Crawler vehicle

Abstract

A crawler vehicle has a chassis (2); a driver' s cabin (3) mounted on the chassis (2); an acquisition unit (4) configured to acquire operational data indicative of an environment surrounding the crawler vehicle (1); a screen (5, 25, 34, 35), which is arranged in the driver ' s cabin (3) and is configured to display a screenshot; and a control unit (6), which is in communication with the acquisition unit (4) and with the screen (5, 25, 34, 35) and is configured to process the operational data acquired by the acquisition unit (4) so as to superimpose visual indicators (36, 37, 38, 39, 40, 41) on a reproduction of the environment surrounding the crawler vehicle (1) and to control the screenshot displayed by the screen (5, 25, 34, 35) so as to display said visual indicators (36, 37, 38, 39, 40, 41) superimposed on the reproduction of the environment surrounding the crawler vehicle (1).

Description

[0001] CRAWLER VEHICLE

[0002] Cross-Reference to Related Applications

[0003] This Patent Application claims priority from Italian Patent Applications No. 102024000027078 filed on November 29, 2024, No. 102024000028929 filed on December 18, 2024, No. 102025000002259 filed on February 6, 2025, No.

[0004] 102025000004972 filed on March 11, 2025, International

[0005] Application No. PCT / IB2025 / 053818 filed on April 11, 2025 and Italian Patent Application No. 102025000013255 filed on June 6, 2025, the entire disclosure of which is incorporated herein by reference.

[0006] Technical Sector

[0007] The present invention relates to a crawler vehicle, preferably used for the preparation of ski runs. Further, the present invention relates to a control method for controlling said crawler vehicle.

[0008] Prior Art

[0009] As is well known, crawler type vehicles are commonly used to advance along off-road routes for the purpose of transporting goods or people or to carry out a wide range of different jobs, such as preparing the snowpack of ski runs or cleaning beaches, or for agricultural operations.

[0010] Typically, each crawler vehicle of a known type comprises a chassis, a driver's cab mounted on the chassis, and a pair of motorised tracks. In particular, the driver's cabin is equipped with a seat for a driver and a user interface, which is arranged near the seat, comprises a control device to allow the driver to control the crawler vehicle, and allows the display of crawler vehicle operating parameters, such as travel speed or remaining range of the crawler vehicle .

[0011] However, as the complexity of the working environment , the tasks to be performed and the crawler vehicle itsel f continues to increase , more and more information needs to be displayed in modern crawler vehicles and, as a result , currently known user interfaces are inadequate for this purpose . In addition, due to hostile weather conditions , the driver' s view outside the cabin may be partially obstructed under certain operating conditions .

[0012] Patent Subject Matter

[0013] A purpose of the present invention is to provide a crawler vehicle that mitigates the drawbacks of the prior art disclosed herein .

[0014] In accordance with the present invention, a crawler vehicle is provided, preferably for preparing ski runs , the crawler vehicle being configured to advance in a direction of travel and comprising :

[0015] - a chassis ;

[0016] - a driver' s cabin mounted on the chassis ; an acquisition unit configured to acquire operational data indicative of the environment surrounding the crawler vehicle ; a screen, which is arranged inside the driver' s cabin and is configured to display a screenshot ; and

[0017] - a control unit , which is in communication with the acquisition unit and the screen and is configured to process the operational data acquired by the acquisition unit so as to superimpose visual indicators on a reproduction of the environment surrounding the crawler vehicle and to control the screenshot displayed by the screen so as to display said visual indicators superimposed on the reproduction of the environment surrounding the crawler vehicle .

[0018] Thanks to the present invention, it is possible to of fer an augmented reality experience to the driver of the crawler vehicle , so as to increase the quality and quantity of information that can be displayed and to enable easier and more accurate handling of the crawler vehicle .

[0019] In addition, the driver' s ability to view reference elements in the environment surrounding the crawler vehicle can be improved, as the driver is not forced to look through the windows of the driver' s cabin, which may be dirty or fogged up and, as a result , may partially obstruct the driver' s view outside the driver ' s cabin .

