Patent Description:
The present invention relates to a tracked vehicle comprising a user interface.

A tracked vehicle, preferably a snow groomer, generally comprising a shovel, a tiller and a winch; and a user interface comprising a joystick coupled to the at least accessory for driving the movements of the at least accessory. Generally, the joystick comprises a base, a lever coupled to the base and a detector assembly for detecting the movement of the lever with respect to a rest position, and a control unit for emitting an output signal based on the movement detected by the detector assembly.

Such tracked vehicle is disclosed in <CIT>, which discloses the preamble of claim <NUM>.

The interfaces currently in use comprise a joystick having a deadband of value pre-set mechanically or electronically and not modifiable.

A drawback of the prior art is that such joystick can determine an output signal for involuntary movements of the lever of the joystick, consequently it can generate movements of one or more accessories that do not correspond to the will of the operator.

The object of the present invention is to provide a tracked vehicle, preferably a snow groomer, that allows overcoming or at least mitigating the drawbacks of the prior art.

Therefore, according to the present invention a tracked vehicle is realised comprising:.

Thanks to the present invention, the first function can be adjusted dynamically by the control unit according to the further signals, preferably relating to other inputs, in this way it is possible to adjust dynamically the sensitivity of the joystick and make it immune or less sensitive to involuntary movements of the operator.

According to a preferred embodiment, the first function is defined so that the control unit emits the control signal equal to zero or does not emit a control signal if the distance between the position of the lever and the rest position is within a given displacement range; wherein the given displacement range is dynamically adjustable; preferably the control signal is obtained by the first function in the following manner: Sc= a*Su+k, where a and k are variable parameters and adjustable by the control unit, k is greater than zero and Su is the output signal.

Thanks to the present invention, the given range is adjusted manually or automatically and this produces the effect of having an adjustable sensitivity, also automatically, such to have a great sensitivity to the voluntary commands of the operator and at the same time to be immune or less sensitive to the involuntary movements of the operator which in turn cause involuntary movements of the accessory devices.

Another object of the present invention is to provide a method for controlling an accessory of a tracked vehicle, in particular of a snow groomer, that reduces the drawbacks of the prior art.

According to the present invention, a method is provided for controlling an accessory of a tracked vehicle, the tracked vehicle comprising: two tracks; at least an accessory device selected from a group comprising a blade, a tiller assembly and a winch assembly; and a user interface comprising a control device coupled to the plurality of tracks for driving the advance of the tracked vehicle, and a joystick coupled to the at least accessory device for driving the movements of the at least accessory device; wherein the joystick comprises a lever configured so that it can be moved in any direction with respect to a rest position; the method comprising the step of detecting a movement of the lever with respect to a rest position, and emitting an output signal according to the detected movement; the method comprising the step of controlling at least a movement of the at least accessory device based on a first function and the output signal, wherein preferably said first function is a non-linear function and preferably the parameters of said first function are adjustable based on further signals; wherein the lever is coupled to a base so that it can be tilted or rotated in any direction with respect to a rest position; the method comprising the step of emitting the control signal if the angular distance between the lever position and the rest position is greater than a given range of angles of inclination and/or rotation; the given range of angles of inclination and/or rotation is adjustable.

Further features and advantages of the present invention will become apparent from the following description of non-limiting embodiment examples, with reference to the figures of the accompanying drawings, wherein:.

With reference to <FIG>, a tracked vehicle, in particular a snow groomer, according to an embodiment of the present invention is indicated as a whole with reference numeral <NUM>.

The tracked vehicle <NUM> comprises a frame <NUM>, which extends along a longitudinal axis, a driver's cab <NUM> and a drive unit <NUM>, for example an internal combustion engine or an electric motor. The driver's cab <NUM> and the drive unit <NUM> are housed on the frame <NUM>. The snow groomer <NUM> is also provided with a pair of tracks <NUM> and accessory devices <NUM>. The accessory devices <NUM> comprise a blade <NUM>, supported anteriorly by the frame <NUM>; and a tiller assembly <NUM>, supported posteriorly by the frame <NUM>. The tiller assembly <NUM> comprises a tiller and a finisher. Furthermore, the tiller assembly <NUM> can comprise auxiliary tillers (not illustrated in figure) and track setter assemblies (not illustrated in figure) for setting cross-country skiing trails.

Furthermore, the accessory devices <NUM> comprise a winch assembly <NUM>.

