Patent Publication Number: US-2020296876-A1

Title: Track device for movement of a vehicle

Description:
FIELD 
     This disclosure relates generally to vehicles and, more particularly, to track devices for movement of vehicles. 
     BACKGROUND 
     Certain vehicles, including industrial vehicles such as agricultural vehicles (e.g., tractors, harvesters, combines, etc.), construction vehicles (e.g., loaders, excavators, bulldozers, etc.), and forestry vehicles (e.g., feller-bunchers, tree chippers, knuckleboom loaders, etc.), and military vehicles (e.g., military trucks, etc.), for example, are often equipped with ground-engaging wheels which may sometimes detrimentally affect their performance on soft, slippery and/or irregular grounds (e.g., soil, mud, sand, ice, snow, etc.) on which they may operate. 
     Some vehicles may be equipped with track systems to enhance their traction and/or floatation in off-road environments. For instance, some vehicles may be originally designed and manufactured with track systems, while other vehicles may have ground-engaging wheels that are replaced by track systems. 
     Although they are useful, track systems may be used less or be less readily available in some situations. For example, in some cases, track systems may be desirable under certain conditions (e.g., ground conditions) but not in other conditions. Also, in some cases, costs and/or installation times for track systems may discourage their use with certain vehicles. 
     For these and other reasons, there is a need to improve track technology for vehicles. 
     SUMMARY 
     In accordance with various aspects, this disclosure relates to an auxiliary track device for movement of a vehicle. The auxiliary track device may enhance traction and/or floatation of the vehicle, such as, for example, by being installable on the vehicle to convert the vehicle into a tracked one and/or by being deployable to engage the ground in certain situations, including where additional traction and/or floatation may be desirable based on an environment of the vehicle such as one or more characteristics of the ground (e.g., a compliance, such as a softness or hardness, a slipperiness, a soil compatibility, and/or a profile of the ground), a state of the vehicle (e.g., a speed of the vehicle, loading carried by the vehicle, etc.), a user&#39;s preferences (e.g., ride quality, etc.), and/or any other suitable factor. The auxiliary track device may be used only for traction and/or floatation of the vehicle or may be part of an implement to perform work with the vehicle. 
     For example, in accordance with an aspect, this disclosure relates to a track device for a vehicle. The track device includes a track system and a support for connecting the track device to the vehicle and supporting the track system. The track system includes a track for engaging the ground and a track-engaging assembly for driving and guiding the track around the track-engaging assembly. The support of the track device includes an attachment configured to be connected to a three-point hitch of the vehicle. 
     In accordance with another aspect, this disclosure relates to an implement for a vehicle. The implement includes a work element to perform work; a track system; and a powertrain. The track system includes a track for engaging the ground and a track-engaging assembly for driving and guiding the track around the track-engaging assembly. The track-engaging assembly includes a drive wheel for driving the track. The powertrain is configured to power the drive wheel to rotate the drive wheel. 
     In accordance with another aspect, this disclosure relates to a track device for a vehicle. The track device comprises a track system, a support for connecting the track device to the vehicle and supporting the track system, and a powertrain. The track system comprises a track for engaging the ground and a track-engaging assembly for driving and guiding the track around the track-engaging assembly. The track-engaging assembly comprises a drive wheel for driving the track. The powertrain is configured to power the drive wheel to rotate the drive wheel. The powertrain is configured to be connected to a power take-off of the vehicle. 
     These and other aspects of this disclosure will now become apparent to those of ordinary skill in the art upon review of the following description of embodiments in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A detailed description of embodiments is provided below, by way of example only, with reference to the accompanying drawings, in which: 
         FIGS. 1 and 2  shows an example of an embodiment of a vehicle comprising an auxiliary track device; 
         FIGS. 3 and 4  show a perspective view and a side view of a track system of the auxiliary track device; 
         FIGS. 5 to 8  show an outer plan view, a side view, an inner plan view, and a cross-sectional view of a track of the track system; 
         FIG. 9  shows the vehicle with the auxiliary track device retracted; 
         FIG. 10A  shows the auxiliary track device comprising a powertrain; 
         FIGS. 10B and 10C  show the auxiliary track device connected to a power take-off of the vehicle; 
         FIGS. 11A and 11B  show an example of an embodiment in which the auxiliary track device comprises an auxiliary three-point hitch connected to an implement for performing work; 
         FIGS. 12A and 12B  show an example of a three-point hitch; 
         FIG. 12C  shows another example of a three-point hitch; 
         FIG. 13  shows an example of an embodiment of a control system to control the auxiliary track device; 
         FIG. 14  shows an example of an embodiment of the control system that allows on-demand control of the auxiliary track device by a user of a communication device; 
         FIG. 15  shows an example of an embodiment of the communication device as part of a user interface of an operator cabin of the vehicle; 
         FIG. 16  shows an example of an embodiment in which the communication device is a personal communication device; 
         FIGS. 17 and 18  show an example of an embodiment of the communication device; 
         FIG. 19  shows an example of an embodiment of the control system to automatically control the auxiliary track device; 
         FIG. 20  shows an example of an embodiment of a sensor of the control system; 
         FIGS. 21 and 22  show examples of the sensor communicating with a processing entity of the control system via a communication link; 
         FIG. 23  shows an example of the processing entity of the control system; 
         FIGS. 24 to 31  show examples of the processing entity of the control system controlling the auxiliary track device based various parameters, such as a speed of the vehicle, a direction of motion of the vehicle, a profile of the ground, and/or a compliance of the ground; 
         FIGS. 32A to 32C  show an example of an embodiment of the auxiliary track device connected to a hydraulic system of the vehicle; 
         FIGS. 33A to 33C  show an example of an embodiment of the auxiliary track device comprising a powertrain that includes a power source; 
         FIGS. 34A to 34C  show an example of an embodiment in which the auxiliary track device is connected to ground-engaging wheels of the vehicle; 
         FIG. 35  shows an example of an embodiment in which an implement of the vehicle comprises a work element and the auxiliary track device; 
         FIG. 36  shows an example of an embodiment in which the implement including the work element and the auxiliary track device is connected to a power take-off of the vehicle; 
         FIG. 37  shows an example of an embodiment in which the implement including the work element and the auxiliary track device comprises an auxiliary three-point hitch; 
         FIG. 38  shows an example of an embodiment in which the implement including the work element and the auxiliary track device is connected to a hydraulic system of the vehicle; and 
         FIGS. 39A and 39B  shows an example of an embodiment in which the implement including the work element and the auxiliary track device comprises a powertrain that includes a power source. 
     
    
    
     It is to be expressly understood that the description and drawings are only for purposes of illustrating certain embodiments and are an aid for understanding. They are not intended to and should not be limiting. 
     DETAILED DESCRIPTION OF EMBODIMENTS 
       FIGS. 1 and 2  shows an example of an embodiment of a vehicle  10  comprising an auxiliary track device  12  for movement of the vehicle  10  on the ground. In this embodiment, the vehicle  10  is a heavy-duty work vehicle for performing agricultural, construction or other industrial work, or military work. More particularly, in this embodiment, the vehicle  10  is an agricultural vehicle for performing agricultural work. Specifically, in this example, the agricultural vehicle  10  is a tractor. 
     In this embodiment, the vehicle  10  comprises a frame  11 , a powertrain  15 , a steering mechanism  18 , a plurality of ground-engaging wheels  13   1 - 13   4 , and an operator cabin  20  that enable a user to move the vehicle  10  on the ground and perform work using an implement  19 . The vehicle  10  has a longitudinal direction, a widthwise direction and a heightwise direction. 