[0020] A further purpose of the present invention is to provide a control method for controlling a crawler vehicle that mitigates the drawbacks of the prior art disclosed herein .

[0021] In accordance with the present invention, a control method for controlling a crawler vehicle is provided, the control method comprising the steps of :

[0022] - providing a screen inside a driver' s cabin of the crawler vehicle ; acquiring operational data indicative of the environment surrounding the crawler vehicle ;

[0023] - processing the operational data acquired in such a way as to superimpose visual indicators on a reproduction of the environment surrounding the crawler vehicle ; and

[0024] - displaying said visual indicators superimposed on the reproduction of the environment surrounding the crawler vehicle on a screen .

[0025] With this method, it is possible to provide the driver of the crawler vehicle with clear and detailed information about the environment surrounding the crawler vehicle , in particular pointing out elements that require greater attention .

[0026] Brief Description of the Drawings

[0027] Further features and advantages of the present invention will become clear from the following description of a non-limiting embodiment example thereof , with reference to the accompanying figures , wherein :

[0028] - Figure 1 is a side view, with parts removed for clarity and schematised parts , of a crawler vehicle made in accordance with the present invention;

[0029] - Figure 2 is a perspective view, with parts removed for clarity and schematised parts , of a detail of the crawler vehicle in Figure 1 ; and

[0030] - Figures 3-5 are respective examples of screenshots displayed by a screen of the crawler vehicle in Figure 1 .

[0031] Detailed Description of the Figures

[0032] With reference to figure 1 , the number 1 denotes a crawler vehicle , which in the case illustrated is used for the preparation o f a snowpack M of ski runs . In particular, the crawler vehicle 1 is a snow groomer .

[0033] In more detail , the crawler vehicle 1 is used for the preparation of downhill ski runs , and / or cross-country ski runs , and / or ski-j umping ramps , and / or hal f-pipe ski runs , and / or snow-parks , and / or snowmobile tracks .

[0034] In accordance with a further embodiment , the crawler vehicle 1 can be used for the maintenance of sandy areas , such as beaches , or for agricultural operations , such as harvesting and / or handling of agricultural products and / or forage silage and / or bagasse harvesting and / or handling . In addition, in accordance with a further embodiment not shown in the accompanying figures , the crawler vehicle

[0035] 1 can comprise a shredder preferably positioned at the front of the crawler vehicle 1 and can be used for shredding vegetation .

[0036] In accordance with the present invention, the crawler vehicle 1 is conf igured to advance in a direction o f travel DI and comprises a chassis 2 ; a driver' s cabin 3 mounted on the chassis 2 ; an acquisition group 4 configured to acquire operational data indicative of an environment surrounding the crawler vehicle 1 ; a screen 5 , which is arranged within the driver ' s cabin 3 and is configured to display a screen; a control unit 6 , which is in communication with the acquisition group 4 and with the screen 5 and is configured to process the operational data acquired by the acquisition group 4 so as to superimpose visual indicators on a reproduction of the environment surrounding the crawler vehicle 1 and to control the screenshot displayed by the screen 5 so as to display said visual indicators superimposed on the reproduction of the environment surrounding the crawler vehicle 1 .

[0037] In addition, the crawler vehicle 1 comprises a seat 9 for a driver 10 arranged inside the driver ' s cabin 3 ; a pair of tracks 11 ( only one of which is visible in Figure 1 ) ; a pair of drive wheels 12 ( only one of which is visible in Figure 1 ) , each of which is coupled to a respective track 11 ; a propulsion system 13 , for example internal combustion or electric or hybrid or hydrogen-powered, configured to transmit power to the drive wheels 12 ; and an assembly of accessory devices 14 connected to the chassis

[0038] 2 . In the non-limiting embodiment of the present invention described and illustrated herein, the assembly of accessory devices 14 comprises a tiller 15 , a shovel 16 , and a winch 17 . I t is understood that the crawler vehicle 1 does not necessarily include all of the accessory devices 14 mentioned above . For example , the crawler vehicle 1 may comprise any one or two of the accessory devices 14 selected from the tiller 15 , shovel 16 and winch 17 .

