Tracked vehicle, monitoring and / or control and / or management system for tracked vehicle, and related method

Abstract

A tracked vehicle (1), preferably a ski collator for preparing a skiing ramp, comprising: a plurality of devices; a vehicle control device (15) coupled to the plurality of devices; a human-computer interface (11); an asynchronous communication network (200); and a first synchronous communication bus component (101), in particular comprising at least one synchronous communication bus, preferably of the CAN bus type; wherein the human-machine interface (11) and the network device (50) are coupled together via an asynchronous communication network (200); wherein the vehicle control device (15), the human-machine interface (11) and the device are communicatively linked to one another via a first synchronous communication bus component (101).

Description

[0001] Citations of Related Applications

[0002] This patent application claims the priority of Italian patent application No. 102023000014697 filed on July 13, 2023, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] The present invention relates to a tracked vehicle, a monitoring and / or control and / or management system of a tracked vehicle, and a monitoring and / or control and / or management method of the tracked vehicle. Background Art

[0004] Current tracked vehicles include a plurality of devices and vehicle control devices connected to and controlling these devices. In particular, these devices are of various types, such as internal combustion engines, electric rotary mechanical units (in particular electric motors), electric and / or mechanical and / or hydraulic power transmission units, hydraulic pumps, hydraulic and / or electric and / or electronic and / or electrohydraulic actuators, signaling devices, regulating units, sensors for detecting one or more dimensions of the tracked vehicle, winches, tillers, shovels, control input devices (in particular joysticks, levers, micro levers, buttons).

[0005] The tracked vehicle equipment is controlled by the vehicle controller directly or via a dedicated control unit of the respective equipment, which in turn is controlled by the vehicle control equipment.

[0006] Furthermore, the vehicle control device stores configuration parameters for each of the devices.

[0007] Furthermore, the control device typically includes software running on its own hardware and is configured to detect faults or operational failures in the devices it controls, etc. Furthermore, the control device also stores fault and / or error events of the vehicle, in particular of each device.

[0008] On current tracked vehicles, in order to perform software updates and / or view current or past configuration and / or operating parameters and / or current or past measured signal values ​​and / or change stored configuration parameters and / or detect faults and / or malfunctions and / or view past detected faults and / or malfunction events, a maintenance technician must physically go to the tracked vehicle and connect a computer to the vehicle control device via a data connection port (e.g., OBD port or other type of port) to the vehicle bus of the vehicle. In all cases, the maintenance technician must be physically in the same location as the tracked vehicle because he must directly and physically access the communication port of the vehicle bus.

[0009] However, tracked vehicles are also configured to operate in very remote and / or difficult to access areas, which means that the tracked vehicle may be stationary for long periods of time before a maintenance technician can physically access the tracked vehicle to perform truly software-only repairs, such as, for example, software updates, or new settings for configuration parameters, or resetting of configuration parameter settings that were unintentionally changed, or vehicle diagnostics, or fault detection, or in some cases analysis of detected signals.

[0010] This prolongs the diagnosis and / or repair time, and therefore the cost of the diagnosis and / or repair, even for problems that are easily solvable and for which the actual diagnosis and / or repair and / or maintenance time is short. Summary of the invention

[0011] It is an object of the present invention to provide a tracked vehicle which alleviates at least one of the disadvantages of the prior art.

[0012] According to the invention, a tracked vehicle is thus manufactured according to one of the appended claims.

[0013] Thanks to the present invention, at least one of the following technical effects can be achieved: remote updating of the software of a tracked vehicle and / or one or more of its electronic components and / or vehicle control devices and / or devices (especially control units of devices) via a human-machine interface; remote updating of the software of the human-machine interface; setting or resetting one or more configuration parameters of a tracked vehicle, especially one or more vehicle devices, by remotely connecting to the human-machine interface, which in turn has the possibility of connecting to the vehicle control devices via a synchronous connection system and / or via an asynchronous connection network; remotely displaying all signals transmitted through the communication synchronization system via a remote connection to the human-machine interface, and thus monitoring the detected values / data of the accessories in real time; remotely instructing and / or guiding the operator of the tracked vehicle; real-time processing of data in the memory of the human-machine interface and / or data transmitted on the synchronous communication system via a real-time data connection to the human-machine interface, so as to verify the use, verify the operation and / or configuration parameters and / or assist the operator, preferably in a manner independent of what the operator is viewing on the screen; the possibility of remote mirroring of the human-machine interface.

[0014] In other words, thanks to the present invention, one or more actions can be performed remotely on a tracked vehicle without physically connecting the device to the vehicle's OBD connector and / or CAN-BUS, and therefore without requiring a maintenance technician to physically travel to the location of the tracked vehicle.

[0015] Another object of the present invention is to provide a system for monitoring and / or controlling and / or managing tracked vehicles and / or fleets of tracked vehicles which alleviates at least one disadvantage of the prior art.

[0016] Therefore, according to the present invention, a system for monitoring and / or controlling and / or managing at least one tracked vehicle and / or a fleet of tracked vehicles according to claim 10 is provided.

[0017] Another object of the present invention is to provide a method for monitoring and / or controlling and / or managing a tracked vehicle and / or a fleet of tracked vehicles which alleviates at least one disadvantage of the prior art.

[0018] Therefore, according to the present invention there is provided a method according to claim 14. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features and advantages of the invention will become apparent from the following description of non-limiting embodiments of the invention, with reference to the figures in the accompanying drawings, in which:

[0020] Figure 1 is a side view of a tracked vehicle manufactured according to the present invention;

[0021] Figure 2 is a block diagram of details of an embodiment of the tracked vehicle 1;

[0022] Figure 3 is a block diagram of details of another embodiment of the tracked vehicle 1; and

[0023] Figure 4 is a block diagram of details of another embodiment of the tracked vehicle 1;

[0024] Figure 5 is a block diagram of details of another embodiment of the tracked vehicle 1; and

[0025] Figure 6 It is a detailed view of the tracked vehicle 1 . DETAILED DESCRIPTION

[0026] Reference Figure 1 A tracked vehicle according to an embodiment of the present invention, in particular a snow groomer vehicle for preparing a ski slope, is indicated as a whole by the number 1.

[0027] In another embodiment not shown in the drawings, the tracked vehicle is a vegetation management vehicle comprising a mulching machine mounted on the front of the vehicle and capable of mulching even large plants, such as trees or roots or parts of other vegetation.

[0028] The tracked vehicle 1 comprises a chassis 2 extending along a longitudinal axis D, a cab 3 accommodated on the chassis, a plurality of devices and a vehicle control device 15 ( Figure 2 ).

[0029] The vehicle control device 15 may be defined by a device referred to in the technical field as an engine control unit / module (ECU for short) or a vehicle electronic control unit (VECU for short) or a powertrain control unit / module (PCU / PCM for short).

[0030] In particular, the vehicle control device 15 is coupled to a plurality of devices, and is configured to send command signals to the devices and receive detection signals and / or command signals from the devices in order to control the devices and / or receive commands from the devices.

[0031] Generally, unless otherwise specified, a device refers to any active component of the tracked vehicle 1 that is communicatively connected to the vehicle control device 15, and wherein preferably at least some functions of the device are directly or indirectly controlled and / or monitored and / or managed by the vehicle control device 15, and / or the device sends commands to the vehicle control device 15.

[0032] These devices are of various types. Various devices will be described below, but this is intended to be a non-limiting and non-inclusive list of all devices.

[0033] In particular, one of the devices is a drive unit 5 , such as an internal combustion engine and / or a rotating electrical machine unit comprising one or more rotating electrical machines, in particular one or more electric motors.