     As further discussed later, in this embodiment, the auxiliary track device  12  may enhance traction and/or floatation of the vehicle  10 , such as, for example, by being installable on the vehicle  10  to convert the vehicle  10  into a tracked one and/or by being deployable to engage the ground in certain situations, including where additional traction and/or floatation may be desirable based on an environment of the vehicle  10  such as one or more characteristics of the ground (e.g., a compliance, such as a softness or hardness, a slipperiness, a soil compatibility, and/or a profile of the ground), a state of the vehicle  10  (e.g., a speed of the vehicle  10 , loading carried by the vehicle  10 , etc.), the user&#39;s preferences (e.g., ride quality, etc.), and/or any other suitable factor. 
     The powertrain  15  is configured to generate power for the vehicle  10 , including motive power for the ground-engaging wheels  13   1 - 13   4  to propel the vehicle  10  on the ground. To that end, the powertrain  15  comprises a power source  14  (e.g., a primer mover) that includes one or more motors. For example, in this embodiment, the power source  14  comprises an internal combustion engine. In other embodiments, the power source  14  may comprise another type of motor (e.g., an electric motor) or a combination of different types of motor (e.g., an internal combustion engine and an electric motor). The powertrain  15  can transmit power from the power source  14  to one or more of the ground-engaging wheels  13   1 - 13   4  in any suitable way (e.g., via a transmission, a differential, a direct connection, and/or any other suitable mechanism). 
     In some embodiments, the powertrain  15  may also provide power for operation of one or more other devices, such as the implement  19  and/or the auxiliary track device  12 , as further discussed later. More particularly, in this embodiment, the powertrain  15  can provide power from the power source  14  to operate a three-point hitch  35  of the vehicle  10  (e.g., via a hydraulic system  33  of the vehicle  10 ) and comprises a power take-off (PTO)  30  to provide power from the power source  14 . 
     The operator cabin  20  is where the user sits and controls the vehicle  10 . More particularly, the operator cabin  20  comprises a user interface  70  allowing the user to steer the vehicle  10  on the ground, operate the implement  19 , and control other aspects of the vehicle  10 . In this embodiment, the user interface  70  comprises input devices, such as an accelerator, a brake control, and a steering device (e.g., a steering wheel, a stick, etc.) that are operated by the user to control motion of the vehicle  10  on the ground. The user interface  70  also comprises output devices such as an instrument panel (e.g., a dashboard) which provides indicators (e.g., a speedometer indicator, a tachometer indicator, etc.) to convey information to the user. In some embodiments, the user interface  70  may also allow the user to control the auxiliary track device  12 , as further discussed later. 
     The implement  19  is used to perform agricultural work. For example, in some embodiments, the implement  19  may include a planter, a combine head, a sprayer, a fertilizer, a tiller, a grain cart, or any other type of agricultural work implement. In this embodiment, the implement  19  is a trailed implement that is trailed behind the frame  11  of the vehicle  10 . 
     The ground-engaging wheels  13   1 - 13   4  engage the ground to provide traction to the vehicle  10 . Each of the ground-engaging wheels  13   1 - 13   4  is mounted to an axle of the vehicle  10  and may comprise a tire, which may be pneumatic or solid and made of rubber and/or other materials (e.g., an off-the-road (OTR) tire). 
     The auxiliary track device  12  is configured to engage the ground to facilitate movement of the vehicle  10  on the ground, such as by providing traction and/or floatation aid, i.e., additional traction and/or floatation to the vehicle  10  compared to if only the ground-engaging wheels  13   1 - 13   4  were used. 
     In some embodiments, the auxiliary track device  12  may be installed onto the vehicle  10  to convert the vehicle  10  into a tracked one. That is, the vehicle  10  may be originally designed, manufactured and provided with only the ground-engaging wheels  13   1 - 13   4 , and the auxiliary track device  12  may be subsequently mounted to the vehicle  10  (e.g., as an aftermarket accessory). In other embodiments, the auxiliary track device  12  may be provided during original manufacturing of the vehicle  10 . 
     In this example, the auxiliary track device  12  is selectively deployable onto and retractable from the ground based on various factors. For instance, the auxiliary track device  12  may be deployed to engage the ground in certain situations, including where additional traction and/or floatation may be desirable based on the environment of the vehicle  10  such as one or more characteristics of the ground (e.g., the compliance, such as the softness or hardness, the slipperiness, the soil compatibility, and/or the profile of the ground), the state of the vehicle  10  (e.g., the speed of the vehicle  10 , the loading carried by the vehicle  10 , etc.), the user&#39;s preferences (e.g., ride quality, etc.), and/or any other suitable factor. When less traction and/or floatation may be needed or desirable, the auxiliary track device  12  may be retracted such that it ceases to engage the ground. 
     In this embodiment, the auxiliary track device  12  comprises a plurality of track systems  16   1 , 16   2  for engaging the ground and a support  60  for connecting the auxiliary track device  12  to the vehicle  10  and supporting the track systems  16   1 , 16   2 . 
     With additional reference to  FIGS. 3 and 4 , in this embodiment, each track system  16   i  comprises a track-engaging assembly  17  and a track  41  disposed around the track-engaging assembly  17 . In this example, the track-engaging assembly  17  comprises a frame  44  and a plurality of track-contacting wheels that includes a drive wheel  42  and a plurality of idler wheels  50   1 - 50   4 , which includes leading idler wheels  50   1 ,  50   2  and trailing idler wheels  50   3 ,  50   4 . Also, in this example, the track-engaging assembly comprises a sliding surface  52  for sliding against the track  41 . The track system  16   i  has a front longitudinal end  57  and a rear longitudinal end  59  that define a length of the track system  16   i . A width of the track system  16   i  is defined by a width W T  of the track  41 . The track system  16   i  has a longitudinal direction, a widthwise direction, and a heightwise direction. 
     The track  41  engages the ground. A length of the track  41  allows the track  41  to be mounted around the track-engaging assembly  17 . In view of its closed configuration without ends that allows it to be disposed and moved around the track-engaging assembly  17 , the track  41  can be referred to as an “endless” track. Referring additionally to  FIGS. 5 to 8 , the track  41  comprises an inner side  45  facing the wheels  42 ,  50   1 - 50   4  and the sliding surface  52  of the track-engaging assembly  17  and a ground-engaging outer side  47  opposite the inner side  45  for engaging the ground. Lateral edges  63   1 ,  63   2  of the track  41  define its width W T . The track  41  has a top run  65  which extends between the longitudinal ends  57 ,  59  of the track system  16   i  and over the track-engaging assembly  17 , and a bottom run  66  which extends between the longitudinal ends  57 ,  59  of the track system  16   i  and under the track-engaging assembly  17 . The track  41  has a longitudinal direction, a widthwise direction, and a thicknesswise direction. 
     In this embodiment, the track  41  is elastomeric, i.e., comprises elastomeric material, allowing it to flex around the wheels  42 ,  50   1 - 50   4 . The elastomeric material of the track  41  can include any polymeric material with suitable elasticity. In this embodiment, the elastomeric material includes rubber. Various rubber compounds may be used and, in some cases, different rubber compounds may be present in different areas of the track  41 . In other embodiments, the elastomeric material of the track  41  may include another elastomer in addition to or instead of rubber (e.g., polyurethane elastomer). The track  41  can be molded into shape in a mold by a molding process during which its elastomeric material is cured. 
     More particularly, in this embodiment, the track  41  comprises an elastomeric belt-shaped body  36  underlying its inner side  45  and its ground-engaging outer side  47 . In view of its underlying nature, the body  36  can be referred to as a “carcass”. The carcass  36  comprises elastomeric material  37  which allows the track  41  to flex around the wheels  42 ,  50   1 - 50   4 . 