[0039] In more detail , the control unit 6 is equipped with wireless connection capabilities , e . g . via a local communication network or via a mobile data network and an internet connection, for connection to a remote monitoring system 7 preferably for handling the operation of a ski resort .

[0040] In particular, the control unit 6 is in communication with the remote monitoring system 7 and is configured to send the operational data acquired by the acquisition unit 4 to the remote monitoring system 7 , to receive further operational data processed by the remote monitoring system 7 , and to control the screenshot displayed by the screen 5 according to the further operational data processed by the remote monitoring system 7 .

[0041] In more detail , the remote monitoring system 7 is configured to receive data from the control unit 6 , to process said received data, and to monitor and / or control a fleet of crawler vehicles 1 according to the processed data . In accordance with an embodiment , the remote monitoring system 7 implements arti ficial intelligence algorithms .

[0042] In particular, the control unit 6 is configured to process the operational data acquired by the acquisition unit 4 so as to generate videos and / or images , to superimpose visual indicators on the videos and / or images generated, and to control the screenshot displayed by the screen 5 so as to display said visual indicators superimposed on the videos and / or images generated .

[0043] Additionally or alternatively, the acquisition unit 4 is configured to directly acquire videos and / or images of the environment surrounding the crawler vehicle 1 and the control unit 6 is configured to control the screenshot displayed by the screen 5 so as to display said visual indicators superimposed on the acquired video and / or images .

[0044] In addition, the control unit 6 is configured to control the screenshot displayed by the screen 5 to reproduce operational information indicative of further operational data acquired, such as operational parameters of the crawler vehicle 1 and / or information on the operations to be performed and / or the characteristics of the environment surrounding the crawler vehicle 1 .

[0045] In the non-limiting embodiment described and illustrated herein of the present invention, the acquisition unit 4 comprises an acquisition device 18 facing in the direction of travel DI ; an acquisition device 19 facing in a direction D2 opposite to the direction of travel DI ; two acquisition devices 20 ( only one of which is visible in Figure 1 ) , each of which faces in the direction D2 and is configured to acquire operational data from an outer side portion of the driver' s cabin 3 ; and an acquisition device 21 , which faces in a direction transverse to the direction of travel DI and is configured to acquire operational data from an outer side portion of the driver' s cabin 3 .

[0046] In more detail , one of the two acquisition devices 20 is configured to acquire said operational data from a left side portion of the driver' s cabin 3 with respect to the position of the seat 9 and the other of the two acquisition devices 20 is configured to acquire said operational data from a right side portion of the driver' s cabin 3 with respect to the position of the seat 9 .

[0047] In accordance with a non-limiting embodiment of the present invention, each acquisition device 20 is configured to acquire videos and / or images corresponding to a view of the outside of the driver ' s cabin 3 that would be viewed by the driver 10 of the crawler vehicle 1 through a possible rear-view mirror, while said driver 10 is sitting on the seat 9 .

[0048] In particular, the acquisition device 19 is mounted on a rear portion of the crawler vehicle 1 , in a retracted position with respect to the direction of travel and / or the drive wheels 12 and / or the winch 17 , and is configured to capture videos and / or images of a portion of the snowpack M, preferably already processed, to the rear of the tiller 15 .

[0049] In accordance with a variant of the present invention, not shown in the accompanying figures , the acquisition device 19 is attached to the tiller 15 .

[0050] In accordance with further embodiments of the present invention, not shown in the accompanying figures , each acquisition device 18 , 19 , 20 , 21 may be mounted on the shovel 16 or winch 17 or along a ski run or on an aerial vehicle , preferably unmanned, such as an aerial drone .

[0051] In particular, each acquisition device 18 , 19 , 20 , 21 comprises a lidar and / or a radar and / or an infrared camera and / or a stereoscopic camera and / or a camera and / or a video camera preferably at 270 ° or 360 ° .

[0052] In addition, the crawler vehicle 1 comprises a sensor assembly 8 , which is in communication with the control unit 6 and is configured to detect additional operational data, such as operational parameters of the crawler vehicle 1 and / or information on the operations to be performed and / or the characteristics of the environment surrounding the crawler vehicle 1 .