[0034] Other of the plurality of equipment is the attachment equipment 7. The attachment equipment 7 comprises a scraper blade or bucket 8 supported at the front of the chassis 2; and / or a tiller unit 9 supported at the rear of the chassis 2.

[0035] In other words, the blade or bucket 8 defines one of a number of devices of the tracked vehicle 1 .

[0036] In other words, the tiller unit 9 defines one of a number of equipment of the tracked vehicle 1 .

[0037] The tiller unit 9 comprises a tiller and a trimmer. Furthermore, the tiller unit 9 may comprise an auxiliary tiller (not shown) and a tracker unit (not shown) for marking a cross-country ski trail.

[0038] The tiller unit 9 is connected to the chassis 2 of the tracked vehicle 1 so that the tiller unit 9 can be rotated (i.e., by arranging the tiller unit 9 perpendicularly to the direction of travel of the tracked vehicle 1 itself or at an angle to the direction of travel of the tracked vehicle 1 itself), raised or lowered, and laterally displaced. In addition, the relative angular position of the tiller unit 9 with respect to the chassis 2 can be determined to define the cutting angle of the tiller unit 9.

[0039] Furthermore, the tiller unit 9 of the tracked vehicle 1 comprises two side wings (flaps) which are configured to change their position relative to a central body of the tiller unit 9 , in particular the axis of rotation of the tiller 9 .

[0040] The scraper blade 8 is connected to the chassis 2 of the tracked vehicle 1 by a plurality of couplings and actuators, so that pitch, roll and yaw movements of the scraper blade 8 around the forward direction of the tracked vehicle 1 can be performed.

[0041] Furthermore, the accessory equipment 7 comprises a winch unit 10 .

[0042] refer to Figure 1 , the winch unit 10 comprises a drum 17 and a boom 19, on which a cable 18 is wound. The drum 17 rotates around an axis A and is driven by a motor and defines the tension of the cable 18. The winch unit 10 or the boom 19 of the winch unit 10 rotates around an axis B and is driven by an actuator to define the position of the winch unit 10 or the boom 19 of the winch unit 10 so as to steer the cable 18.

[0043] The accessory device 7 may also be referred to as an accessory.

[0044] Thus, the winch unit 10 is one device among many.

[0045] Furthermore, the tracked vehicle 1 does not necessarily include all of the above-mentioned accessory devices 7. For example, the tracked vehicle 1 may include any one or two accessory devices 7 selected from a scraper 8, a tiller unit 9, and a winch unit 10.

[0046] Another of the plurality of devices is the track 6 with its respective drive wheels.

[0047] Another device among the plurality of devices is a power transmission unit 12 ( Figure 1 ), which is operably connected to the drive unit 5 and transmits the power required for the operation of the tracked vehicle 1 to the accessory device 7. The power transmission unit 12 can be hydraulic or electric or electronic or a combination of hydraulic and / or electric and / or electronic and / or mechanical and / or electro-hydraulic.

[0048] One of the devices may be defined by a hydraulic pump, a hydraulic and / or electric and / or electronic and / or electrohydraulic actuator of the tracked vehicle 1 .

[0049] Another device is the control device 4 and / or the joystick 13 .

[0050] The control device 4 is configured to drive the tracks 6. In more detail, the control device 4 is coupled to the plurality of tracks 6 to drive the forward movement of the tracked vehicle 1.

[0051] The joystick 13 is coupled to the accessory device 7 to drive the movement of the accessory device 7 .

[0052] The joystick 13 is configured to control the blade 8. The joystick 13 is housed in the cab 3 and allows the described pitch, roll and yaw movements of the blade 8 to be controlled.

[0053] Furthermore, the scraper blade 8 of the tracked vehicle 1 includes a central scraper blade and two side scraper blades which are coupled to the central scraper blade and are configured to change positions of the two side scraper blades relative to the central scraper blade.

[0054] The joystick 13 is configured to control the tiller unit 9 and allows the above-described movements of the tiller unit 9 to be controlled.

[0055] The joystick 13 is configured to control the winch unit 10 , in particular the tension of the cable 18 and the angular position of the boom 19 .

[0056] Another device is one or more keyboards 14 and 16 communicatively connected to a vehicle control device 15 for controlling certain functions of the tracked vehicle 1 .

[0057] Another device is an encoder 21 which is communicatively connected to the vehicle control device 15 .

[0058] Another device of the plurality of devices is defined by one or more signaling devices.

[0059] Another device of the plurality of devices is defined by one or more signal conditioning units.

[0060] Another device of the plurality of devices is defined by one or more sensors to detect one or more dimensions of the tracked vehicle.

[0061] In a non-limiting embodiment of the present invention, some or all of the devices, in particular some or all of those shown above, further include a control unit for each device, and wherein each of the control units is communicatively connected to the vehicle control device 15, whereby the vehicle control device 15 controls the device via its corresponding control unit.

[0062] The tracked vehicle 1 comprises a human-machine interface 11 .

[0063] In particular, a human-machine interface 11 , preferably a dashboard, is configured to communicate with a vehicle control device 15 and with some or all of the devices.

[0064] In particular, the human-machine interface 11 comprises a screen 30 , a selection device 31 for receiving commands from a user, a processing unit 32 and a memory 33 .

[0065] The screen 30 may be of the touch-sensitive type (touch screen) and, therefore, the selection device 31 may be fully or partially integrated into the screen 30 , so that the operator can act directly by touching the screen 30 to give input commands to the man-machine interface 11 .

[0066] In other words, the selection device 31 may be a device or a selector for detecting at least one touch on the screen 30. The selection device is configured to detect a selection of the tracked vehicle operator U in order to receive a command from the operator.

[0067] Preferably, the human-machine interface 11 comprises a graphical user interface.

[0068] In an alternative embodiment, the human-machine interface 11 may be a tablet computer (or tablet PC).

[0069] The human-machine interface 11 is configured to display data and / or information and / or operating parameters and / or configurations of the tracked vehicle 1 to the operator U.

[0070] The human-machine interface 11 is preferably installed in the cab 3 and allows the operator to control and / or monitor and / or manage the tracked vehicle 1, in particular one or more operating parameters and / or one or more measured values ​​of operating dimensions of the tracked vehicle 1, and in particular one or more operating parameters and / or measured values ​​of operating dimensions of one or more accessories and / or equipment of the tracked vehicle 1.

[0071] Furthermore, the human-machine interface 11 allows the operator to select one or more data and / or information and / or parameters and / or values ​​of the tracked vehicle 1 to be displayed on the screen 30 , in particular one or more data and / or information and / or parameters and / or values ​​of one or more accessories.

[0072] The vehicle control device 15 is coupled to the user interface 11 , and is configured to send images to the screen 30 and / or receive commands from the human-machine interface 11 .

[0073] Furthermore, the tracked vehicle comprises a tracking device, in particular a GPS receiver or the like, which is configured to determine the position of the tracked vehicle 1 and preferably comprises a memory with a plurality of maps, in particular a ski area map for locating the position of the tracked vehicle 1 within one of the ski areas.

[0074] Furthermore, the tracked vehicle 1 comprises one or more cameras 45 which are preferably fixed at the rear and / or at a rear position of the tracked vehicle 1 .

[0075] In particular, the camera 45 faces the rear of the tracked vehicle 1 to capture a portion of the terrain that the tracked vehicle 1 has passed.

[0076] Additionally, in one embodiment, the tracked vehicle 1 includes a snow depth measurement device 80 to provide snow depth data.