     In this embodiment, the carcass  36  comprises a plurality of reinforcements embedded in its elastomeric material  37 . One example of a reinforcement is a layer of reinforcing cables  38   1 - 38   C  that are adjacent to one another and that extend in the longitudinal direction of the track  41  to enhance strength in tension of the track  41  along its longitudinal direction. In some cases, a reinforcing cable may be a cord or wire rope including a plurality of strands or wires. In other cases, a reinforcing cable may be another type of cable and may be made of any material suitably flexible longitudinally (e.g., fibers or wires of metal, plastic or composite material). Another example of a reinforcement is a layer of reinforcing fabric  40 . Reinforcing fabric comprises pliable material made usually by weaving, felting, or knitting natural or synthetic fibers. For instance, a layer of reinforcing fabric may comprise a ply of reinforcing woven fibers (e.g., nylon fibers or other synthetic fibers). Various other types of reinforcements may be provided in the carcass  36  in other embodiments. 
     The carcass  36  may be molded into shape in the track&#39;s molding process during which its elastomeric material  37  is cured. For example, in this embodiment, layers of elastomeric material providing the elastomeric material  37  of the carcass  36 , the reinforcing cables  38   1 - 38   C  and the layer of reinforcing fabric  40  may be placed into the mold and consolidated during molding. 
     In this embodiment, the inner side  45  of the track  41  comprises an inner surface  32  of the carcass  36  and a plurality of wheel-contacting projections  48   1 - 48   N  that project from the inner surface  32  to contact at least some of the wheels  42 ,  50   1 - 50   4  and that are used to do at least one of driving (i.e., imparting motion to) the track  41  and guiding the track  41 . In that sense, the wheel-contacting projections  48   1 - 48   N  can be referred to as “drive/guide projections”, meaning that each drive/guide projection is used to do at least one of driving the track  41  and guiding the track  41 . Also, such drive/guide projections are sometimes referred to as “drive/guide lugs” and will thus be referred to as such herein. More particularly, in this embodiment, the drive/guide lugs  48   1 - 48   N  interact with the drive wheel  42  in order to cause the track  41  to be driven, and also interact with the idler wheels  50   1 - 50   4  in order to guide the track  41  as it is driven by the drive wheel  42 . The drive/guide lugs  48   1 - 48   N  are thus used to both drive the track  41  and guide the track  41  in this embodiment. 
     In this example, each of the drive/guide lugs  48   1 - 48   N  is an elastomeric drive/guide lug in that it comprises elastomeric material  68 . The drive/guide lugs  48   1 - 48   N  can be provided and connected to the carcass  36  in the mold during the track&#39;s molding process. 
     The ground-engaging outer side  47  of the track  41  comprises a ground-engaging outer surface  31  of the carcass  36  and a plurality of traction projections  58   1 - 58   M  that project from the outer surface  31  and engage and may penetrate into the ground to enhance traction. The traction projections  58   1 - 58   M , which can sometimes be referred to as “treads”, “traction lugs” or “traction profiles”, are spaced apart in the longitudinal direction of the track system  16   i . The traction projections  61   1 - 61   M  may be arranged in any suitable way. 
     In this example, each of the traction projections  58   1 - 58   M  is an elastomeric traction projection in that it comprises elastomeric material  69 . The traction projections  58   1 - 58   M  can be provided and connected to the carcass  36  in the mold during the track&#39;s molding process. 
     The track  41  may be constructed in various other ways in other embodiments. For example, in some embodiments, the track  41  may comprise a plurality of parts (e.g., rubber sections) interconnected to one another in a closed configuration, the track  41  may have recesses or holes that interact with the drive wheel  42  in order to cause the track  41  to be driven (e.g., in which case the drive/guide lugs  48   1 - 48   N  may be used only to guide the track  41  without being used to drive the track  41 ), and/or the ground-engaging outer side  47  of the track  41  may comprise various patterns of traction projections. 
     The drive wheel  42  is rotatable about an axis of rotation  49  for driving the track  41  around the track-engaging assembly  17 . In this embodiment, the drive wheel  42  comprises a drive sprocket engaging the drive/guide lugs  48   1 - 48   N  of the inner side  45  of the track  41  in order to drive the track  41 . In this case, the drive sprocket  42  comprises a plurality of drive members  46   1 - 46   T  (e.g., bars, teeth, etc.) distributed circumferentially of the drive sprocket  42  to define a plurality of lug-receiving spaces therebetween that receive the drive/guide lugs  48   1 - 48   N  of the track  41 . 
     In this embodiment, the drive wheel  42  is disposed between the leading idler wheels  50   1 ,  50   2  and the trailing idler wheels  50   3 ,  50   4  and such that the top run  65  of the track  41  projects upwardly above the drive wheel  42 . More particularly, in this embodiment, the axis of rotation  49  of the drive wheel  42  is equidistant from axes of rotation of the leading idler wheels  50   1 ,  50   2  and axes of rotation of the trailing idler wheels  50   3 ,  50   4  and the drive wheel  42  is disposed to define an apex  64  of the top run  65  of the track  4  above the drive wheel  42 . 
     The drive wheel  42  may be configured in various other ways in other embodiments. For example, in embodiments where the track  41  comprises recesses or holes, the drive wheel  42  may have teeth that enter these recesses or holes in order to drive the track  41 . As yet another example, in some embodiments, the drive wheel  42  may frictionally engage the inner side  45  of the track  41  in order to frictionally drive the track  41 . 
     The idler wheels  50   1 - 50   4  are used to do at least one of supporting part of a weight of the track system  16   i  on the ground via the track  41 , guiding the track  41  as it is driven by the drive wheel  42 , and tensioning the track  41 . The idler wheels  50   1 - 50   4  may be arranged in other configurations and/or the track system  16   i  may comprise more or less idler wheels in other embodiments. For example, in other embodiments, the track-engaging assembly  17  may comprise roller wheels between the leading idler wheels  50   1 ,  50   2  and the trailing idler wheels  50   7 ,  50   8  to roll on the bottom run  66  of the track  41 . 
     The sliding surface  52  of the track-engaging assembly  17  is configured to slide against the bottom run  66  of the track  41 . In this embodiment, the track-engaging assembly  17  comprises a slider  53  that includes the sliding surface  52  and is affixed to a bottom of the frame  44 . In some examples, the slider  53  may comprise a low-friction material which may reduce friction between its sliding surface  52  and the inner side of the track  41 . For instance, the slider  53  may comprise a polymeric material having a low coefficient of friction with the rubber of the track  41 , such as nylon, a Hifax® polypropylene, any other suitable material in other embodiments. In some embodiments, the sliding surface  52  of the slider  53  may comprise a coating (e.g., a polytetrafluoroethylene (PTFE) coating) that reduces friction between it and the inner side of the track  41 , while a remainder of the slider  53  may comprise any suitable material (e.g., a metallic material, another polymeric material, etc.). In other embodiments, the sliding surface  52  may be an integral part of the frame  44  of the track-engaging assembly  17 , i.e., not part of any slider separate from and affixed to the frame  44 . 
     The frame  44  of the track system  16   i  supports components of the track system  16   i , including the idler wheels  50   1 - 50   4 . More particularly, in this embodiment, the leading idler wheels  50   1 ,  50   2  are mounted to the frame  44  in a front longitudinal end region of the frame  44  proximate the front longitudinal end  57  of the track system  16   i , while the trailing idler wheels  50   3 ,  50   4  are mounted to the frame  44  in a rear longitudinal end region of the frame  44  proximate the rear longitudinal end  59  of the track system  16   i . 
     The support  60  of the auxiliary track device  12  is configured to connect the auxiliary track device  12  to the vehicle  10  and support components of the auxiliary track device  12 , including the track systems  16   1 , 16   2 . More particularly, in this embodiment, the support  60  comprises an attachment  61  to attach the auxiliary track device  12  to the vehicle  10  and a frame  71  supporting the track systems  16   1 , 16   2 . 