[0053] In accordance with embodiments not shown in the accompanying figures , the sensor assembly 8 can be arranged on board additional crawler vehicles or on board an aerial vehicle , preferably unmanned, such as an aerial drone .

[0054] In particular, the sensor assembly 8 comprises a range sensor configured to detect a residual range of the crawler vehicle 1 ; and / or a status sensor configured to detect a state of operation of the propulsion system 13 or the assembly of accessory devices 14 ; and / or a recognition sensor configured to detect any obstacles around the crawler vehicle 1 ; and / or a lidar sensor configured to detect characteristics of the snowpack M .

[0055] In accordance with an embodiment , the control unit 6 is configured to control the screenshot displayed by the screen 5 according to the operating conditions of crawler vehicle 1 .

[0056] As an example , when crawler vehicle 1 advances in the direction of travel DI , the control unit 6 controls the screenshot displayed by the screen 5 in order to reproduce images and / or video acquired by the acquisition device 18 . Alternatively, when the crawler vehicle 1 reverses in the direction D2 , the control unit 6 controls the screenshot displayed by the screen 5 in order to reproduce images and / or videos acquired by the acquisition device 19 .

[0057] By way of example , when the driver 10 operates one of the accessory devices 14 , the control unit 6 controls the screenshot displayed by the screen 5 in order to reproduce the videos and / or images most relevant to the operations being performed . In particular, when the crawler vehicle 1 is working the snowpack M by means of the tiller 15 , the control unit 6 controls the screenshot displayed by the screen 5 so as to reproduce visual indicators superimposed on the images and / or videos acquired by the acquisition device 19 .

[0058] In addition, the control unit 6 comprises a processing module 22 configured to process the operational data acquired by the acquisition unit 4 in order to identi fy a position and / or a conformation of reference elements in the environment surrounding the crawler vehicle 1 and associate visual indicators with the identi fied reference elements . The control unit 6 is configured to control the screenshot displayed by the screen 5 to display visual indicators at the associated reference elements .

[0059] In particular, the processing module 22 is configured to detect a position of obj ects and / or living beings in the environment surrounding the crawler vehicle 1 according to said processed operational data and / or to determine a conformation of the environment surrounding the crawler vehicle 1 according to said processed operational data .

[0060] In more detail , the control unit 6 is configured to superimpose visual indicators on the reproduction of the environment surrounding the crawler vehicle 1 in order to detect and / or indicate the contours of each reference element .

[0061] In addition, the processing module 22 comprises a memory 23 in which a database containing comparison images of a plurality of di f ferent types of reference elements is stored . The processing module 22 is configured to classi fy each reference element according to the processed operational data and comparison images stored in the database .

[0062] By way of example , the processing module 22 is configured to classi fy each reference element as an obstacle or as a boundary element delimiting an area passable by the crawler vehicle 1 or as a component of the crawler vehicle 1 , for example the tiller 15 or the shovel 16 or the winch 17 .

[0063] In more detail , the processing module 22 comprises arti ficial intelligence algorithms , which preferably employ pre-trained convolutional neural networks for the detection and classi fication of the reference elements . In accordance with a non-limiting embodiment of the present invention, said arti ficial intelligence algorithms include obj ect detection models , such as the "YOLO - (You Only Look Once ) " model .

[0064] In addition, the processing module 22 is configured to process the operational data acquired by the acquisition unit 4 in order to identi fy speci fic areas in the environment surrounding the crawler vehicle 1 and associate visual indicators with said speci fic areas . By way of example , the processing module 22 is configured to detect pedestrian or hazardous area boundaries from the operational data acquired by each acquisition unit 4 . The control unit 6 is configured to control the screenshot displayed by the screen 5 to display visual indicators superimposed on said speci fic associated areas .

[0065] In particular, the processing module 22 is configured to define an area that can be traversed by the crawler vehicle 1 depending on the identi fied position and / or conformation of the reference elements , and to plan an optimal travelling path within the traversable area for the crawler vehicle 1 , so as to avoid collisions with any reference elements classi fied as obstacles .