[0077] Furthermore, the tracked vehicle 1 comprises at least one thermometer inside and / or outside the cab of the tracked vehicle to measure the internal and / or external temperature, respectively.

[0078] The vehicle control device 15 is communicatively connected to one or more devices of the tracked vehicle 1 already defined above and / or the tracked vehicle 1 in general, and detects one or more of the data and / or information and / or operating parameters and / or values ​​of the tracked vehicle 1 and / or of one or more devices of the tracked vehicle 1 in general, such as any one or any combination or all of the following data and / or information and / or operating parameters and / or values: operating parameters of the drive unit 5, such as the number of engine revolutions, such as the power output of the drive unit 5 and / or the number of revolutions of the drive unit 5 and / or data related to control lights of the drive unit 5 data and / or the total number of operating hours of the drive unit 5 and / or the temperature of the fluid of the drive unit 5 and / or the residual fuel energy level of the drive unit 5 in the energy collection system, for example the residual fuel level in the fuel tank when the drive unit 5 is an internal combustion engine, or the residual electrical energy level in the battery when the drive unit 5 is an electric motor, or the fuel and electrical energy levels when the drive unit 5 is a hybrid system comprising an internal combustion engine and an electric motor; the power absorbed by each accessory device 7; the position of the scraper 8 and the tiller unit 9; the position of the winch unit 10; track parameters 6, such as the track tension 6; in the case of a crawler the total distance travelled during the service life of the vehicle; data relating to the inclination of the tracked vehicle 1 along the longitudinal axis, in particular for displaying the roll angle of the tracked vehicle 1 about the roll axis; and / or data relating to the inclination of the tracked vehicle 1 along the transverse axis, in particular for displaying the pitch angle about the pitch axis; parameters of the tracking device 40, such as a position and / or navigation map loaded into a memory and / or a route taken and displayed on the tracking device 40 and / or other setup parameters; parameters of one or more of the cameras 50, such as camera images and / or configuration parameters; at least one tracked vehicle; Parameters of the vehicle thermometer 1, such as the detected temperature; parameters of the winch 10 (if the tracked vehicle comprises a winch 10), such as the turning cable length and / or the traction expressed in absolute terms and / or as a percentage of the total possible traction; parameters of the tiller 9, such as the shaft rotation speed and / or the shaft rotation direction and / or the inclination angle of the tiller 9 relative to the snow and / or the percentage of snow recirculation in the working chamber of the tiller 9; the position of the scraper blade 8, in particular the roll and / or pitch and / or yaw of the scraper blade 8 and / or the position of the side scrapers of the bucket 8; parameters related to the current position of the flanks of the tiller 9;Engine unit 5 revolutions, accelerator pedal position, total engine unit 5 hours, average and / or instantaneous fuel consumption, tiller unit 9 status (on or off), tiller unit 9 rotation speed, tiller unit 9 depth, winch unit 10 status, engine unit 5 instantaneous torque percentage, winch unit 10 pulling force, tiller unit 9 pressure, tiller unit 9 operating mode, vehicle 1 travel speed, vehicle 1 travel direction, winch unit 10 rotation speed, engine unit temperature (preferably cooling) 5, winch unit 10 length (remaining and / or released), winch unit 10 status, hydraulic oil temperature, light status, alarm status, buzzer status.;

[0079] In other words, the vehicle control device 15 is configured to detect data and / or information and / or operating parameters and / or values ​​of the tracked vehicle 1 .

[0080] In particular, the operating parameters are configuration parameters of any equipment of the tracked vehicle 1, such as switching on one of a plurality of lighting devices arranged along the tracked vehicle 1 to illuminate the surrounding working environment, or for example internal configuration parameters of the drive unit 5 and / or tiller 9 and / or winch 10 and / or track 6 and / or hydraulic system (e.g., the hydraulic system supplying the track 6 and / or winch 10 and / or bucket 8 and / or tiller 9) of the tracked vehicle 1, or the style and / or color and / or icons or one or more display modes of various screens displayed on the screen of the human-machine interface 11 of the tracked vehicle 1.

[0081] In particular, an operating parameter is a value of a dimension or signal measured at a given time of the tracked vehicle and / or one or more devices of the tracked vehicle, in particular a time variable, such as the current rotation speed of a winch or a tiller or the like.

[0082] In addition, the vehicle control device 15 is communicatively connected with a plurality of devices and sets operating parameters of the plurality of devices, such as configuration parameters of the drive unit 5, in particular configuration parameters related to the electric power to be transmitted; configuration parameters of each accessory device 7, such as configuration parameters related to the position of the scraper 8 and the tiller unit 9, the position of the winch unit 10, the forward speed of the tracked vehicle 1, and drives the devices according to commands received by the vehicle control device from the user via the control device 4 and the operating parameters set for each device.

[0083] In addition, the vehicle control device 15 is communicatively connected to a plurality of devices and detects the values ​​of dimensions or signals related to the operation of the devices, such as the power output at a given moment; the position of the scraper 8 and / or tiller unit 9, the position of the winch unit 10, the forward speed of the tracked vehicle 1 detected at a given moment.

[0084] Another device of the tracked vehicle 1 is an on-board radio 48 .

[0085] The devices of the tracked vehicle 1 are controlled directly by the vehicle control device 15 or via a dedicated control unit of the respective device, which in turn is controlled by the vehicle control device 15 .

[0086] In addition, the vehicle control device 15 includes a memory for storing an operator code. When starting the vehicle, the operator enters his operator code, and the vehicle control device 15 sets one or more operating parameters (also called configuration parameters) and one or more functions of the tracked vehicle 1 itself according to the operator code entered when starting the tracked vehicle 1.

[0087] In one embodiment, the operator enters the operator code via an electronic key (eg, a key wirelessly connected to the human-machine interface 11). Preferably, the electronic key uses NFC technology to connect to the human-machine interface 11 and automatically enters its operator code.

[0088] In addition, the vehicle control device 15 or the corresponding dedicated control unit comprises, for each device, a memory in which the operating (or configuration) parameters of the device are stored.

[0089] In an alternative embodiment, the operator code is stored in a memory of the HMI 11 and the HMI 11 sets one or more operating parameters (also called configuration parameters) and one or more functions of the tracked vehicle itself based on the operator code entered when starting the tracked vehicle.

[0090] Furthermore, the vehicle control device 15 and each control unit include a hardware block and software running on the hardware block.

[0091] Each software is in particular configured to detect a malfunction or failure of the device it controls and to send an error signal to the control device 15 and / or the human-machine interface 11 .

[0092] The tracked vehicle 1 comprises a radio link device 60 configured to transmit data from the tracked vehicle to a remote and / or external data processing system 511 via radio waves, in particular via a radio data network.

[0093] In a preferred but non-limiting embodiment, the remote and / or external processing system 511 includes a computer cloud 500 .

[0094] In another preferred but non-limiting embodiment, the remote and / or external processing system 511 is connected to the tracked vehicle 1 via the computer cloud 500. In more detail, the tracked vehicle 1 uploads data to the computer cloud 500 and receives commands from the computer cloud 500, and the remote and / or external processing system 511 receives data from the computer cloud 500 and sends commands to the computer cloud 500.

[0095] The tracked vehicle 1 includes a network device 50, which is communicatively connected to the human-machine interface 11 and / or the vehicle control device 15 on one side and to the radio link device 60 on the other side, and is configured to radio-communicate the human-machine interface 11 and / or the vehicle control device 15 with the radio link device 15 to send and / or receive data to a remote and / or external data processing system 511.