     In this embodiment, the auxiliary track device  12  is connectable to the vehicle  10  such that the track systems  16   1 , 16   2  are located behind rear ones of the ground-engaging wheels  13   1 - 13   4  of the vehicle  10 . That is, at least part of each of the track systems  16   1 , 16   2  is located behind the rear ones of the ground-engaging wheels  13   1 - 13   4  when the auxiliary track device  12  is connected to the vehicle  10 . More particularly, in this embodiment, at least a majority of each of the track systems  16   1 , 16   2  is located behind the rear ones of the ground-engaging wheels  13   1 - 13   4  when the auxiliary track device  12  is connected to the vehicle  10 . In this case, an entirety of each of the track systems  16   1 , 16   2  is located behind the rear ones of the ground-engaging wheels  13   1 - 13   4  when the auxiliary track device  12  is connected to the vehicle  10 . 
     In this example, the track systems  16   1 , 16   2  overlap with respective ones of the rear ones of the ground-engaging wheels  13   1 - 13   4  in the widthwise direction of the vehicle  10  when the auxiliary track device  12  is connected to the vehicle  10 . That is, at least part of each of the track systems  16   1 , 16   2  is aligned with at least part of a respective one of the rear ones of the ground-engaging wheels  13   1 - 13   4  in the widthwise direction of the vehicle  10  when the auxiliary track device  12  is connected to the vehicle  10 . The track systems  16   1 , 16   2  may thus be in line with the ground-engaging wheels  13   1 - 13   4  (e.g., at a same spacing from one another as the ground-engaging wheels  13   1 - 13   4  in the widthwise direction of the vehicle  10 ). 
     More particularly, in this embodiment, the auxiliary track device  12  is connectable to the three-point hitch  35  of the vehicle  10 . The auxiliary track device  12  may thus be movable, including to be raised or lowered, relative to the frame  11  of the vehicle  10  by operation of the three-point hitch  35 . For example, in some embodiments, with additional reference to  FIGS. 1 and 9 , the auxiliary track device  12  may be movable between a deployed position in which the track systems  16   1 , 16   2  engage the ground, such as when additional traction and/or floatation is desirable, and a retracted position in which the track systems  16   1 , 16   2  are off the ground, such as when additional traction and/or floatation may not be desired or needed. 
     In this example, with additional reference to  FIGS. 12A and 12B , the attachment  61  of the auxiliary track device  12  is configured to be attached to the three-point hitch  35  of the vehicle  10 . More particularly, in this example, the attachment  61  comprises a plurality of attachment members  173   1 - 173   A . In this case, the attachment members  173   1 - 173   A  comprise a plurality of arms  175   1 - 175   2  rigidly connected to each other. The arms  175   1 - 175   2  may be of any suitable shape. In this example, the arm  175   1  of the attachment  61  is generally horizontal relative to the ground and the arm  175   2  is perpendicular to the arm  175   1 , such that a lower end of the arm  175   2  is coincident with a center of the arm  175   1 . The attachment members  173   1 - 173   A  also comprises attachment points  177   1 - 177   3  that are configured to connect to the three-point hitch  35 . Two lower ones of the attachment points  177   1 - 177   3  are located at two ends of the arm  175   1  and an upper one of the attachment points  177   1 - 177   3  is located at an upper end of the arm  175   2  of the attachment members  173   1 - 173   A . Each of the attachment points  177   1 - 177   3  may be of any suitable form. In this example, the two lower attachment points  177   1  and  177   3  are pins connected to each end of the arm  175   1  of the attachment members  173   1 - 173   A , while the upper attachment point  177   2  is a pin connected to connected to an upper end of the arm  175   2 . In other cases, at least one of the attachment points  177   1 - 177   3  may be a concave cover configured to house a spherical hitch. In other cases, at least one of the attachment points  177   1 - 177   3  may be a hook. In other cases, the attachment points  177   1 - 177   3  may be implemented in any other way. The attachment points  177   1 - 177   3  of the attachment members  173   1 - 173   A  are configured to be connected to links  187   1 - 187   3  of the three-point hitch  35  of the vehicle  10 . 
     The three-point hitch  35  comprises a frame  181  fixed to the frame  11  of the vehicle  10  and three connecting arms  183   1 - 183   3 . In this embodiment, the connecting arms  183   1 - 183   3  are lower connecting arms and the connecting arm  183   2  is an upper connecting arm. The upper connecting arm is generally in the middle of lower connecting arms  183   1  and  183   3  in the widthwise direction of the vehicle  10 . 
     Each of the lower connection arms  183   1  and  183   3  comprises a draft link  184  that is pivotably attached to the frame  181  and pivotably attached to one of the attachment points  177   1 - 177   3  at a link  187   N . Each of the lower connection arms  183   1  and  183   3  further comprises a sway bar  185  that is pivotably attached to the frame  181  and pivotably attached to the draft link  184 . The sway bar  185  stabilizes and controls the draft link in a lateral direction and may comprise an actuator (e.g., a piston-cylinder arrangement). Each of the lower connection arms  183   1  and  183   3  also comprises a lift arm  186 , a lift link  188  and a hitch cylinder  189 . The lift arm  186  is pivotably attached to the frame  181  and pivotably attached to the lift link  188 , while the lift link  188  is otherwise pivotably attached to the draft link  184 . The lift arm  186 , the lift link  188  and the hitch cylinder  189  stabilize and control the draft link  184  in a heightwise direction and allow deploying and retracting the auxiliary track device  12 . For this purpose, the hitch cylinder pivotably connects the frame  181  and the lift link  186  and comprises an actuator (e.g., a piston-cylinder arrangement). 
     The upper connection arm  183   2  comprises an actuator (e.g., a piston-cylinder arrangement) that is pivotably attached to the frame  181  and pivotably attached to one of the attachment points  177   1 - 177   3  at a link  187   N . 
     In another example, with additional reference to  FIG. 12C , the three-point hitch  35  may comprise a frame  281  fixed to the frame  11  of the vehicle  10  and a plurality of members  283   1 - 283   M  that are directly or indirectly connected to the frame  281  of the three-point hitch  35 . In this example, the members  283   1 - 283   M  comprise lower connecting arms  284   1 - 284   2 , an upper connecting arm  285 , and structural arms  286   1 - 286   5 . The lower connecting arms  284   1 - 284   2  are connected to the frame  281  of the three-point hitch  35 , are pivotable relative to the frame  281  and are generally parallel one to another. The structural arms  286   1 - 286   2  are also connected to the frame  281  of the three-point hitch  35 , are pivotable relative to the frame  281  and are generally parallel one to another. The structural arms  286   1 - 286   2  are generally higher relative to the ground than the lower connecting arms  284   1 - 284   2 . The structural arm  286   3  connects to an end of each of the structural arms  286   1 - 286   2 , is pivotable relative to each of the structural arms  286   1 - 286   2  and is generally parallel to the ground. Each of the structural arms  286   4 - 286   5  connects the structural arm  286   3  and a given one of the lower connecting arms  284   1 - 284   2 , and is pivotable relative to the structural arm  286   3  and the given one of the lower connecting arms  284   1 - 284   2 . The upper connecting arm  285  is connected to the structural arm  286   3  and is pivotable relative to the structural arm  286   3 . The links  287   1 - 287   3  of the three-point hitch  35  are located at a rear end of the lower connecting arms  284   1 - 284   2  and the upper connecting arm  285  of the three-point hitch  35 . In this example, the members  283   1 - 283   M  further comprise a hydraulic actuator  289  (e.g., a piston-cylinder arrangement) powered by the vehicle  10 , connected to the frame  281  of the three-point hitch  35  and to the structural arm  286   3  of the three-point hitch  35 , pivotable relative to the frame  281  of the three-point hitch  35  and pivotable relative to the structural arm  286   3  of the three-point hitch  35 . The hydraulic actuator  289  of the three-point hitch allows the vehicle  10  to rotate the three-point hitch  35  relative to the vehicle  10 . 