[0066] In addition, the processing module 22 is configured to calculate a distance of each reference element identified by the crawler vehicle 1 . By way o f example , the processing module 22 implements a "Monocular Depth Estimation" type algorithm, which is configured to estimate the distance of the reference elements receiving as input the operational data acquired by each acquisition unit 4 .

[0067] The control unit 6 is configured to superimpose visual indicators indicating a distance to a reference element on the videos and / or images played in order to assist the driver 10 of the crawler vehicle 1 in manoeuvring .

[0068] In accordance with an embodiment , the visual indicators displayed in the screenshots of the screen 5 , are indicative of a path travelled or to be travelled by the crawler vehicle 1 and / or a reference position to be reached by the crawler vehicle 1 and / or a path travelled or to be travelled by an accessory device 14 of the crawler vehicle 1 and / or an area worked by an accessory device 14 of the crawler vehicle 1 and / or of boundaries of a work area in the environment surrounding the crawler vehicle 1 and / or of a reference element in the environment surrounding the crawler vehicle 1 and / or of a distance of a reference element from the crawler vehicle 1 and / or of a length of the crawler vehicle 1 measured along the direction of travel DI .

[0069] With reference to Figure 2 , the crawler vehicle 1 comprises a user interface 24 , which is in communication with the control unit 6 and is configured to receive commands from a driver of the crawler vehicle 1 and to transmit said commands to the control unit 6 , which is configured to control the screenshot displayed by the screen 5 according to the commands transmitted by the user interface 24 .

[0070] In the presently described and illustrated, nonlimiting embodiment of the present invention, the user interface 24 comprises a screen 25 , and a touch sensor 26 , which is integrated into the screen 25 and is configured to detect a touch or swipe on the screen 25 . In addition, the user interface 24 comprises a control lever 27 and / or a j oystick 28 .

[0071] In practice , the user interface 24 allows the driver to control the movement of the crawler vehicle 1 and the operation of accessory devices 14 . In particular, the control lever 27 and j oystick 28 are configured to drive the crawler vehicle 1 and to control the movements of the accessory devices 14 .

[0072] In accordance with an embodiment , the driver' s cabin 3 comprises a windscreen 29 ; two side windows 30 ; two side uprights 31 , each of which is arranged between the windscreen 29 and the respective side window 30 ; a lower platform 32 ; and a roof 33 . In particular, the seat 9 is mounted on the lower platform 32 in a central position of the driver ' s cabin 3 .

[0073] In the case described and illustrated here , screen 5 is placed in front of seat 9 and is supported by the lower platform 32 of the driver ' s cabin 3 . In particular, the screen 5 is mounted on the lower platform 32 near the windscreen 29 and extends hori zontally .

[0074] In addition, the crawler vehicle 1 comprises additional screens 34 , 35 arranged within the driver' s cabin 3 and configured to display a plurality of respective di f ferent screenshots .

[0075] In particular, the screens 34 and 35 are rear-view screens configured to display respective screenshots that reproduce the environment surrounding crawler vehicle 1 in the direction D2 opposite to the direction of travel DI ( Figure 1 ) .

[0076] In the present case , each screen 34 , 35 is arranged at a respective side portion of the windscreen 29 , preferably at the respective side uprights 31 . In particular, the control unit 6 is configured to control the screenshot displayed by the screen 34 so as to display visual indicators superimposed on the reproduction of the surrounding environment processed from the operational data acquired by one of the acquisition devices 20 and to control the screenshot displayed by the screen 35 so as to display visual indicators superimposed on the reproduction of the surrounding environment processed from the operational data acquired by the other of the acquisition devices 20 .

[0077] With reference to Figure 3 , an example is shown of a screenshot displayed by the screen 5 or 25 that reproduces the visual indicators 36 , 37 , 38 , 39 superimposed on the images and / or videos acquired by the acquisition device 18 ( Figure 1 ) .