[0096] In a non-limiting embodiment of the invention, the tracked vehicle 1 comprises a communication system 100 comprising one or more communication bus components, preferably of the CAN bus type.

[0097] Preferably, the communication system 100 is synchronous.

[0098] In a preferred embodiment, the communication system 100 comprises at least a first synchronous communication bus component 101 , a second synchronous communication bus component 102 and preferably at least a third synchronous communication bus 103 .

[0099] In particular, the first synchronous communication bus component 101 comprises at least one synchronous communication bus, in particular a CAN bus communication bus.

[0100] The vehicle control device 15 , the human-machine interface 11 , and the device are communicatively connected to each other via the communication system 100 , and in particular, at least a part of the device is connected to the human-machine interface 11 via a first synchronous communication bus component 101 .

[0101] Furthermore, the second synchronous communication bus component 102 comprises at least one synchronous communication bus, in particular a CAN bus communication bus.

[0102] The vehicle control device 15 is communicatively connected to the network device 50 via the second synchronous communication bus component 102 .

[0103] In particular, the first communication bus component 101 , the second communication bus component 102 and preferably at least the third communication bus component 103 are physically different from one another.

[0104] In the non-limiting embodiment shown in the drawings of the present invention, at least one of the joystick 13, the keypad 14, the keypad 16 and the encoder 21 is connected to the vehicle control device 15 via the third communication bus component instead of the first communication bus component. The third communication bus component 103 may or may not be connected to the human-machine interface 11.

[0105] In a preferred but non-limiting embodiment of the present invention, the first communication bus assembly 101 is configured to provide a data exchange rate of 300 kbit / s to 700 kbit / s, preferably equal to 500 kbit / s + / - 100 kbit / s.

[0106] In a preferred but non-limiting embodiment of the present invention, the second communication bus component 102 is configured to provide a data exchange rate of 150 kbit / s to 350 kbit / s, preferably equal to 250 kbit / s + / - 50 kbit / s.

[0107] In a preferred but non-limiting embodiment of the present invention, the third communication bus component 103 is configured to provide a data exchange rate of 150 kbit / s to 350 kbit / s, preferably equal to 250 kbit / s + / - 50 kbit / s.

[0108] The tracked vehicle 1 comprises an asynchronous communication network 200, in particular an asynchronous communication bus operating via the TCP / IP protocol, preferably an asynchronous communication bus of the Ethernet type.

[0109] The human-machine interface 11 and the network device 50 are connected together via an asynchronous communication network 200 .

[0110] The human-machine interface 11 and the vehicle control device 15 are communicatively connected to each other via an asynchronous communication network 200 .

[0111] In particular, the asynchronous communication network 200 is different and distinct from the synchronous communication system 100 .

[0112] In more detail, the vehicle control device 15 and the human-machine interface 11 are connected via two separate communication devices, in particular connected in parallel with each other: an asynchronous communication network 200 and a communication system 100 , in particular a first communication bus component 101 .

[0113] Specifically, the network device 50 is communicatively coupled with the human-machine interface 11 to exchange data and / or information via the asynchronous communication network 200 .

[0114] In particular, network device 50 is communicatively coupled to vehicle control device 15 in order to exchange data and / or information via communication system 100 , in particular second communication bus component 102 .

[0115] In other words, the network device 50 , the human-machine interface 11 and the vehicle control device 15 are connected to the asynchronous communication network 200 via their respective connection ports, in particular connection ports of the Ethernet type.

[0116] In particular, the network device 50 comprises a connection port 50b, in particular a CAN bus type connection port, to be connected to the communication system 100, in particular to be connected to the second communication bus component 102; in particular, the connection port 50b is a physical port for a connector.

[0117] In particular, the network device 50 comprises a connection port 50c, in particular a connection port of the Ethernet type, to be connected to the asynchronous communication network 200; in particular, the connection port 50c is a physical port for a connector.

[0118] In particular, the human-machine interface 11 comprises a connection port 11a, in particular a CAN bus type connection port, to be connected to the communication system 100, in particular to be connected to the first communication bus component 101; in particular, the connection port 11a is a physical port for a connector.

[0119] In particular, the man-machine interface 11 comprises a connection port 11 c , in particular a connection port of the Ethernet type, in particular the connection port 11 c is a physical port for a connector.

[0120] In particular, the vehicle control device 15 comprises a connection port 15a, in particular of the CAN bus type, to be connected to the communication system 100, in particular to be connected to the first communication bus component 101; the connection port 15a is a physical port for a connector.

[0121] In particular, the vehicle control device 15 comprises a connection port 15b, in particular of the CAN bus type, to be connected to the communication system 100, in particular to be connected to the second communication bus component 102; the connection port 15b is a physical port for a connector.

[0122] In particular, the vehicle control device 15 comprises a connection port 15 c , in particular of the Ethernet type, to be connected in particular to the communication device 200 ; the connection port 15 c is a physical port of a connector.

[0123] In a preferred but non-limiting embodiment of the present invention, the tracked vehicle 1 comprises a vehicle control device 150 , which is preferably of the same type and / or model and / or performance and / or manufacturer as the vehicle control device 15 .

[0124] The function of the vehicle control device 150 may be one of: increasing the number of analog input ports; using a safety control device in case of a failure of the control device 15; redundancy; improved reliability.

[0125] The camera 45 is coupled to the human-machine interface 11 via the asynchronous communication network 200 .

[0126] In an embodiment, the snow depth measurement device 80 is coupled to the human-machine interface 11 via an asynchronous communication network 200 .

[0127] In an embodiment, the tracked vehicle 1 comprises a dedicated control unit 110 for the winch 10, which is connected to the first communication bus assembly 101 and communicates with the vehicle control device 15 and the human machine interface 11 via said first communication bus assembly 101. Preferably, the dedicated control unit 110 for the winch 10 defines a device.

[0128] In an embodiment, the tracked vehicle 1 comprises an ignition device 120 connected to the first communication bus assembly 101 and communicating with the vehicle control device 15 and the human-machine interface 11 via said first communication bus assembly 101. Preferably, the ignition device 120 defines a device.

[0129] In a non-limiting embodiment of the present invention, the vehicle control device 150 is connected to the vehicle control device 15 via the communication system 100, in particular, via the fourth communication bus 104 of the communication system 100. Therefore, in this embodiment, the vehicle control device 15 includes a communication port 15d to be connected to the communication system 100 (in particular, to be connected to the fourth communication bus 104). In this embodiment, the vehicle control device 150 includes a communication port 150d to be connected to the communication system 100 (in particular, to be connected to the fourth communication bus 104).

[0130] Furthermore, one or more devices of the tracked vehicle are connected to the fourth communication bus 104 and thus communicate with the vehicle control device 150 via said fourth communication bus 104 .

[0131] In an optional and non-limiting embodiment of the present invention, the vehicle control device 150 is preferably connected to the first communication bus component 101 via the communication port 150 a and is thus communicatively linked with devices connected to the first communication bus component 101 .

[0132] The fourth communication bus 104 is a synchronous communication bus, preferably of the CAN bus type.

[0133] In a preferred but non-limiting embodiment of the present invention, the fourth communication bus component 104 is configured to provide a data exchange rate of 300 kbit / s to 700 kbit / s, preferably equal to 500 kbit / s + / - 100 kbit / s.

[0134] In an embodiment, if Figure 4 As shown in FIG. 1 , the vehicle control device 150 is connected to the network device 15 via the communication system 100 , in particular via the second communication bus component 102 .

