dead zone based on the operating conditions of the tracked vehicle 1, so that when the operator is actually controlling one of the attachment devices 7, the dead zone is minimized, and conversely the dead zone is increased when the operator is not controlling one of the attachment devices 7, thereby avoiding as much as possible the involuntary movement of the attachment device 7 due to accidental impact of the lever 21 of the joystick 13 or vibration of the tracked vehicle 1 or wear of the joystick 13 or other reasons. By means of the present invention, the sensitivity of the joystick 13 is adjusted, and this allows excellent sensitivity and resistance to involuntary movement when necessary.

Claims

1. A tracked vehicle, comprising: A frame (2) extending along a longitudinal axis; A plurality of tracks (6); At least one attachment device (7) selected from a combination including a bulldozer blade (8), a snow plow assembly (9), and a winch assembly (10); and A user interface (11), which includes control means coupled to the plurality of tracks (6) to drive the tracked vehicle (1) forward; And a joystick (13) coupled to at least one of the attachment devices (7) to control the movement of at least one of the attachment devices (7), Wherein the joystick (13) includes a lever (21) configured to be movable relative to a rest position (PR) in any direction, and wherein the joystick (13) includes a detector assembly (23) configured to detect the movement of the lever (21) relative to the rest position (PR) and issue an output signal (Su) based on the detected movement, The tracked vehicle (1) includes a control unit (24) coupled to at least one of the attachment devices (7) to control at least one movement of the attachment device (7) by means of a control signal (Sc) sent to at least one of the attachment devices (7), the control unit (24) being coupled to the detector assembly (23) of the joystick (13) to receive the output signal (Su), and being configured to output the control signal (Sc) according to a first function (f) and the output signal (Su), and The lever (21) is coupled to a base (20) such that the lever can tilt or rotate relative to the rest position (PR) in any direction, the control unit (24) being configured to control at least one of the attachment devices (7) by means of the control signal (Sc) such that at least one of the attachment devices (7) does not move when the angular distance between the position of the lever (21) and the rest position (PR) is within a specified range of tilt angle or rotation angle, the control unit (24) being configured such that the specified range of tilt angle or rotation angle can be dynamically adjusted.

2. The tracked vehicle according to claim 1, wherein, The lever (21) is configured to be tiltable and / or rotatable relative to the rest position (PR) in any direction.

3. The tracked vehicle according to claim 1, wherein, The first function (f) is a non-linear function, and the parameters of the first function can be adjusted based on additional signals.

4. The tracked vehicle according to claim 1, wherein, The first function (f) is defined such that the control unit (24) outputs the control signal (Sc) equal to zero or does not output the control signal (Sc) when the distance between the position of the lever (13) and the rest position (PR) is within a specified displacement range, wherein the specified displacement range is dynamically adjustable.

5. The tracked vehicle according to claim 4, wherein, The control signal (Sc) is obtained by the first function (f) in the following manner: Sc = a*Su + k, where a and k are variable parameters and can be adjusted by the control unit (24), k is greater than zero, and Su is the output signal.

6. The tracked vehicle according to claim 3, comprising a selector (18), and wherein one or more of the parameters of the first function (f) can be adjusted by an operator via the selector (18).

7. The tracked vehicle according to claim 1, wherein, The control signal (Sc) is a signal having a progressive or regressive characteristic with respect to the detected distance from the stationary position (PR).

8. The tracked vehicle according to claim 3, wherein, At least one of the parameters of the first function (f) is defined by the control unit (24) based on the detected moving speed of the lever (21).

9. The tracked vehicle according to claim 8, wherein, The control unit (24) is configured to increase the amplitude of a specified range when the detected moving speed of the lever (21) is greater than a threshold value.

10. The crawler vehicle according to claim 3, wherein, At least one of the parameters of the first function (f) is defined by the control unit (24) according to the vibration frequency of the lever (21).

11. The tracked vehicle according to claim 10, wherein, The control unit (24) is configured to increase the amplitude of at least one specified range when the detected vibration frequency of the lever (21) is within a range of multiple vibration frequencies.

12. The tracked vehicle according to claim 3, wherein, The joystick (13) includes a plurality of buttons (26, 30) or micro-levers (29), and at least one of the parameters of the first function (f) is defined by the control unit (24) based on the activation of one of the buttons (26, 30) and / or one of the micro-levers (29) of the joystick (13).

13. The tracked vehicle according to claim 3, wherein, The joystick (13) is configured to detect whether there is a hand on the lever (21), and at least one of the parameters of the first function (f) is defined by the control unit (24) based on the detection of the presence of a hand on the lever (21).

14. The tracked vehicle according to claim 1, wherein, The joystick (13) includes an attachment selector (27) for selecting the type of the attachment device (7) to be operated, and at least one specified range or at least one specified parameter of the function (f) is defined by the control unit (24) according to the value of the attachment selector (27) indicating which attachment device (7) is controlled by the joystick (13).

15. The tracked vehicle according to claim 14, wherein, The specified range is selected from a set of specified ranges based on the value selected by the attachment selector (27).

16. The tracked vehicle according to claim 3, wherein, The joystick (13) includes a light indicator (50), and the intensity and / or color of the light indicator are adjusted according to the parameters and / or function type of the first function (f).

17. The tracked vehicle according to claim 16, wherein, The light indicator (50) is located on the lever (21).

18. A method for controlling an accessory of a tracked vehicle, the tracked vehicle (1) comprising: Two tracks; at least one attachment device (7) selected from the combination including a bulldozer blade (8), a snow plow assembly (9) and a winch assembly (10); and a user interface (11), which includes control means coupled to the plurality of tracks (6) to drive the tracked vehicle (1) forward and a joystick (13) coupled to at least one of the attachment devices (7) to control the movement of at least one of the attachment devices (7), wherein the joystick (13) includes a lever (21) configured to be movable relative to a stationary position (PR) in any direction. The method includes the steps of detecting the movement of the lever (21) relative to the rest position (PR) and generating an output signal (Su) based on the detected movement, the method includes the step of controlling at least one movement of at least one of the attachment devices (7) based on a first function (f) and the output signal (Su), and the method includes the step of generating a control signal (Sc) configured to move at least one of the attachment devices (7) when the distance between the position of the lever (13) and the rest position (PR) is greater than one or more specified ranges, wherein the specified ranges are dynamically adjustable, and the lever (21) is coupled to a base (20) such that the lever can tilt or rotate in any direction relative to the rest position (PR), the method includes the step of generating the control signal (Sc) when the angular distance between the position of the lever (21) and the rest position (PR) is greater than a specified range of the tilt and / or rotation angle, the specified range of the tilt and / or rotation angle being adjustable.

19. The method according to claim 18, wherein, The first function is a non-linear function, and the parameters of the first function (f) can be adjusted based on additional signals.

20. The method according to claim 18, wherein, The joystick (13) includes a plurality of buttons (26, 30), a micro lever (29), and an attachment selector (27) for selecting and / or driving the type of the attachment device (7) to be operated, the method includes the step of defining at least one specified range or at least one parameter of the first function (f) based on a parameter selected from a parameter group including: the detected movement speed of the lever (21); the vibration frequency of the lever (21); the activation of one of the buttons (26) of the joystick (13); the detection of the presence of a hand on the lever (21); the value of the attachment selector (27) indicating which attachment the joystick is controlling; the value of the regulator of the selector (18).

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