A power transmission <NUM> is operatively coupled to the drive unit <NUM>, which provides the power necessary for the functioning of the snow groomer <NUM>, and to the accessory devices <NUM>. The power transmission <NUM> can be hydraulic or electric or a combination between hydraulic and electric.

The accessory devices <NUM> can also be called accessories.

Furthermore, a tracked vehicle <NUM> does not necessarily comprise all the accessory devices <NUM> illustrated above. For example, a tracked vehicle <NUM> can comprise one or any two of the accessory devices <NUM> selected from the blade <NUM>, the tiller assembly <NUM> and the winch assembly <NUM>.

In the driver's cab <NUM> a user interface <NUM> is installed, which allows an operator to control the direction of the tracked vehicle <NUM> and the operation of the accessory devices <NUM>.

In particular, the user interface <NUM> comprises a control device and a joystick <NUM> (<FIG>).

The control device is configured to drive the tracks <NUM>. More precisely, the control device is coupled to the plurality of tracks <NUM> for driving the advance of the tracked vehicle <NUM>.

The joystick <NUM> is coupled to the accessory devices <NUM> for driving the movements of the accessory devices <NUM>.

The tracked vehicle <NUM> is provided with a control system <NUM>.

The control system <NUM> detects operational parameters of the tracked vehicle <NUM>, such as, for example and not exhaustively, the power supplied by the drive unit <NUM>, the power absorbed by each of the accessory devices <NUM>, the position of the blade <NUM> and of the tiller assembly <NUM>, the position of the winch assembly <NUM>, the advance speed of the snow groomer <NUM> and drives the drive unit <NUM> and/or the tracks <NUM> and/or the accessory devices <NUM> based on the commands that it receives from the user interface <NUM>.

The blade <NUM> can be raised or lowered. Furthermore, the blade <NUM> can be rotated preferably by means of lateral inclination or roll, in practice creating a difference in level between the right and left ends of the blade <NUM> with respect to the level of the tracks <NUM>.

Furthermore, the blade <NUM> can be tilted downward for creating a pitch so as to define an angle of incidence of the blade <NUM>, also called cutting angle.

Furthermore, the blade <NUM> can be positioned perpendicularly or obliquely with respect to the advance direction of the snow groomer <NUM>, i.e. tilted or moved for defining a yaw.

The joystick <NUM> of the user interface <NUM> is configured to control the blade <NUM>. The joystick <NUM> is housed in the driver's cab <NUM> and allows driving the described pitch, roll and yaw movements of the blade <NUM>.

The tiller assembly <NUM> is connected to the frame <NUM> of the tracked vehicle <NUM> so that it can be rotated, in practice arranging the blade <NUM> itself perpendicularly or obliquely with respect to the advance direction of the snow groomer <NUM> itself, raised or lowered, and moved laterally. Furthermore, it is possible to determine a relative angular position of the tiller assembly <NUM> for defining a cutting angle of the tiller assembly <NUM> with respect to the mantle of snow.

The joystick <NUM> of the user interface <NUM> is configured to control the tiller assembly <NUM> and allows driving the described movements of the tiller assembly <NUM>.

The winch assembly <NUM> comprises a drum <NUM> about which a cable <NUM> is wound and an arm <NUM>. The drum <NUM> rotates about an axis A and is driven by a motor and defines the force of traction of the cable <NUM>. The arm <NUM> rotates about an axis B and is driven by an actuator for defining the position of the arm <NUM> so as to direct the cable <NUM>.

The joystick <NUM> of the user interface <NUM> is configured to control the winch assembly <NUM>, in particular the force of traction of the cable <NUM> and the angular position of the arm <NUM>.

With reference to <FIG>, the joystick <NUM> comprises a base <NUM> and a lever <NUM> coupled to the base <NUM> so that it can be moved, in particular tilted and/or rotated, in any direction with respect to a rest position PR.

The joystick <NUM> comprises a detector assembly <NUM> (<FIG>) configured to detect the movement of the lever <NUM> with respect to the rest position PR and to emit an output signal Su based on the detected movement.

The tracked vehicle <NUM> comprises a control unit <NUM> configured to emit a control signal Sc.

More precisely, the control unit <NUM> is coupled to the detector assembly <NUM> for receiving the output signal Su.