[0135] exist Figure 4In the embodiment, preferably but not necessarily, the vehicle control device 15 is not connected to the network device 50 via the communication system 100, in particular, the vehicle control device is not connected via the second communication bus component 102, and preferably but not necessarily does not include the communication port 15b.

[0136] In a non-limiting embodiment of the present invention, the communication system 100 includes a fifth synchronous communication bus component 105. In this embodiment, the drive unit 5 is communicatively linked to the vehicle control device 15 via the fifth communication bus component 105, so the fifth communication bus component defines a dedicated bus component for the drive unit 5. The fifth communication bus component 105 may or may not be connected to the human-machine interface 11.

[0137] In a preferred but non-limiting embodiment of the present invention, the fifth communication bus component 105 is configured to provide a data exchange rate of 150 kbit / s to 350 kbit / s, preferably equal to 250 kbit / s + / - 50 kbit / s.

[0138] In a non-limiting embodiment of the invention, the tracked vehicle includes a valve assembly 22 for powering and / or controlling certain devices and / or certain functions of certain devices, preferably the accessory device 10 and / or certain functions of the accessory device 10. In this embodiment, the communication system 100 includes a sixth synchronous communication bus assembly 106. In this embodiment, the valve assembly 22 is communicatively linked to the vehicle control device 15 via the sixth communication bus assembly 106, which thus defines a dedicated bus assembly for the valve assembly 22. The sixth communication bus assembly 106 may or may not be connected to the human-machine interface 11.

[0139] In a preferred but non-limiting embodiment of the present invention, the sixth communication bus assembly 106 is configured to provide a data exchange rate of 150 kbit / s to 350 kbit / s, preferably equal to 250 kbit / s + / - 50 kbit / s.

[0140] In a non-limiting embodiment of the present invention, the tracked vehicle 1 includes at least one or more inclinometers 46, such as an inclinometer connected to the chassis of the tracked vehicle 1 to detect the inclination of the tracked vehicle 1 and / or an inclinometer of the scraper blade 8 to measure the inclination of the scraper blade 8 and / or an inclinometer of the tiller unit 10 to measure the inclination of the tiller unit 10, which inclinometer may or may not be a limited device.

[0141] In this embodiment, the communication system may optionally include a seventh synchronous communication bus component 107. In this embodiment, the one or more inclinometers 46 are communicatively linked to the vehicle control device 15 via the seventh communication bus component 107, which thus defines a dedicated bus component for the one or more inclinometers 46. The seventh communication bus component 107 may or may not be connected to the human-machine interface 11.

[0142] In a preferred but non-limiting embodiment of the present invention, the sixth communication bus component 107 is configured to provide a data exchange rate of 150 kbit / s to 350 kbit / s, preferably equal to 250 kbit / s + / - 50 kbit / s.

[0143] In this embodiment, the communication system may optionally include an eighth synchronous communication bus assembly 108. In this embodiment, the car radio 48 is communicatively linked to the human machine interface 11 via the eighth communication bus assembly 108, which thus defines a dedicated bus assembly for the car radio 48.

[0144] In an embodiment, the operator's mobile phone 49 may be wirelessly connected to the car radio 48, such as via Bluetooth.

[0145] In a non-limiting embodiment, once the mobile phone 49 has been connected to the car radio 48 , the car radio automatically defines an operator code based on the identification number of the connected mobile phone 49 .

[0146] In a preferred but non-limiting embodiment of the present invention, the sixth communication bus component 107 is configured to provide a data exchange rate of 150 kbit / s to 350 kbit / s, preferably equal to 250 kbit / s + / - 50 kbit / s.

[0147] The advantage of having a dedicated communication bus component (such as the third communication bus component 103 or the fourth communication bus component 104 or the fifth communication bus component 105 or the sixth communication bus component 106 or the seventh communication bus component 107) is that the failure of one or more bus components or devices connected thereto will not affect the failure of other bus components, so that the communication with the vehicle control device 15 has greater security, wherein the device is connected to the dedicated communication bus component.

[0148] exist Figure 5 In the illustrated embodiment, the tracked vehicle 1 comprises one or more motors, in particular, the drive unit 5 comprises one or more motors for driving the tracked vehicle 1, preferably, the tracked vehicle 1 comprises additional motors, for example for driving a tiller and / or a winch and / or other accessory equipment.

[0149] In this embodiment, the tracked vehicle 1 comprises a dedicated vehicle control device 250 for driving one or more of the motors, in particular for driving the tracked vehicle 1, in particular for driving the drive unit 5, and / or for driving one or more accessory devices, such as a tiller and / or a winch.

[0150] In an embodiment, the vehicle control device 250 is of the same type and / or make and model and / or structure as the vehicle control device 15 .

[0151] In particular, the vehicle control device 250 is connected to the communication system 100 , in particular to the first communication bus component 101 , and to the asynchronous communication network 200 .

[0152] In particular, the vehicle control device 250 is connected to the control device 50 and / or the human-machine interface 11 via the communication system 100 , and in particular, the vehicle control device is connected to the control device 50 and / or the human-machine interface 111 via the connection port 250a of the vehicle control device 250 via the first communication bus component 101 .

[0153] Specifically, the vehicle control device 250 is connected to the human-machine interface 11 via the asynchronous communication network 200 , and specifically, the vehicle control device 250 includes a connection port 250 c and is connected to the human-machine interface 11 through the port via the asynchronous communication network 200 .

[0154] The vehicle control device 250 is therefore connected to the human-machine interface 11 via two communication means, preferably in parallel: the asynchronous communication network 200 and the communication system 100 , in particular the first communication bus component 101 .

[0155] During use, the human-machine interface 11 receives a detection signal and / or a command signal from the first communication bus component 101, in particular, the value of an operating parameter of the human-machine interface receiving device; and sends the detection signal and / or the command signal to the network device 50 via the asynchronous communication network 200, preferably sending the detection signal and / or the command signal in a complete and / or non-processing manner.

[0156] In turn, the network device 50 transmits these signals to a remote and / or external data processing system 511 via the radio link device 60 .

[0157] The memory of the human-machine interface 11 stores the current working parameters of the device and the operating parameters and / or configuration parameters of the device; the human-machine interface 11 is configured to send the data present in its memory to the network device 50 via the asynchronous communication network 200 .

[0158] Furthermore, the network device 50 transmits the data present in the memory of the human-machine interface 11 to the remote and / or external data processing system 511 via the radio link device 60 .

[0159] The human-machine interface 11 includes a hardware block and a graphical user interface running on the hardware block.

[0160] The remote and / or external data processing system 511 includes at least one of the following: a remote control device; a remote human-machine interface; a personal computer outside the vehicle; a tablet computer outside the vehicle; a mobile phone outside the vehicle.

[0161] The remote and / or external data processing system 511 includes a hardware block that is the same as or different from the hardware block of the human-machine interface 11 and the same graphical user interface of the human-machine interface running on the hardware block of the remote and / or external data processing system 511, so that, preferably for the same authorized user code, the screens viewable on the screen of the human-machine interface are the same as the screens that can be displayed on the screen of the remote and / or external data processing system 511, and preferably so that the functions that can be executed and / or accessed by the graphical user interface of the remote and / or external data processing system, preferably through the same operator code, are the same as the functions that can be executed and / or accessed by the human-machine interface 11 remotely and preferably in real time in a manner that is independent of what is displayed on the screen 30 of the human-machine interface 11 by the operator.

[0162] In an embodiment, the human-machine interface 11 comprises a software block running on a hardware block. The remote and / or external data processing system 511 comprises a software block running on a hardware block of the remote and / or external data processing system 511 .