     The links  187   1 - 187   3  may be of any suitable form. In this example, each of the lower links  187   1  and  187   3  comprises a hole configured to house a given one of the lower attachment points  177   1  and  177   3  of the attachment members  173   1 - 173   A  of the attachment  61  of the auxiliary track device  12 . The lower links  187   1  and  187   3  are connected to the lower attachment points  177   1  and  177   3  of the attachment members  173   1 - 173   A . The lower attachment points  177   1  and  177   3 , being housed in the lower links  187   1  and  187   3 , may be secured by any suitable device, such as a smaller pin or a retaining ring. The upper link  187   2  comprises a hole configured to house the upper attachment point  177   2  of the attachment members  173   1 - 173   A . In this example, the upper link  187   2  may be at a distance relative to the frame  181  of the three-point hitch  35  that is different than the distance between each of the lower links  187   1  and  187   3 , and the frame  181  of the three-point hitch  35 , depending on the hydraulic actuator  189  of the three-point hitch  35 . In other examples, the links  187   1 - 187   3  may have any other suitable configuration and/or suitable shape, such as a spherical shape configured to be housed within each of the attachment points of the attachment members  173   1 - 173   A  In other examples, the links  187   1 - 187   3  may have any other suitable configuration and/or suitable shape, such as the shape of a hook configured to connect to each of the attachment points of the attachment members  173   1 - 173   A . 
     The three-point hitch  35  may comprise other parts, such as structural arms, hydraulic stabilizing arms, a drawbar, or any other suitable part, and/or may be implemented in any other suitable way in other embodiments. 
     In this embodiment, the auxiliary track device  12  is powered to further enhance traction of the vehicle  10 . That is, as shown in  FIG. 10A , the auxiliary track device  12  comprises a powertrain  81  to provide power to the drive wheel  42  of each of the track systems  16   1 , 16   2  to rotate the drive wheel  42  of that track system in order to move the track  41  of that track system. 
     Power may be provided to the auxiliary track device  12  in any suitable way. In this embodiment, with additional reference to  FIG. 10B , the auxiliary track device  12  is connectable to the power take-off  30  of the vehicle such that power for the auxiliary track device  12  is derived from the power source  14  of the vehicle  10 . The attachment  61  of the auxiliary track device  12  comprises a power take-off link  75  connectable to the power take-off  30  to receive power from the power take-off  30 , while the powertrain  81  comprises a transmission  76  to transmit power to the drive wheel  42  of each of the track systems  16   1 , 16   2 . 
     In this example, with additional reference to  FIG. 10C , the power take-off link  75  links an input shaft  77  to an output shaft  78  of the power take-off  30 . The power take-off link  75  comprises two universal joints. The transmission  76  comprises gearing  80  to transmit power at the input shaft  77  to the drive wheel  42  of each of the track systems  16   1 , 16   2 . The gearing  80  comprises an input connected to the input shaft  77  and an output connected to the drive wheel  42  of each of the track systems  16   1 , 16   2  such that rotation of the input shaft  77  causes rotation of the drive wheel  42  of each of the track systems  16   1 , 16   2 . 
     In some embodiments, such as where the auxiliary track device  12  is connected to the three-point hitch  35  of the vehicle  10 , as shown in  FIGS. 11A and 11B , the auxiliary track device  12  may comprise an auxiliary three-point hitch  85  allowing the implement  19  to be connected even if the three-point hitch  35  of the vehicle  10  is taken to connect the auxiliary track device  12 . 
     The auxiliary three-point hitch  85  of the auxiliary track device  12  may emulate the three-point hitch  35  of the vehicle  10  so that the implement  19  may be mounted and used as if it were mounted to the three-point hitch  35  of the vehicle  10 . In this embodiment, the auxiliary three-point hitch  85  of the auxiliary track device  12  comprises a plurality of arms  87   1 - 87   T  connectable to the implement  19  and a control mechanism  88  configured to control the implement  19  when connected to the arms  87   1 - 87   T . For example, the control mechanism  88  may comprise a plurality of actuators  89   1 - 89   C  to move the implement  19 , including to raise or lower the implement  19 , relative to the frame  11  of the vehicle  10  by operation of the three-point hitch  85  of the auxiliary track device  12 . For instance, the actuators  89   1 - 89   C  may be hydraulic actuators (i.e., piston-cylinder arrangements) connected to the hydraulic system  33  of the vehicle  10  (e.g., via hydraulic lines) and acting on respective ones of the arms  87   1 - 87   T  to move the implement  19 . 
     With additional reference to  FIG. 13 , in this embodiment, the vehicle  10  comprises a control system  100  configured to control the auxiliary track device  12 , such as to selectively deploy and retract the auxiliary track device  12  onto and from the ground and/or to apply power to the track systems  16   1 , 16   2  (e.g., to the drive wheel  42  of each of the track systems  16   1 , 16   2 ) and/or other components of the auxiliary track device  12 . 
     In this embodiment, the control system  100  comprises a processing entity  104  configured to control the three-point hitch  35  and the power take-off  30  of the vehicle  10  in order to control the auxiliary track device  12 . More particularly, in this embodiment, the control system  100  is configured to control the auxiliary track device  12  in response to one or more commands. As further discussed below, in various embodiments, these commands, which may be referred to as “auxiliary-track-device-control (ATDC) commands”, may be generated automatically by the processing entity  104  and/or may be provided to the processing entity  104  by an individual such as the user of the vehicle  10 . Based on the ATDC commands, the processing entity  104  is configured to issue signals to control the three-point hitch  35  and/or the power take-off  30  of the vehicle  10  in order to control the auxiliary track device  12 . 
     For example, with additional reference to  FIG. 14 , in some embodiments, the control system  100  may be configured to allow an individual such as the user of the vehicle  10  to control the auxiliary track device  12 . The ATDC commands may thus be provided to the processing entity  104  by the user to control the auxiliary track device  12  “on-demand”. 
     A communication device  130  can be used by the user to communicate with the processing entity  104 . The communication device  130  comprises an input component  140  that the user can act upon to input the ATDC commands in order to control the auxiliary track device  12 . For example, in some embodiments, the input component  140  may comprise a mechanical input element, such as a button, a switch, a lever, a dial, a knob, or any other physical element, and/or a virtual input element, such as a virtual button or other virtual control of a graphical user interface (GUI) displayed on a screen that the user can act upon to control the auxiliary track device  12 . 
     The communication device  130  may also comprise an output component  145  that can convey information about the auxiliary track device  12  (e.g., a state of the auxiliary track device  12 , including whether the auxiliary track device  12  is in the deployed position or the retracted position, a rotational speed of the drive wheel  42  of each of the track systems  16   1 , 16   2 , etc.) to the user in order to facilitate its control. In some embodiments, the output component  145  may comprise a display for displaying information to the user or a speaker for emitting sound (e.g., an alarm, an utterance, etc.). For example, in some embodiments, the output component  145  may indicate whether the auxiliary track device  12  is in the deployed position or the retracted position and a suggested change in that position depending on whether more or less traction and/or floatation may be desirable in a current environment of the vehicle  10 . 
     For example, in some embodiments, with additional reference to  FIG. 15 , the communication device  130  may be part of the user interface  70  of the operator cabin  20  of the vehicle  10  (e.g., the input component  140  of the communication device  130  may be part of the instrument panel of the vehicle  10 ). 