Furthermore, the control unit <NUM> is coupled to the control system <NUM> for sending the control signal Sc to the control system <NUM> and for receiving input signals Si from the control system <NUM>.

The control unit <NUM> is coupled to the accessory devices <NUM> by means of the control system <NUM> for controlling the movements of the accessory devices <NUM> by means of the control signal Sc which is sent to the accessory devices <NUM>.

In a preferred embodiment provided by way of example without thereby losing generality, the control unit <NUM> is integrated in the control system <NUM>.

In a preferred embodiment provided by way of example without thereby losing generality, the control unit <NUM> is housed in the joystick <NUM>.

More precisely, the control unit <NUM> is configured to emit the control signal Sc based on the output signal Su received and based on a function f, wherein the function f is a non-linear function having parameters that are dynamically adjustable.

More precisely and with reference to <FIG> various forms of functions f alternative between each other are provided. The function f in particular can be a proportional, exponential, progressive or regressive function.

In a preferred embodiment, the function f is defined so that the control unit <NUM> emits the control signal Sc equal to zero or does not emit a control signal Sc if the distance between the position of the lever <NUM> and the rest position PR is within a given displacement range; wherein the given displacement range is dynamically adjustable. In particular, the given displacement ranges are ranges of angles of inclination and/or angles of rotation.

In other words, in this embodiment, the function f is of the type equal to: a*x+k, where x is the variable, and a and k are the parameters, and where k is greater than zero. In other words, the control signal Sc is obtained by the function f in the following manner: Sc= a*Su+k, where a and k are variable parameters and adjustable by the control unit <NUM>, k is greater than zero and Su is the output signal. Consequently, the control unit <NUM> controls the joystick <NUM> by means of an adjustable deadband. In fact, varying k in said function, the deadband increases or decreases. This entails that within a given range of movements of the lever <NUM>, the relative accessory device <NUM> will not move. This range of movements is adjustable manually by the operator by means of a selector or automatically by the control unit <NUM> based on various parameters of the tracked vehicle <NUM>. More precisely and with reference to <FIG> and <FIG>, the lever <NUM> can be tilted in any direction with respect to a rest position PR. The control unit <NUM> is configured to control at least one of the accessory devices <NUM>, by means of the control system <NUM>, by means of the control signal Sc so that the accessory device <NUM> does not move if the angular distance between the position of the lever <NUM> and the rest position PR is within a range of angles of inclination.

Such range of angles of inclination is adjustable manually by the operator by means of a selector or automatically by the control unit <NUM> based on various parameters of the tracked vehicle <NUM>.

More precisely and with reference to <FIG>, the lever <NUM> can be rotated in any direction with respect to a rest position PR. The control unit <NUM> is configured to control at least one of the accessory devices <NUM>, by means of the control system <NUM>, by means of the control signal Sc so that the accessory device <NUM> does not move if the angular distance between the position of the lever <NUM> and the rest position PR is less than a given range of angles of rotation. The given range of angle of rotation is adjustable manually by the operator by means of a selector or automatically by the control unit <NUM> based on various parameters of the tracked vehicle <NUM>.

In a preferred embodiment illustrated by way of example without thereby causing the invention to lose generality, the user interface <NUM> comprises a selector <NUM> that can be housed on the lever <NUM> of the joystick <NUM> or externally thereof in the dashboard of the tracked vehicle <NUM> or implemented via software and selectable by means of the user interface for example by means of a control panel of the tracked vehicle or a touch monitor. The selector <NUM> is coupled to the control unit <NUM> and is configured to define at least one of the parameters a and/or k of the function f.

In one of the preferred embodiments, wherein the function f is of the type Sc=a*Su+k, the selector <NUM> is configured to define k and consequently to define one or more of the given ranges between the range of angles of rotation and/or the range of angles of inclination. In this way, one or more of the ranges can be adjusted by the operator manually. Thanks to this manual adjustment, each operator can select one or more ranges as preferred based on the personal style of use of the accessories <NUM> and the personal preferences, besides, thanks to the manual adjustment it is possible to obviate the wear of the joystick <NUM> over time.

With reference to <FIG>, the control unit <NUM> receives the position of the lever <NUM> from the detector assembly <NUM> and emits a control signal Sc based on the detected position and based on the function f. The control unit <NUM> is coupled to the control system <NUM>, which in turn is coupled to the accessory devices <NUM> and drives them based on the control signal Sc of the control unit <NUM>. In particular, the control signal Sc can be a signal having linear or progressive or regressive features with respect to the detected position of the lever <NUM>.