[0163] So that the remote and / or external data processing system can preferably execute and / or access the same functions remotely and preferably in real time, preferably for the same operator code, in a manner that is independent of what the operator displays on the screen 30 of the human-machine interface 11, and so that the screens viewable on the screen of the human-machine interface are the same as the screens that can be displayed on the screen of the remote and / or external data processing system, the software blocks of the human-machine interface 11 and the remote and / or external data processing system 511 can be identical to each other or have identical parts to each other.

[0164] The software blocks of the human-machine interface 11 and the remote and / or external data processing system 511 may operate on the same or different operating environments.

[0165] As non-limiting examples, both the human-machine interface 11 and the software blocks of the remote and / or external data processing system 511 may operate on a Linux or Windows operating environment.

[0166] As a non-limiting example, the software block of the human-machine interface 11 may operate on a Linux operating environment, and the software block of the remote and / or external data processing system 511 may operate on a Microsoft Windows operating environment. In this case, the software block of the remote and / or external data processing system 511 includes: a portion common to a portion of the human-machine interface block 11; and another portion, which preferably includes an emulator of the Linux environment or a library for making the remote and / or external data processing system 511 compatible with the Linux environment.

[0167] In particular, in an optional embodiment, the remote and / or external data processing system 511 connected to the human-machine interface 11 via the asynchronous connection network 200 is configured to perform one or more of the following actions: in particular, remotely updating the software of the tracked vehicle 1 and / or one or more of its electronic components and / or the vehicle control device 15 and / or the device control unit via the human-machine interface 11; remotely updating the software of the human-machine interface 11; remotely setting or resetting one or more configuration parameters of the tracked vehicle 1, in particular one or more configuration parameters of one or more devices of the tracked vehicle 1, by remotely connecting to the human-machine interface 11, and the human-machine interface is further configured to be connected to the vehicle control device 15 via the synchronous bus link component 101.

[0168] In particular, in an optional embodiment that may or may not be combined with the aforementioned form, a remote and / or external data processing system 511 connected to the human-machine interface 11 via an asynchronous link network 200 and receiving data transmitted on the first configuration bus component 101 as described above is configured to perform one or more of the following actions: remotely displaying all signals transmitted through the first communication bus component 101 and thereby monitoring the detection values / data of the accessories in real time; performing real-time processing of data in the memory of the human-machine interface and / or data transmitted on the first communication bus component 101 to verify operating parameters and / or set parameters and / or assist the operator during use; remotely mirroring the human-machine interface 11; performing processing on data received at the human-machine interface and related to data transmitted on the first communication bus component 101 of the tracked vehicle 1 to perform analysis; connecting to the tracked vehicle 1 in real time to verify use, parameters and assist the operator; receiving event records related to errors and / or other faults stored in the memory of the human-machine interface 11 and / or the vehicle control device 15 and / or the control unit of one or more devices.

[0169] Additionally, the remote and / or external data processing system is configured to perform the operations remotely via the human-machine interface 11 , regardless of what the operator is viewing on the screen of the human-machine interface 11 .

[0170] Similarly, human-machine interface 11 is configured to operate in a manner independent of what remote data processing system 511 is doing, and in particular, independent of what remote and / or external data processing system 511 is displaying on its screen, and vice versa.

[0171] In particular, in an optional embodiment that may or may not be combined with the foregoing forms, a remote and / or external data processing system 511 connected to the human-machine interface 11 via an asynchronous link network 200 is configured to remotely instruct and / or guide a user of the tracked vehicle; and / or train and guide an offline operator outside the vehicle.

[0172] Thanks to the invention, in other words, the virtualization of the first connection bus component 101 takes place as if the remote and / or external data processing system 511 was physically connected to the first connection bus component 101 on site.

[0173] In an optional embodiment, the remote and / or external data processing system 511 sends command signals and / or instructions to the human-machine interface 11 via the network device 50 and preferably via a security protocol implemented by the human-machine interface 11. The human-machine interface 11 in turn preferably sends the signal in the form of a complete and / or unprocessed signal on the first communication bus component 101, so that the remote and / or external data processing system 511 can send commands directly to the device via the human-machine interface 11.

[0174] In addition, as described above, the human-machine interface 11 and / or the control device 15 are configured to detect errors and / or problems of the tracked vehicle 1, and send the results of the error and / or problem detection to the network device 50 via the asynchronous communication network 200 and / or via the synchronous communication system 100 (particularly the second synchronous communication bus component 102), respectively.

[0175] Preferably, the network device 50 is further configured to transmit the data present in the memory 33 of the human-machine interface 11 to a remote and / or external data processing system 511 via the radio link device 60 .

[0176] The operations seen above are sensitive operations that can significantly affect the operation of the tracked vehicle, therefore, the remote and / or external data processing system 511 is provided with special authorization and generally the use of such a system is granted only to specially trained personnel and preferably from the same company that manufactured the tracked vehicle.

[0177] The tracked vehicle 1 comprises a connection port 70b connected to the communication system 100, in particular to the second communication bus assembly 102, to which connection port 70b any third party resource management system 70 in particular and preferably in addition to the fleet management system 611 can be connected.

[0178] In more detail, the resource management system 70 is a device manufactured by a third party other than the manufacturer of the tracked vehicle and is not always tested by the manufacturer of the tracked vehicle, and has a function of supporting management of a fleet of tracked vehicles using third-party devices and is different from the fleet management system 611.

[0179] Thus, the resource management system 70 is directly connected to the vehicle control device 15 via the second communication bus component 102 in order to receive a portion of the data propagated on the second communication bus component from the vehicle control device 15 and to send this portion of the data to another external fleet management system to which the tracked vehicle is connected via the resource management system's own connection, even if the tracked vehicle and this other external fleet management system are different from each other and in particular are manufactured by different manufacturers.

[0180] The fact that the first communication bus assembly and the second communication bus assembly are two separate and physically distinct communication buses prevents the management system 70 from being able to block communications between the devices of the tracked vehicle and the vehicle control devices 15 and / or the human-machine interface 11 .

[0181] In other words, the second communication bus component 102 is a communication bus with a lower priority than the first communication bus component 101, and devices manufactured by a third party other than the manufacturer of the tracked vehicle 1 can only be connected to the second communication bus component 102. In this way, the failure of the third-party device can delay and block communication only on the second communication bus component 102. In other words, the failure of the third-party device cannot delay and block the first communication bus component 101, which has a higher priority and to which the third-party device is connected. In this way, a possible failure of a third-party device connected to the second communication bus component 102 will neither affect the operation of the first communication bus component 101 nor the operation of the tracked vehicle 1, nor the most important part of the tracked vehicle 1 itself.

[0182] The vehicle control device 15 is configured to transmit data regarding the operation of the tracked vehicle 1 to the outside world via the network device 50 and the radio device 60 .

[0183] In particular, the vehicle control device 15 synchronously sends the data and / or value and / or operation information on the tracked vehicle 1 to the network device 50 via the second communication bus component 102. The network device 50 records the data and / or value and / or operation information, and then sends the data and / or value and / or operation information to the external fleet management system 611 via the radio device 60 via a radio wave link.