     As another example, in some embodiments, with additional reference to  FIG. 16 , the communication device  130  may be a personal communication device (e.g., a smartphone, a computer, etc.) or other device that is usable by the user and distinct from and not built into the user interface  70  of the operator cabin  20  of the vehicle  10 . This may be useful, for instance, in situations where the vehicle  10  was not originally manufactured with the auxiliary track device  12  and/or is not readily modifiable to allow interaction between the control system  100  and the user interface  70  and/or other original components of the vehicle  10 . 
     The communication device  130  may interact with the processing entity  104  of the control system  100  over a communication link  155 , which may be wireless and/or wired (e.g., Bluetooth or other short-range or near-field wireless connection, WiFi or other wireless LAN, WiMAX or other wireless WAN, cellular, Universal Serial Bus (USB), etc.). For example, in some embodiments, the communication device  130  may be:
         a smartphone or other wireless phone; a tablet computer; a head-mounted display, smartwatch or other wearable device; or any other communication device carried, worn or otherwise associated with the user;   a server or other computing entity (e.g., implementing a website) associated with: the user; an organization associated with the user; a manufacturer of the auxiliary track device  12  and/or of the vehicle  10 ; a retailer, distributor, or other vendor of the auxiliary track device  12  and/or the vehicle  10 ; or any other party who may have an interest in the auxiliary track device  12  and/or the vehicle  10 ;   etc.       

     In some cases, such as where the communication device  130  is a smartphone, tablet, head-mounted display, smartwatch, or other communication device carried or worn by the user, communication between the communication device  130  and the processing entity  104  of the control system  100  may be direct, i.e., without any intermediate device. For instance, in some embodiments, this can be achieved by pairing (e.g., Bluetooth pairing) the communication device  130  and the processing entity  104  of the control system  100 . In other cases, such as where the communication device  130  is remote from the processing entity  104  of the control system  100 , communication between the communication device  130  and the processing entity  104  of the control system  100  may be indirect, e.g., through one or more networks and/or one or more additional communication devices. For example, in some embodiments, the processing entity  104  of the control system  100  may communicate (e.g., via the transmitter  164  and/or the receiver  162  of the processing entity  104 ) with a WiFi hotspot or cellular base station, which may provide access to a service provider and ultimately the Internet or another network, thereby allowing the processing entity  104  of the control system  100  and the communication device  130  to communicate. 
     For example, in some embodiments, the communication device  130  may be a smartphone or other mobile phone, a tablet, a smart watch, head-mounted display or other wearable device, or any other communication device that may be carried by the user, and the communication link  155  may be a short-range wireless link (e.g., Bluetooth) or a wired link (e.g., USB); in other embodiments, the communication device  130  may be a server or other computing entity or a smartphone or other mobile phone, a tablet, a smart watch, head-mounted display or other wearable device, or any other communication device that may be carried by the user and the communication link  155  may be implemented by a data network such as the Internet over a wired connection and/or a wireless connection (e.g., WiFi, WiMAX, cellular, etc.); and, in other embodiments, the communication device  130  may be a server or other computing entity and the communication link  155  may be implemented over a wireless connection using, for instance, dedicated short-range communication (DSRC), IEEE 802.11, Bluetooth and CALM (Communications Access for Land Mobiles), RFID, etc. 
     In some embodiments, an application (“app”, i.e., software) may be installed on the communication device  130  to interact with the processing entity  104  of the control system  100  of the vehicle  10 . For example, in some embodiments, such as where the communication device  130  is a smartphone, a tablet, a computer, etc., the user may download the app from a repository (e.g., Apple&#39;s App Store, iTunes, Google Play, Android Market, etc.) or any other website onto the communication device  130 . Upon activation of the app on the communication device  130 , the user may access certain features relating to the control system  100  of the vehicle  10  locally on the communication device  130 . In addition, a data connection can be established over the Internet with a server of which executes a complementary server-side application interacting with the app on the communication device  130 . 
     For example, in some embodiments, the communication device  130  may be a smartphone of the user of the vehicle  10 , onto which an app to interact with the control system  100  of the vehicle  10  has been installed (e.g., downloaded). 
     In various embodiments, as shown in  FIGS. 17 and 18 , the communication device  130  (e.g., whether part of the user interface  70  of the operator cabin  20 , or a personal communication device such as a smartphone, tablet, computer, etc.) may comprise a user interface  137  and a processing entity  139 . The user interface  137  comprises the input component  140  and, if applicable, the output component  145  (e.g., buttons, knobs, etc., a display, a speaker, etc., of the operator cabin  20 , of a smartphone, etc.). The processing entity  139  comprises an interface  146 , a processing portion  147 , and a memory portion  149 , which are implemented by suitable hardware and software. 
     The interface  146  comprises one or more inputs and outputs allowing the processing entity  139  to receive input signals from and send output signals to other components to which the processing entity  139  is connected (i.e., directly or indirectly connected). For example, in this embodiment, an output of the interface  146  is implemented by a transmitter (e.g., a wireless transmitter) to transmit a signal to the processing entity  104  of the control system  100  or the user interface  137 . An input of the interface  146  is implemented by a receiver to receive a signal from the user interface  137  or the processing entity  104  of the control system  100 . 
     The processing portion  147  comprises one or more processors for performing processing operations that implement functionality of the processing entity  139 . A processor of the processing portion  147  may be a general-purpose processor executing program code stored in the memory portion  149 . Alternatively, a processor of the processing portion  147  may be a specific-purpose processor comprising one or more preprogrammed hardware or firmware elements (e.g., application-specific integrated circuits (ASICs), electrically erasable programmable read-only memories (EEPROMs), etc.) or other related elements. 
     The memory portion  149  comprises one or more memories for storing program code executed by the processing portion  147  and/or data used during operation of the processing portion  147 . A memory of the memory portion  149  may be a semiconductor medium (including, e.g., a solid-state memory), a magnetic storage medium, an optical storage medium, and/or any other suitable type of memory. A memory of the memory portion  149  may be read-only memory (ROM) and/or random-access memory (RAM), for example. 
     In some embodiments, two or more elements of the processing entity  139  may be implemented by devices that are physically distinct from one another and may be connected to one another via a bus (e.g., one or more electrical conductors or any other suitable bus) or via a communication link which may be wired. In other embodiments, two or more elements of the processing entity  139  may be implemented by a single integrated device. 
     With additional reference to  FIG. 19 , in some embodiments, the control system  100  may automatically control (i.e., without user input) the auxiliary track device  12 . The ATDC commands may thus be automatically generated by the processing entity  104  to control the auxiliary track device  12 . 
     Automatic control of the auxiliary track device  12  by the control system  100  may be effected based on various information. For example, in some embodiments, this information may include:
         information regarding the state of the vehicle  10 , such as, for example, the speed of the vehicle  10 ; the direction of motion of the vehicle  10 ; a parameter of the powertrain  15  of the vehicle  10  (e.g., a speed of a motor of the power source  14 , a ratio of a transmission, etc.), loading on the vehicle  10 , and/or any other parameter that pertains to the state of the vehicle  10 ;   information regarding the environment of the vehicle  10 , such as, for example, the compliance, such as the softness or hardness, the slipperiness, the soil compatibility, and/or the profile of the ground, and/or any other parameter that pertains to the environment of the vehicle  10 ;   information regarding the state of the auxiliary track device  12 , such as, for example: a speed and/or a direction of motion of the track  41  around the track-engaging assembly  17  of each of the track systems  16   1 , 16   2 . a tension of the track  41  of each of the track systems  16   1 , 16   2 , and/or any other parameter that pertains to the state of the auxiliary track device  12 ; and/or   any other information that may be relevant to controlling the auxiliary track device  12 .       