With reference to <FIG>, the joystick <NUM> comprises a plurality of buttons <NUM> of operation, of mini levers <NUM>, of selector buttons <NUM> and a potentiometer <NUM>. In an alternative embodiment, not illustrated in the accompanying figure, the joystick comprises a plurality of potentiometers.

In a preferred embodiment, one of the potentiometers adjusts the pulling force of the winch <NUM> and/or the pressure applied by the tiller assembly <NUM> on the mantle of snow and/or the speed of rotation of the tiller assembly <NUM>.

In a preferred embodiment of the invention, the selector buttons <NUM> are used for selecting the type of accessory <NUM> to be operated and controlled. In another embodiment of the invention the type of accessory <NUM> is selected and/or controlled acting on one or more of the buttons <NUM>, of the mini levers <NUM>, of the selector buttons <NUM> and of the potentiometer <NUM>.

The joystick <NUM> sends signals or data to the control unit <NUM> based on the buttons <NUM> of operation, of the mini levers <NUM>, of the selector buttons <NUM> and of the potentiometer <NUM> which were operated and the possible value thereof.

In a preferred embodiment of the present invention, the control unit <NUM> defines the amplitude of one or more of the parameters of the function f, in particular the parameters a and k, based on the buttons pressed by the operator, in particular based on the time that passed from the last time that the operator acted on one among the buttons <NUM>, the mini levers <NUM>, the selector buttons <NUM> and the potentiometer <NUM>.

In a preferred embodiment, the control unit <NUM> is configured to vary the type of function f and/or its parameters and, preferably consequently to decrease the amplitude of one or more of the given ranges of angle of rotation or angle of inclination, based on the time passed from the last command received by means of one of the buttons <NUM>, of the mini levers <NUM>, of the buttons <NUM> or of the potentiometer <NUM> and subsequently to increase the amplitude of one or more of the given ranges upon the passing of time from the last time that one or more of the buttons <NUM>, of the mini levers <NUM>, of the selector buttons <NUM> or of the potentiometer <NUM> was operated.

In a preferred embodiment, but non-limiting of the present invention, the control unit <NUM> defines the type of function f and its parameters and consequently the amplitude of one or more of the given ranges of angle of rotation, angle of inclination and distance based on the operation of one or more of the selector buttons <NUM> that indicates which accessory <NUM> the joystick <NUM> is driving.

In a non-limiting embodiment, the type of function f and its parameters and consequently one or more of the given ranges of angle of rotation and/or angle of inclination is varied depending on the value selected on the potentiometer <NUM>.

In a preferred embodiment, but non-limiting of the present invention, the control unit <NUM> defines the type of function f and its parameters, and consequently the amplitude of one or more of the given ranges of angle of rotation and angle of inclination based on the detected speed of movement of the lever <NUM>. In particular the detector assembly <NUM> sends the positions of the lever <NUM> both angles of rotation and angles of inclination. The control unit <NUM> is configured to receive these signals or data relating to the positions and to define the type of function f and its parameters and, consequently, a value of the speed of movement of the lever <NUM> and to increase the amplitude of one or more of the given ranges of angle of rotation, angle of inclination if the detected speed of movement of the lever <NUM> is greater than a threshold value.

In a preferred embodiment, but non-limiting of the present invention, the control unit <NUM> defines the type of function f and its parameters and consequently the amplitude of one or more of the given ranges of angle of rotation, angle of inclination and according to the oscillation frequency and/or amplitude of the lever <NUM>.

In particular the detector assembly <NUM> sends the positions to the lever <NUM> both angles of inclination, and angles of rotation.

The control unit <NUM> is configured to receive these signals or data relating to the positions and to define an oscillation frequency of the lever <NUM> and to increase the amplitude of one or more of the given ranges of angle of rotation, angle of inclination by means of the variation of the type of function f and of its parameters if the detected oscillation frequency of the lever <NUM> is within a range of oscillation frequencies.

In a preferred embodiment, but non-limiting of the present invention, the joystick <NUM> comprises a sensor <NUM> of proximity for detecting the presence of a hand on the lever <NUM>. The sensor <NUM> can be a pressure sensor or a capacitive sensor or a magnetic sensor or any other type of sensor capable of detecting a hand on it.