[0184] In more detail, the vehicle control device 15 sends the values ​​of a portion of the multiple operating parameters of the above-mentioned devices and propagated on the first communication bus component 101 to the network device 50 via the second communication bus component 102, in particular one or more of the following operating parameters: the number of revolutions of the engine unit 5, the accelerator pedal position, the total number of hours of the engine group 5, the average and / or instantaneous fuel consumption, the status of the tiller unit 9 (on or off), the rotation speed of the tiller unit 9, the depth of the tiller unit 9, the status of the winch unit 10, the instantaneous percentage torque of the engine unit 5, the tension of the winch unit 10, the pressure of the tiller unit 9, the operating mode of the tiller unit 9, the travel speed of the tracked vehicle 1, the travel direction of the tracked vehicle 1, the rotation speed of the winch unit 10, the temperature of the drive unit 5 (preferably the cooling temperature), the cable length of the winch unit 10 (remaining and / or released), the status of the winch unit 10, the hydraulic oil temperature, the light status, the alarm status, the buzzer status.

[0185] These parameters are periodically transmitted via radio waves from the vehicle control device 15 to the external fleet management system 611 via the network device 50 to which the vehicle control device 15 is connected via the second connection bus component 102 .

[0186] The external fleet management system 611 continuously records the values ​​of some of the operating parameters it receives.

[0187] Preferably, the connection between the vehicle control device 15 and the network device 50 via the second communication bus component 102 is unidirectional, in particular the vehicle control device 15 only sends the values ​​to the network device 50 and preferably does not receive values ​​from the network device 50 .

[0188] In particular, data transmission along second communication module 102 takes place using the CAN bus protocol.

[0189] In an alternative and non-limiting embodiment of the present invention, the control device 15 and the network device 50 do not communicate with each other via the asynchronous communication network 200 .

[0190] In other words, although both the control device 15 and the network device 50 are connected to the asynchronous communication network 200 , the control device and the network device are not configured and / or arranged to communicate with each other via the asynchronous communication network 200 .

[0191] Thus, with the present invention, there are two types of equipment remotely connected to the tracked vehicle 1, namely the remote and / or external data processing system 511 and the fleet management system 611. The fleet management system 611 receives a portion of the plurality of data received by the remote and / or external data processing system 511, in particular a plurality of operating parameters selected from the plurality of operating parameters received by the remote and / or external data processing system 511.

[0192] The fleet management system 611 may include fleet management of a plurality of tracked vehicles 1 , in particular tracked vehicles of different types and / or from different manufacturers.

[0193] The present invention is also applicable to a fleet of tracked vehicles 1 comprising multiple tracked vehicles 1 as described above, and the remote and / or external data processing system 511 is connected to the multiple tracked vehicles 1 and can perform the operations described above on each of the multiple tracked vehicles 1 simultaneously or sequentially.

[0194] The embodiments described above are examples of embodiments of the present invention, which do not limit the scope of protection. The patent protection scope of the present invention is defined by the claims.

Claims

1. A tracked vehicle (1), preferably a snow groomer for preparing a ski slope, comprising: A plurality of devices, wherein one or more of the plurality of devices are selected from an assembly comprising: a drive unit (5), in particular an internal combustion engine; an electric rotary machine unit; an electric and / or mechanical and / or hydraulic power transmission unit (12); a hydraulic pump, a hydraulic and / or electric and / or electronic and / or electrohydraulic actuator; a crawler track (6); a drive wheel; a signaling device; a regulating unit; a sensor (46, 21) for detecting one or more dimensions of a crawler vehicle; a winch unit (10); a tiller unit (9); a shovel or scraper (8); a control input device, in particular a joystick (13), a control lever, a micro joystick, a button (16, 16); a vehicle control device (15) coupled to the plurality of devices and configured to send command signals to the devices and receive detection signals and / or command signals from the devices so as to control the devices and / or receive commands from the devices; a radio link device (60) configured to transmit data from the tracked vehicle (1) to a remote and / or external data processing system (511) via radio waves; A human-machine interface (11) comprising a processing unit (32), a memory (33), a screen (30) and a selection device (31) for receiving commands from an operator (U), preferably, the selection device (31) is a touch sensing device on the screen (30); a network device (50) communicatively coupled to the human-machine interface (11) and / or the vehicle control device (15) from one side and communicatively coupled to the radio link device (60) from the other side and configured to connect the human-machine interface (11) and / or the vehicle control device (15) to the radio link device (60) in radio communication so as to send and / or receive data to the remote and / or external data processing system (511); an asynchronous communication network (200), in particular operating via the TCP / IP protocol, preferably an Ethernet asynchronous communication bus; and A synchronous communication system (100) comprising a first synchronous communication bus component (101), said first synchronous communication bus component in particular comprising at least one synchronous communication bus, preferably a CAN bus; Wherein, the human-machine interface (11) and the network device (50) are connected together via the asynchronous communication network (200); wherein the vehicle control device (15), the human-machine interface (11) and the device are communicatively linked to each other via a synchronous communication system (100), in particular the first synchronous communication bus component (101); Preferably, the synchronous communication system (100) comprises a second synchronous communication bus component (102), the second synchronous communication bus component particularly comprising a synchronous communication bus, the synchronous communication bus preferably being a CAN bus; whereby, preferably, the vehicle control device (15) is communicatively connected to the network device (50) via the second synchronous communication bus component (102); Preferably, the remote and / or external data processing system (511) comprises at least one of the following devices: a remote control device, a remote human-machine interface, a personal computer outside the vehicle, a tablet computer outside the vehicle, a mobile phone outside the vehicle.

2. The tracked vehicle according to claim 1, wherein: The human-machine interface (11) and the vehicle control device (15) are communicatively connected to each other via the asynchronous communication network (200).

3. The tracked vehicle according to claim 1 or 2, wherein: The human-machine interface (11) receives a detection signal and / or a command signal from the communication system (100), in particular from the first communication bus component (101), and sends the detection signal and / or the command signal to the network device (50) via the asynchronous communication network (200), preferably in a complete and / or unprocessed manner; preferably, the network device (50) is configured to send the detection signal and / or the command signal to the remote and / or external data processing system (511) via the radio link device (60).

4. The tracked vehicle according to claim 3, wherein: The memory (33) of the human-machine interface (11) stores current working parameters and / or operating parameters and / or configuration parameters of the device; the human-machine interface (11) is configured to send the data present in the memory (33) to the network device (50) via the asynchronous communication network (200); preferably, the network device (50) is configured to send the data present in the memory (33) of the human-machine interface (11) to the remote and / or external data processing system (511) via the radio link device (60).

5. The tracked vehicle according to claim 1 or 2, wherein: The human-machine interface (11) is configured to receive command signals and / or instructions from the network device (50) via the asynchronous communication network (200) and is configured to send the command signals and / or instructions to the communication system (100), in particular to the first communication bus component (101), preferably in a complete and / or unprocessed manner, so as to send the command from the remote and / or external data processing system (511) to the device; preferably, the network device (50) is configured to receive the command signals and / or instructions from the remote and / or external data processing system (511) via the radio link device (60).

6. The tracked vehicle according to claim 1 or 2, wherein: The human-machine interface (11) and / or the control device (15) are configured to detect errors and / or problems of the tracked vehicle (1) and send the results of the error and / or problem detection to the network device (50) via the asynchronous communication network (200) and / or via the synchronous communication system (100), in particular the first synchronous communication bus component (102); preferably, the network device (50) is configured to send the data in the memory (33) of the human-machine interface (11) to the remote and / or external data processing system (511) via the radio link device (60).

7. A tracked vehicle according to any one of the preceding claims, wherein: The vehicle control device (15) is configured to send a first set of values ​​related to a first set of tracked vehicle operating parameters to the network device (50) via the second synchronous communication bus (102); preferably, the network device (50) is configured to send a selection of values ​​related to a selection of tracked vehicle operating parameters to a fleet management system (611) via the radio link device (60).