     In this embodiment, the control system  100  comprises a plurality of sensors  84   1 - 84   s  for sensing parameters of the vehicle  10  to provide parts of the information used to control the auxiliary track device  12  to the processing entity  104 . For example, in some embodiments, the parameters of the vehicle  10  that can be sensed by the sensors  84   1 - 84   s  may include:
         the speed of the vehicle  10 ;   the direction of motion of the vehicle  10 ;   the speed of a motor of the power source  14 ;   the loading on the vehicle  10 ;   the compliance, such as the softness or hardness, the slipperiness, the soil compatibility, and/or the profile of the ground;   the speed and/or the direction of motion of the track  41  around the track-engaging assembly  17  of each of the track systems  16   1 , 16   2 ;   a physical characteristic (e.g., a temperature, etc.) of the track  41  of each of the track systems  16   1 , 16   2 ;   the tension of the track  41  of each of the track systems  16   1 , 16   2 ;   etc.       

     Each sensor  84   x  is configured to sense a parameter of the vehicle  10  and issue a signal indicative of that parameter. To that end, with additional reference to  FIG. 20 , the sensor  84   x  comprises a sensing element  86  configured to sense the parameter of the vehicle  10  to be sensed. For example, in some embodiments, to sense:
         the speed of the vehicle  10 , the sensing element  86  may comprise a speedometer of the vehicle  10 ;   the direction of motion of the vehicle  10 , the sensing element  86  may comprise a gyroscope;   the speed of a motor of the power source  14 , the sensing element  86  may comprise part of a motor speed sensor (e.g., engine speed sensor);   the profile (e.g., a slope or steepness or the levelness) of the ground, the sensing element  86  may comprise a gyroscope;   the compliance (e.g., softness or hardness) of the ground, the sensing element  86  may comprise part of a laser sensor or an ultrasound sensor;   the speed of motion of the track  41  around the track-engaging assembly  17  of each of the track systems  16   1 , 16   2 , the sensing element  86  may comprise a tachometer (e.g., a wheel speed sensor) configured to sense a rotational speed of the drive wheel  42  of that track system;   the temperature or another physical characteristic of the track  41  of each of the track systems  16   1 , 16   2 , the sensing element  86  may comprise a temperature sensor or another sensor for sensing that physical characteristic;   etc.       

     The sensor  84   x  is configured to communicate the signal indicative of the parameter it senses to the processing entity  104  via a communication link  254 , as shown in  FIG. 21 . To that end, the sensor  84   x  comprises a transmitter  160  for transmitting the signal indicative of the parameter it senses to the processing entity  104 , which comprises a receiver  162  to receive the signal from the sensor  84   x . 
     The transmitter  160  of the sensor  84   x  and the receiver  162  of the processing entity  104  may establish the link  254  between one another in any suitable way. In some embodiments, the link  254  may be a wireless link such that the sensor  84   x  and the processing entity  104  are connected wirelessly. Thus, in such embodiments, the transmitter  160  of the sensor  84   x  is a wireless transmitter that can wirelessly transmit the signal from the sensor  84   x  and the receiver  162  of the processing entity  104  is a wireless receiver that can wirelessly receive the signal. For example, the transmitter  160  and the receiver  162  may implement radio-frequency identification (RFID) technology. In such an example, the transmitter  160  may be an RFID tag while the receiver  162  may be an RFID reader (e.g., active, passive or battery-assisted passive (BAP) RFID technology). Any other wireless communication technology may be used in other examples (e.g., WiFi, dedicated short-range communication (DSRC), etc.). In other embodiments, the link  254  may be a wired link such that the sensor  84   x  and the processing entity  104  are connected by a wire. 
     The signal indicative of the parameter of the vehicle  10  sensed by the sensor  84   x  may be issued by the sensor  84   x  in any suitable manner. In some embodiments, the sensor  84   x  is configured to issue the signal autonomously. For instance, the transmitter  160  of the sensor  84   x  may issue the signal repeatedly (e.g., periodically or at some other predetermined instants). In other embodiments, the processing entity  104  may be configured to issue an interrogation signal directed to the sensor  84   x , which is configured to issue the signal indicative of the parameter of the vehicle  10  that it senses to the processing entity  104  in response to the interrogation signal. In such embodiments, as shown in  FIG. 22 , the processing entity  104  may comprise a transmitter  164  to transmit the interrogation signal to the sensor  84   x , which comprises a receiver  165  to receive the interrogation signal. 
     The sensors  84   1 - 84   s  may be located at various locations on the vehicle  10  in various embodiments. 
     In some embodiments, one or more of the sensors  84   1 - 84   s  may be part of the auxiliary track device  12 . For example, in some embodiments, one or more of the sensors  84   1 - 84   s  may be part of the track  41  of each of the track systems  16   1 , 16   2 . For instance, in some embodiments, one or more of the sensors  84   1 - 84   s  may be embedded in the elastomeric material of the track  41  of each of the track systems  16   1 , 16   2 . As an example, in some embodiments, one or more of the sensors  84   1 - 84   s  may be arranged as discussed in International Application Publication WO/2017/000068, which is hereby incorporated by reference herein. 
     The processing entity  104  is configured to issue the ATDC commands to control the auxiliary track device  12  based on information derived from the sensors  84   1 - 84   s  and possibly other information. More specifically, in this embodiment, the processing entity  104  issues the ATDC commands as signals directed to the three-point hitch  35  and the power take-off  30  of the vehicle  10  in order to control the auxiliary track device  12 . 
     In this embodiment, as shown in  FIG. 23 , the processing entity  104  comprises an interface  166 , a processing portion  168 , and a memory portion  170 , which are implemented by suitable hardware and software. 
     The interface  166  comprises one or more inputs and outputs allowing the processing entity  104  to receive input signals from and send output signals to other components to which the processing entity  104  is connected (i.e., directly or indirectly connected). For example, in some embodiments, an input of the interface  166  is implemented by a receiver  188  to receive a signal from the communication device  130 , a given one of the sensors  84   1 - 84   s , or another component. An output of the interface  166  is implemented by a transmitter  190  to transmit the ATDC commands to other components, such as the three-point hitch  35  and the power take-off  30  of the vehicle  10 . In some embodiments, another output of the interface  166  may be implemented by a transmitter to transmit the interrogation signal to a given one of the sensors  84   1 - 84   s , if applicable. 
     The processing portion  168  comprises one or more processors for performing processing operations that implement functionality of the processing entity  104 . A processor of the processing portion  168  may be a general-purpose processor executing program code stored in the memory portion  170 . Alternatively, a processor of the processing portion  168  may be a specific-purpose processor comprising one or more preprogrammed hardware or firmware elements (e.g., application-specific integrated circuits (ASICs), electrically erasable programmable read-only memories (EEPROMs), etc.) or other related elements. 
     The memory portion  170  comprises one or more memories for storing program code executed by the processing portion  168  and/or data used during operation of the processing portion  168 . A memory of the memory portion  170  may be a semiconductor medium (including, e.g., a solid-state memory), a magnetic storage medium, an optical storage medium, and/or any other suitable type of memory. A memory of the memory portion  170  may be read-only memory (ROM) and/or random-access memory (RAM), for example. 
     In some embodiments, the processing entity  104  may determine the ATDC commands based on information contained in the memory portion  170 . For instance, the memory portion  170  may contain information associating different values of a parameter relating to the vehicle  10  with different values of a given parameter to be controlled in respect of the auxiliary track device  12 . For example, in some embodiments, the memory portion  170  may associate different values of a given one of the speed of the vehicle  10 , the direction of motion of the vehicle  10 , the profile (e.g., the slope or steepness or the levelness) or the compliance of the ground, etc. with a particular value of a parameter (e.g., an angle) of the three-point hitch  35  or of a parameter (e.g., an power output level) of the power take-off  30  of the vehicle  10  for controlling the auxiliary track device  12 . Thus, the processing entity  104  may consult its memory portion  170  in generating the ATDC commands. 
