Control method, computer program and control device of a tracked vehicle
First Claim
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1. A method of controlling a tracked vehicle including a track configured to advance the tracked vehicle, said method comprising:
- acquiring a traveling speed of the tracked vehicle;
acquiring a speed of the track with respect to the tracked vehicle;
acquiring a signal indicative of a longitudinal tilt of the tracked vehicle;
determining, based on the acquired signal indicative of the longitudinal tilt of the tracked vehicle, an operating condition; and
responsive to the determined operating condition being deterministic of an anti-skid operating mode;
for the determined operating condition, calculating a range of expected traveling speeds as a function of the acquired speed of the track, wherein a first determined operating condition associated with an ascent of the tracked vehicle has a first range of expected travelling speeds as a function of the acquired speed of the track and a second, different determined operating condition associated with a descent of the tracked vehicle has a second, greater range of expected travelling speeds as a function of the acquired speed of the track; and
varying the speed of the track when the acquired traveling speed of the tracked vehicle is outside the calculated range of expected traveling speeds to reduce slippage of the track.
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Abstract
A control method of a tracked vehicle having a track belt and configured to advance the tracked vehicle provides for acquiring the driving speed of the tracked vehicle; acquiring the speeds of the tracks with respect to the tracked vehicle; calculating a range of expected values of traveling speed as a function of speed of the track; and varying the speed of the track when the traveling speed of the tracked vehicle is outside the range of expected values.
4 Citations
20 Claims
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1. A method of controlling a tracked vehicle including a track configured to advance the tracked vehicle, said method comprising:
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acquiring a traveling speed of the tracked vehicle; acquiring a speed of the track with respect to the tracked vehicle; acquiring a signal indicative of a longitudinal tilt of the tracked vehicle; determining, based on the acquired signal indicative of the longitudinal tilt of the tracked vehicle, an operating condition; and responsive to the determined operating condition being deterministic of an anti-skid operating mode; for the determined operating condition, calculating a range of expected traveling speeds as a function of the acquired speed of the track, wherein a first determined operating condition associated with an ascent of the tracked vehicle has a first range of expected travelling speeds as a function of the acquired speed of the track and a second, different determined operating condition associated with a descent of the tracked vehicle has a second, greater range of expected travelling speeds as a function of the acquired speed of the track; and varying the speed of the track when the acquired traveling speed of the tracked vehicle is outside the calculated range of expected traveling speeds to reduce slippage of the track. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium including a plurality of instructions, which when executed by at least one processor, cause the at least one processor to control a tracked vehicle by:
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acquiring a traveling speed of the tracked vehicle; acquiring a speed of a track of the tracked vehicle with respect to the tracked vehicle, said track configured to advance the tracked vehicle; acquiring a signal indicative of a longitudinal tilt of the tracked vehicle; determining, based on the acquired signal indicative of the longitudinal tilt of the tracked vehicle, an operating condition; and responsive to the determined operating condition being deterministic of an anti-skid operating mode; for the determined operating condition, calculating a range of expected traveling speeds as a function of the acquired speed of the track, wherein a first determined operating condition associated with an ascent of the tracked vehicle has a first range of expected travelling speeds as a function of the acquired speed of the track and a second, different determined operating condition associated with a descent of the tracked vehicle has a second, greater range of expected travelling speeds as a function of the acquired speed of the track; and varying the speed of the track when the acquired traveling speed of the tracked vehicle is outside the calculated range of expected traveling speeds to reduce slippage of the track.
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11. A tracked vehicle control device comprising:
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a processor; and a memory device which stores a plurality of instructions, which when executed by the processor, cause the processor to; acquire a traveling speed of a tracked vehicle, acquire a speed of a track of the tracked vehicle with respect to the tracked vehicle, said track configured to advance the tracked vehicle, acquire a signal indicative of a longitudinal tilt of the tracked vehicle; determine, based on the acquired signal indicative of the longitudinal tilt of the tracked vehicle, an operating condition; and responsive to the determined operating condition being deterministic of an anti-skid operating mode; for the determined operating condition, calculate a range of expected traveling speeds as a function of acquired speed of the track, wherein a first determined operating condition associated with an ascent of the tracked vehicle has a first range of expected travelling speeds as a function of the acquired speed of the track and a second, different determined operating condition associated with a descent of the tracked vehicle has a second, greater range of expected travelling speeds as a function of the acquired speed of the track, and cause a varying of the speed of the track when the traveling speed of the tracked vehicle is outside the calculated range of expected traveling speeds to reduce slippage of the track. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A ski run tracked vehicle comprising:
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a track configured to advance the ski run tracked vehicle; and a tracked vehicle control device including; a processor; and a memory device which stores a plurality of instructions, which when executed by the processor, cause the processor to; acquire a traveling speed of the ski run tracked vehicle, acquire a speed of the track with respect to the ski run tracked vehicle, acquire a signal indicative of a longitudinal tilt of the ski run tracked vehicle; determine, based on the acquired signal indicative of the longitudinal tilt of the ski run tracked vehicle, an operating condition; and responsive to the determined operating condition being deterministic of an anti-skid operating mode; for the determined operating condition, calculate a range of expected traveling speeds as a function of acquired speed of the track, wherein a first determined operating condition associated with an ascent of the ski run tracked vehicle has a first range of expected travelling speeds as a function of the acquired speed of the track and a second, different determined operating condition associated with a descent of the ski run tracked vehicle has a second, greater range of expected travelling speeds as a function of the acquired speed of the track, and cause a varying of the speed of the track when the traveling speed of the ski run tracked vehicle is outside the calculated range of expected traveling speeds to reduce slippage of the track.
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20. A woods maintenance tracked vehicle comprising:
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a track configured to advance the woods maintenance tracked vehicle; and a tracked vehicle control device including; a processor; and a memory device which stores a plurality of instructions, which when executed by the processor, cause the processor to; acquire a traveling speed of the woods maintenance tracked vehicle, acquire a speed of the track with respect to the woods maintenance tracked vehicle, acquire a signal indicative of a longitudinal tilt of the woods maintenance tracked vehicle; determine, based on the acquired signal indicative of the longitudinal tilt of the woods maintenance tracked vehicle, an operating condition; and responsive to the determined operating condition being deterministic of an anti-skid operating mode; for the determined operating condition, calculate a range of expected traveling speeds as a function of acquired speed of the track, wherein a first determined operating condition associated with an ascent of the woods maintenance tracked vehicle has a first range of expected travelling speeds as a function of the acquired speed of the track and a second, different determined operating condition associated with a descent of the woods maintenance tracked vehicle has a second, greater range of expected travelling speeds as a function of the acquired speed of the track, and cause a varying of the speed of the track when the traveling speed of the woods maintenance tracked vehicle is outside the calculated range of expected traveling speeds to reduce slippage of the track.
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Specification