[0078] In particular, the control unit 6 displays on the screen 5 or 25 the visual indicator 36 , which is indicative of a traj ectory to be travelled by the crawler vehicle 1 on the snowpack M; the visual indicator 37 , which is indicative of a traj ectory to be travelled by the shovel 16 on the snowpack M; visual indicators 38 , which are indicative of respective reference elements in the environment surrounding the crawler vehicle 1 ; the visual indicator 39 , which is indicative of a distance of a reference element from the crawler vehicle 1 ; and the visual indicator 40 , which is indicative of the boundaries of a work area in the environment surrounding the crawler vehicle 1 .

[0079] With reference to Figure 4 , an example is shown of a screenshot displayed by the screen 5 or 25 that reproduces the visual indicators 36 , 37 , 38 , 41 superimposed on the images and / or videos acquired by the acquisition device 19 ( Figure 1 ) .

[0080] In particular, the control unit 6 displays on the screen 5 or 25 the visual indicator 36 , which is indicative of a traj ectory travelled by the crawler vehicle 1 on the snowpack M; the visual indicator 37 , which is indicative of a traj ectory travelled by the tiller 15 on the snowpack M; the visual indicators 38 , which are indicative of respective reference elements in the environment surrounding the crawler vehicle 1 ; and the visual indicator 41 , which is indicative of boundaries of an area worked by the tiller 15 .

[0081] With reference to Figure 5 , an example is shown of a screenshot displayed by the screen 34 reproducing the visual indicators 36 , 37 , 38 , 41 superimposed on the images and / or videos acquired by one of the acquisition devices 20 ( Figure 1 ) . In particular, the control unit 6 displays on the screen 35 the visual indicator 36 , which is indicative of a traj ectory travelled by the crawler vehicle 1 on the snowpack M; the visual indicator 37 , which is indicative of a traj ectory travelled by the tiller 15 on the snowpack M; the visual indicator 38 , which is indicative of respective reference elements in the environment surrounding the crawler vehicle 1 ; and the visual indicator 41 , which is indicative of boundaries of an area worked by the tiller 15 . Finally, it is evident that variations can be made to the present invention without however departing from the scope of protection of the appended claims .

Claims

CLAIMS1. A crawler vehicle, preferably for preparing ski runs, the crawler vehicle (1) being configured to advance in a direction of travel (DI) and comprising: a chassis ( 2 ) ;- a driver's cabin (3) mounted on the chassis (2) ; an acquisition unit (4) configured to acquire operational data indicative of the environment surrounding the crawler vehicle (1) ;- a screen (5, 25, 34, 35) , which is arranged inside the driver's cabin (3) and is configured to display a screenshot; and- a control unit (6) , which is in communication with the acquisition unit (4) and with the screen (5, 25, 34, 35) and is configured to process the operational data acquired by the acquisition unit (4) so as to superimpose visual indicators (36, 37, 38, 39, 40, 41) on a reproduction of the environment surrounding the crawler vehicle (1) and to control the screenshot displayed by the screen (5, 25, 34, 35) so as to display said visual indicators (36, 37, 38, 39, 40, 41) superimposed on the reproduction of the environment surrounding the crawler vehicle ( 1 ) .

2. The crawler vehicle as claimed in claim 1, wherein the control unit (6) is configured to process the operational data acquired by the acquisition unit (4) so as to generate videos and / or images, to superimpose visual indicators (36, 37, 38, 39, 40, 41) on the videos and / or images generated, and to control the screenshot displayed by the screen (5, 25, 34, 35) so as to display said visual indicators (36, 37, 38, 39, 40, 41) superimposed on thevideos and / or images generated.

3. The crawler vehicle as claimed in claim 1 or 2, wherein the control unit (6) is configured to control the screenshot displayed by the screen (5, 25, 34, 35) according to the operating conditions of the crawler vehicle ( 1 ) .

4. The crawler vehicle as claimed in any one of the preceding claims, wherein the control unit (6) comprises a processing module (22) configured to process operational data acquired by the acquisition unit (4) so as to identify a position and / or conformation of reference elements in the environment surrounding the crawler vehicle and associate visual indicators (38) with the identified reference elements; the control unit (6) being configured to control the screenshot displayed by the screen (5, 25, 34, 35) so as to display the visual indicators (38) at the associated reference elements.