     In some embodiments, two or more elements of the processing entity  104  may be implemented by devices that are physically distinct from one another and may be connected to one another via a bus (e.g., one or more electrical conductors or any other suitable bus) or via a communication link which may be wired, wireless, or both. In other embodiments, two or more elements of the processing entity  104  may be implemented by a single integrated device. 
     The vehicle  10 , including the track systems  16   1 , 16   2 , may be implemented in various other ways in other embodiments. 
     For instance, in other embodiments, the auxiliary track device  12  may always engage the ground as installed on the vehicle  10 , i.e., the auxiliary track device  12  may not be selectively deployable onto and retractable from the ground. 
     In other embodiments, power may be provided to the auxiliary track device  12  in various other ways. 
     For example, in some embodiments, as shown in  FIG. 32 , the auxiliary track device  12  may be connectable to the hydraulic system  33  of the vehicle  10  to provide power to the auxiliary track device  12 . The attachment  61  of the auxiliary track device  12  comprises a connector  375  connectable to the hydraulic system  33  (e.g., a hydraulic interface) of the vehicle  10 , while the powertrain  81  of the auxiliary track device  12  comprises a hydraulic system  378  (e.g., a hydraulic line, a hydraulic motor, and/or other hydraulic machinery) to apply power from the hydraulic system  33  of the vehicle  10  to the drive wheel  42  of each of the track systems  16   1 ,  16   2 . 
     As another example, in some embodiments, as shown in  FIG. 33 , the powertrain  81  of the auxiliary track device  12  may comprise a power source  412  (e.g., a prime mover) to provide power to the auxiliary track device  12 . The power source  412  of the auxiliary track device  12  is distinct from the power source  12  of the vehicle  10  and includes one or more motors. In other words, the auxiliary track device  12  may be self-sufficient. For instance, in some embodiments, the power source  412  may comprise an internal combustion engine, an electric motor, a hydraulic motor, or a combination of different types of motor (e.g., an internal combustion engine and an electric motor). Energy for the power source  412  may be provided by fuel, a battery, a generator (e.g., an electric generator connected to power take-off  30  of the vehicle  10 ), and/or any other suitable element. In some cases, the power source  412  of the auxiliary track device  12  may comprise a plurality of motors for providing power to respective ones of the track systems  16   1 ,  16   2 . The powertrain  81  of the auxiliary track device  12  can transmit power from the power source  412  to the drive wheel  42  of each of the track systems  16   1 ,  16   2  (e.g., via a transmission, a differential, a direct connection, and/or any other suitable mechanism). 
     As yet another example, in some embodiments, as shown in  FIG. 34 , the auxiliary track device  12  may be connectable to the rear ones of the ground-engaging wheels  13   1 - 13   4  of the vehicle  10  such that rotation of the rear ones of the ground-engaging wheels  13   1 - 13   4  provides power to the auxiliary track device  12 . The attachment  61  of the auxiliary track device  12  comprises a connector  575  connectable to each of the rear ones of the ground-engaging wheels  13   1 - 13   4  (e.g., an axle of each of the rear ones of the ground-engaging wheels  13   1 - 13   4 ), while the powertrain  81  of the auxiliary track device  12  comprises a transmission  576  to transmit power from rotation of the rear ones of the ground-engaging wheels  13   1 - 13   4  to the drive wheel  42  of each of the track systems  16   1 ,  16   2 . 
     In other embodiments, the auxiliary track device  12  may not be powered. That is, no power may be provided to the drive wheel  42  of each of the track systems  16   1 ,  16   2 . Instead, the track  41  of each of the track systems  16   1 ,  16   2  may move around the track-engaging assembly  17  by virtue of movement of the vehicle  10  on the ground. 
     In other embodiments, the auxiliary track device  12  may be connectable to the vehicle  10  at any other suitable location. For example, in some embodiments, the auxiliary track device  12  may be connectable to the vehicle  10  such that the track systems  16   1 ,  16   2  are located ahead of front ones of the ground-engaging wheels  13   1 - 13   4  of the vehicle  10 . That is, at least part of each of the track systems  16   1 ,  16   2  may located ahead of the front ones of the ground-engaging wheels  13   1 - 13   4  when the auxiliary track device  12  is connected to the vehicle  10 . 
     Although in embodiments considered above the auxiliary track device  12  is used only for traction and/or floatation and is distinct and separate from the implement  19  of the vehicle  10 , in other embodiments, as shown in  FIGS. 35 to 40 , the vehicle  10  may comprise an implement  619  that includes the auxiliary track device  12 . That is, the auxiliary track device  12  is part of the implement  619  such that the support  60  of the auxiliary track device  12  is a support of the implement  619  which supports a work element  620  of the implement  619  and the track systems  16   1 ,  16   2  of the auxiliary track device  12  engage the ground beneath the implement  619  to provide traction and floatation to the implement  619 . In this embodiment, the implement  19  is a trailed implement that is trailed behind the frame  11  of the vehicle  10 . 
     The implement  619  may include a planter, a combine head, a sprayer, a fertilizer, a tiller, a grain cart, or any other type of agricultural work implement, and its work element  620  may include a planting head, a spraying head, a container, and/or any other type of work element that is used by the implement  619  to perform its work. In this embodiment, the implement  619  is a grain cart and its work element  620  includes a container. 
     In this embodiment, the implement  619  is connectable to the three-point hitch  35  of the vehicle  10 , as discussed above in respect of the auxiliary track device  12 , by the attachment  61 . 
     Also, in this embodiment, the implement  619  is powered to enhance traction, as discussed above in respect of the auxiliary track device  12 , by the powertrain  81  to provide power to the drive wheel  42  of each of the track systems  16   1 , 16   2  to rotate the drive wheel  42  of that track system in order to move the track  41  of that track system. For example, in various embodiments, as discussed above, the drive wheel  42  of each of the track systems  16   1 , 16   2  may be powerable by the auxiliary track device  12  being connectable to the power take-off  30  of the vehicle  10 , being connectable to the hydraulic system  33  of the vehicle  10 , comprising the power source  412 , and/or being configured in any other suitable way to deliver power to the drive wheel  42  of each of the track systems  16   1 , 16   2 . Thus, in this embodiment, in addition to performing agricultural work via its work element  620 , the implement  619  provides additional traction to the vehicle  10 , compared to if only respective ones of the ground-engaging wheels  13   1 - 13   4  were powered. The implement  619  is therefore self-propelled and helps for movement of the vehicle  10  on the ground. 
     While in embodiments considered above the vehicle  10  is an agricultural vehicle, in other embodiments, the vehicle  10  may be another industrial vehicle such as a construction vehicle (e.g., a loader, a telehandler, a bulldozer, an excavator, etc.) for performing construction work or a forestry vehicle (e.g., a feller-buncher, a tree chipper, a knuckleboom loader, etc.) for performing forestry work, a military vehicle (e.g., a military truck, etc.) for performing military work, an all-terrain vehicle (ATV), a snowmobile, or any other vehicle operable off paved roads. Although operable off paved roads, the vehicle  10  may also be operable on paved roads in some cases. Also, while in the embodiment considered above the vehicle  10  is driven by a human operator in the vehicle  10 , in other embodiments, the vehicle  10  may be an unmanned ground vehicle (e.g., a teleoperated or autonomous unmanned ground vehicle). 
     Certain additional elements that may be needed for operation of some embodiments have not been described or illustrated as they are assumed to be within the purview of those of ordinary skill in the art. Moreover, certain embodiments may be free of, may lack and/or may function without any element that is not specifically disclosed herein. 
     Any feature of any embodiment discussed herein may be combined with any feature of any other embodiment discussed herein in some examples of implementation. 
     Although various embodiments and examples have been presented, this was for purposes of description, but should not be limiting. Various modifications and enhancements will become apparent to those of ordinary skill in the art.