The control unit <NUM> defines the type of function f and its parameters and consequently the amplitude of one or more of the given ranges of angle of rotation, angle of inclination and based on the presence of a hand on the lever, preferably the control unit <NUM> decreases the amplitude of one or more of the given ranges when the sensor <NUM> of presence detects the presence of a hand on the lever <NUM> of the joystick <NUM>.

In a preferred embodiment, but non-limiting of the present invention, the control unit <NUM> defines the type of function f and its parameters based on one of the operational parameters of the tracked vehicle <NUM>, such as, for example and not exhaustively, the power supplied by the drive unit <NUM>, the power absorbed by each of the accessory devices <NUM>, the position of the blade <NUM> and of the tiller assembly <NUM>, the position of the winch assembly <NUM>, the advance speed of the snow groomer <NUM>. Preferably in this way the control unit <NUM> defines also the amplitude of one or more of the given ranges of angle of rotation, angle of inclination.

In a non-limiting embodiment, the control unit <NUM> is configured to emit the control signal Sc based on the output signal Su and on the input signal Si, preferably one or more of the parameters of the function f are defined based on the input signal Si.

In a non-limiting embodiment, the control unit <NUM> is configured to select the function f from a plurality of functions f based on the input signal Si.

In a preferred embodiment, the joystick <NUM> comprises a light indicator <NUM> that can be a light, a led or any other element that can be lit on command. Preferably the light indicator <NUM> is housed on the lever <NUM>. The light indicator <NUM> is controlled by the control unit <NUM> and the intensity of the light is adjusted based on the parameters a and k, and on the type of function f. In other words, the intensity of the light is adjusted based on the deadband or the speed of response of the joystick. In another embodiment, the light indicator <NUM> emits light of different colours and the colour and/or the light intensity of said colour is adjusted based on the parameters a and k, and on the type of function f. In other words, the colour and/or the light intensity is adjusted based on the deadband or on the speed of response of the joystick <NUM>. For example, when the deadband is greater than a given range the joystick <NUM> can emit a red light while when the deadband is less than a given range the joystick <NUM> can emit a green light. Furthermore, the light indicator <NUM> is configured to indicate errors in the joystick <NUM> and/or malfunctioning. In particular, the light indicator <NUM> is configured to indicate a state of block of the joystick <NUM>.

Claim 1:
Tracked vehicle comprising:
a frame (<NUM>) extending along a longitudinal axis;
a plurality of tracks (<NUM>);
at least an accessory device (<NUM>) selected from a group comprising a blade (<NUM>), a tiller assembly (<NUM>) and a winch assembly (<NUM>); and
a user interface (<NUM>) comprising a control device coupled to the plurality of tracks (<NUM>) to drive the advance of the tracked vehicle (<NUM>); and a joystick (<NUM>) coupled to the at least accessory device (<NUM>) to control the movements of the at least accessory device (<NUM>);
wherein the joystick (<NUM>) includes a lever (<NUM>) configured so that it can be moved, preferably tilted and/or rotated, in any direction with respect to a rest position (PR) ;
the tracked vehicle being characterized in that the joystick (<NUM>) comprises a detector assembly (<NUM>) configured to detect a movement of the lever (<NUM>) with respect to the rest position (PR) and to emit an output signal (Su) based on the detected movement;
the tracked vehicle (<NUM>) comprising a control unit (<NUM>) coupled to the at least accessory device (<NUM>) to control at least a movement of said accessory device (<NUM>) by means of a control signal (Sc) sent to the at least accessory device (<NUM>); the control unit (<NUM>) being coupled to the detector assembly (<NUM>) of the joystick (<NUM>) to receive the output signal (Su), and being configured to output the control signal (Sc) according to a first function (f) and the output signal (Su); and wherein preferably said first function (f) is a non-linear function, and preferably the parameters of said first function are adjustable according to further signals; wherein the lever (<NUM>) is coupled to a base (<NUM>) so that it can be tilted or rotated in any direction with respect to a rest position (PR); the control unit (<NUM>) being configured to control at least one of the accessory devices (<NUM>) by means of the control signal (Sc) so that the at least one of the accessory devices (<NUM>) does not move if the angular distance between the lever position (<NUM>) and the rest position (PR) is within a given range of angles of inclination or angles of rotation; the control unit (<NUM>) being configured so that the given range of angles of inclination or rotation is dynamically adjustable.