8. A tracked vehicle according to any one of the preceding claims, wherein: The human-machine interface (11) is configured to receive a second set of operating parameters of the tracked vehicle via the first communication bus component (101), wherein the second set of operating parameters includes the first set and additional operating parameters in addition to the first set; wherein the human-machine interface is configured to send the second set of operating parameters to the network device (50) via the asynchronous communication network (200); preferably, the network device (50) is configured to send the second set of operating parameters of the tracked vehicle (1) to the remote and / or external data processing system (511) via the radio link device (60).

9. A tracked vehicle according to any one of the preceding claims, wherein: One, some or all of the multiple devices include a corresponding dedicated control unit, and each corresponding control unit is communicatively connected to the vehicle control device (15) to send commands to the control unit of the corresponding device and / or receive commands or signals from the control unit of the corresponding device via the first synchronous communication bus component (101); preferably, the vehicle control device (15) includes at least a memory part or memory for storing one or more operating and / or configuration parameters of the devices.

10. A monitoring and / or control and / or management system for at least one tracked vehicle and / or a fleet of tracked vehicles, comprising at least one tracked vehicle (1) according to any of the preceding claims and a remote and / or external data processing system (511) connected to each other via radio waves and via a radio link device (60) of the tracked vehicle (1).

11. The system according to claim 10, wherein: The human-machine interface (11) comprises a hardware block configured to run a software block; wherein the remote and / or external data processing system (511) comprises a hardware block that is the same as or different from the hardware block of the human-machine interface (11), and the hardware block is configured to run the software block so that the remote and / or external data processing system can remotely and preferably in real time preferably execute and / or access the same functions for the same operator code, and preferably so that the screens viewable on the screen of the human-machine interface are preferably the same for the same operator code, because the screens can be viewed on the screen of the remote and / or external data processing system, in particular in a manner that is independent of what the operator views on the screen of the human-machine interface (11).

12. The system according to claim 10 or 11, wherein: The human-machine interface (11) comprises a hardware block and a graphical user interface running on the hardware block; wherein the remote and / or external data processing system (511) comprises a hardware block that is the same as or different from the hardware block of the human-machine interface (11) and the same graphical user interface of the human-machine interface (511) running on a hardware block that is the same as or different from the hardware block of the human-machine interface (11), so that the screen that can be viewed on the screen of the human-machine interface (11) and the screen that can be displayed on the screen of the remote and / or external data processing system are preferably the same for the same operator code, and preferably so that the functions that the graphical user interface (11) of the remote and / or external data processing system (511) can perform and / or access are preferably the same for the same operator code.

13. A system according to any one of claims 10 to 12, wherein: The remote and / or external data processing system (511) is configured to perform one or more of the following operations, in particular to remotely update the software of the tracked vehicle (1) and / or one or more of its electronic components and / or the vehicle control device (15) and / or a device, in particular a device control unit, in real time via the human-machine interface (11); remotely update the software of the human-machine interface (11); remotely set or reset one or more configuration parameters of the tracked vehicle (1) by remotely connecting to the human-machine interface (11) and / or the vehicle control device (15) via the synchronous connection system (100) and / or via the asynchronous connection network (200); display via the remote connection to the human-machine interface (11) the data transmitted through the communication system (100), in particular through the first communication system (200); The invention relates to a method of controlling the signals transmitted by the bus assembly (101), in particular all signals, and thus monitoring in real time the values / data detected from the accessories, so as to remotely instruct and / or guide the operator of the tracked vehicle; performing real-time processing of data in the memory (33) of the human-machine interface (11) and / or data propagated on the communication system (100), in particular on the first communication bus assembly (101), in order to verify use, operating parameters and / or setting parameters and / or assist the operator; the possibility of remote mirroring of the human-machine interface (11); wherein the remote and / or external data processing system is configured to remotely perform one or more of the operations via the human-machine interface, in particular in a manner independent of what the operator is viewing on the screen of the human-machine interface (11).

14. A method for monitoring and / or controlling and / or managing at least one tracked vehicle and / or a fleet of tracked vehicles, said fleet of tracked vehicles comprising at least one tracked vehicle (1) according to any one of the preceding claims and a remote and / or external data processing system (511), wherein: The at least one tracked vehicle (1) and the remote and / or external data processing system (511) are connected to each other via radio waves, preferably via a radio link device (60) of the tracked vehicle (1); wherein the method comprises at least one of the following steps, in particular performed in real time: remotely updating the software of the tracked vehicle (1) and / or one or more of its electronic components and / or the vehicle control device (15) and / or the device control unit, in particular via the human-machine interface (11); remotely updating the software of the human-machine interface (11) by remotely connecting to the human-machine interface (11) and / or the vehicle control device (15) via the synchronous connection system (100), in particular the first communication bus component (101), and / or via the asynchronous connection network (200), remotely setting or resetting one or more configuration parameters of the tracked vehicle (1); remotely updating the software of the human-machine interface (11) by remotely connecting to the human-machine interface (11) and / or the vehicle control device (15) via the synchronous connection system (100), in particular the first communication bus component (101), and / or via the asynchronous connection network (200); remotely setting or resetting one or more configuration parameters of the tracked vehicle (1); remotely updating the software of the human-machine interface (11); remotely setting or resetting one or more configuration parameters of the tracked vehicle (1); remotely updating the software of the human-machine interface (11); remotely setting or resetting the software ... setting or resetting the software of displaying to the man-machine interface (11) via the remote connection all signals transmitted by the communication system (100), in particular the first communication bus assembly (101), and thus monitoring in real time the detected values / data of the accessories; remotely instructing and / or guiding the operator of the tracked vehicle; performing real-time processing of data in the memory (33) of the man-machine interface (11) and / or data propagating on the communication system (100), in particular on the first communication bus assembly (101), in order to verify use, operating parameters and / or setting parameters and / or assist the operator; the possibility of remote mirroring of the man-machine interface (11); wherein the remote and / or external data processing system is configured to perform one or more of the operations remotely via the man-machine interface, in particular in a manner independent of what the operator is viewing on the screen of the man-machine interface (11).

15. The method according to claim 14, wherein: The human-machine interface (11) comprises a hardware block configured to run a software block; wherein the remote and / or external data processing system (511) comprises a hardware block that is the same as or different from the hardware block of the human-machine interface (11), the hardware block being configured to run the software block so that the remote and / or external data processing system (511) can remotely and preferably in real time preferably execute and / or access the same functions for the same operator code, and preferably enables the screen that can be displayed on the screen of the human-machine interface (11) to be the same as the screen that can be displayed on the screen of the remote and / or external data processing system, in particular in a manner that is independent of what the operator displays on the screen of the human-machine interface (11).

16. The method according to claim 14 and / or 15, wherein: The human-machine interface (11) comprises a hardware block and a graphical user interface running on the hardware block; wherein the remote and / or external data processing system (511) comprises a hardware block that is the same as or different from the hardware block of the human-machine interface (11) and a graphical user interface that is the same as the graphical user interface of the human-machine interface (11), so that the screen viewable on the screen of the remote and / or external data processing system (511) and the screen that can be displayed on the screen of the human-machine interface (11) are preferably the same for the same operator code, and preferably so that the graphical user interface of the remote and / or external data processing system (511) can remotely and preferably in real time, preferably for the same operator code, execute and / or access the same functions as the human-machine interface (11), in particular in a manner that is independent of what the operator displays on the screen of the human-machine interface (11).

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