5. The crawler vehicle as claimed in claim 4, wherein the processing module (22) is configured to process the operational data acquired by the acquisition unit (4) so as to identify specific areas in the environment surrounding the crawler vehicle (1) and associate visual indicators (40, 41) with said specific areas; the control unit (6) being configured to control the screenshot displayed by the screen (5, 25, 34, 35) so as to display the visual indicators (40, 41) superimposed on said specific associated areas.

6. The crawler vehicle as claimed in any one of the preceding claims, wherein the acquisition assembly (4) comprises a first acquisition device (18) facing in the direction of travel (DI) and / or a second acquisition device(19) facing in a direction (D2) opposite the direction of travel (DI) and / or a third acquisition device (20) , which faces in a direction (D2) opposite to the direction of travel (DI) and is configured to acquire operational data from an outer side portion of the driver's cabin (3) , and / or a fourth acquisition device (21) , which faces in a direction transverse to the direction of travel (DI) and is configured to acquire operational data from an outer side portion of the driver's cabin (3) .

7. The crawler vehicle as claimed in claim 6, wherein each acquisition device (18, 19, 20, 21) comprises a lidar and / or a radar and / or an infrared camera and / or a stereoscopic camera and / or a camera and / or a video camera.

8. The crawler vehicle as claimed in any one of the preceding claims, wherein the visual indicators (36, 37, 38, 39, 40, 41) are indicative of a path travelled or to be travelled by the crawler vehicle (1) and / or a reference position to be reached by the crawler vehicle (1) and / or of a path travelled or to be travelled by an accessory device (14) of the crawler vehicle (1) and / or an area worked by an accessory device (14) of the crawler vehicle (1) and / or of boundaries of a work area in the environment surrounding the crawler vehicle (1) and / or of a reference element in the environment surrounding the crawler vehicle (1) and / or of a distance of a reference element from the crawler vehicle (1) and / or of a length of the crawler vehicle (1) measured along the direction of travel (DI) .

9. The crawler vehicle as claimed in any one of the preceding claims, and comprising a plurality of screens (5, 25, 34, 35) arranged inside the driver's cabin (3) and configured to display a plurality of respective differentscreenshots .

10. The crawler vehicle as claimed in claim 9, wherein the at least one screen (34, 35) of the plurality of screens is a rear-view screen configured to display a screenshot reproducing the environment surrounding the crawler vehicle (1) in a direction (D2) opposite the direction of travel (DI) .

11. The crawler vehicle as claimed in any one of the preceding claims, and comprising a user interface (24) , which is in communication with the control unit (6) , and is configured to receive commands from a driver (10) of the crawler vehicle (1) and to transmit said commands to the control unit (6) ; the control unit (6) being configured to control the screenshot displayed by the screen (5, 25, 34, 35) according to the commands transmitted by the user interface (24 ) .

12. The crawler vehicle as claimed in any one of the preceding claims, wherein the control unit (6) is in communication with a remote monitoring system (7) and is configured to send the operational data acquired by the acquisition unit (4) to the remote monitoring system (7) , to receive further operational data processed by the remote monitoring system (7) , and to control the screenshot displayed by the screen (5, 25, 34, 35) according to the further operational data processed by the remote monitoring system ( 7 ) .

13. A control method for controlling a crawler vehicle, the control method comprising the steps of:- providing a screen (5, 25, 34, 35) inside a driver's cabin (3) of the crawler vehicle (1) ; acquiring operating data indicative of theenvironment surrounding the crawler vehicle (1) ;- processing the operational data acquired in such a way as to superimpose visual indicators (36, 37, 38, 39, 40, 41) on a reproduction of the environment surrounding the crawler vehicle (1) ; and- displaying said visual indicators (36, 37, 38, 39, 40, 41) superimposed on the reproduction of the environment surrounding the crawler vehicle (1) in a screenshot of the screen (5, 25, 34, 35) .

Images