JP5384227B2 - Tracked vehicle monitoring device - Google Patents

Description

  The present invention relates to a crawler-equipped vehicle monitoring device applied to a vehicle using a crawler belt.

  Conventionally, a crawler belt in which a core metal is embedded at a constant pitch in an endless rubber elastic body, and a steel cord is embedded in the outer circumference of the core metal for reinforcement in the circumferential direction, or a track without the core metal Vehicles such as construction machines and civil engineering machines using so-called “rubber crawlers” as traveling parts are known.

  For example, Patent Document 1 embeds a transponder in a rubber crawler and mounts a system for identifying the transponder on the vehicle side, and obtains data such as the travel distance and speed of the rubber crawler, thereby indicating the usage state of the rubber crawler. To come to know.

Japanese Patent Application Laid-Open No. 10-119845

  However, the information obtained in the system of Patent Document 1 is numerical data such as travel distance. For this reason, it is impossible to grasp at all whether or not an abnormality has actually occurred in the rubber crawler. For example, if a part of the protrusion (lug) is worn or cracked due to a sudden situation during traveling, abnormal vibrations may occur in the vehicle due to the abnormality of these rubber crawlers. There is.

  The present invention has been made in consideration of the above-described facts, and an object of the present invention is to provide a crawler-equipped vehicle monitoring device that can detect a crawler belt abnormality and notify the crawler belt abnormality.

  The crawler-equipped vehicle monitoring device according to claim 1 is mounted on a vehicle that travels in the crawler belt, and is mounted on the crawler track information reading means for reading the crawler track information related to the crawler belt attached to the vehicle. A storage unit storing a plurality of vehicle traveling vibration information related to the vehicle-specific vibrations when the different crawler belts are mounted, and the track information obtained from the track information reading means and the vehicle traveling vibration of the storage unit. Predicted vibration calculation means for calculating predicted vibration data of the vehicle based on the information, vehicle vibration detection means mounted on the vehicle for detecting the vibration of the vehicle, and detected vibration detected by the vehicle vibration detection means. Based on the obtained detected vibration data and the predicted vibration data, an abnormality determining means for determining whether or not the crawler belt is abnormal, mounted on the vehicle, The abnormality determining means having a warning means for warning when the track is determined to be abnormal.

  In the crawler-equipped vehicle monitoring device according to claim 1, the predicted vibration calculation means mounted on the vehicle traveling on the crawler track is a plurality of vehicles related to vehicle-specific vibrations when the different crawler belts are normally worn. A storage unit storing travel vibration information is provided, and predicted vibration data of the vehicle is calculated based on the track information obtained from the track information reading means mounted on the vehicle and the vehicle travel vibration information stored in the storage unit. Further, the abnormality determination means mounted on the vehicle determines whether or not the crawler track is abnormal based on the detected vibration data obtained from the detected vibration detected by the vehicle vibration detection means mounted on the vehicle and the predicted vibration data. . As a result of this determination, when the crawler track is determined to be abnormal by the abnormality determination means, a warning is issued by the warning means mounted on the vehicle. As a result, if an abnormality such as wear or a crack occurs in the crawler belt by continuing to use the crawler belt, it is possible to warn of the abnormality. As a result, it is possible to prevent the abnormal vibration of the vehicle due to the abnormality of the crawler belt and to prevent the abnormality of the vehicle itself due to the abnormal vibration of the vehicle.

  According to a second aspect of the present invention, in the crawler-equipped vehicle monitoring device according to the first aspect, the crawler belt information reading means reads the crawler belt information from a data storage member provided in the crawler belt and storing the crawler belt information. .

  In the crawler-equipped vehicle monitoring device according to claim 2, the crawler belt information reading means reads the crawler belt information from the data storage member provided in the crawler belt and storing the crawler belt information, so that the crawler belt information can be stored quickly and accurately. It becomes possible.

  According to a third aspect of the present invention, in the crawler-equipped vehicle monitoring device according to the second aspect, the crawler belt has an endless rubber elastic body embedded with a steel cord for circumferential tension reinforcement, The data storage member is embedded between the steel cord and the rubber protrusion of the rubber elastic body.

  In the crawler-equipped vehicle monitoring device according to claim 3, since the data storage member is embedded between the steel cord and the rubber protrusion of the rubber elastic body, the data storage member in the crawler belt has a thick rubber layer at the embedded portion. The data storage member is less susceptible to heat when vulcanizing the crawler belt.

  According to a fourth aspect of the present invention, in the crawler-equipped vehicle monitoring device according to the second aspect, the crawler belt is embedded with an endless rubber elastic body with a constant pitch, and a circumferential direction is formed on the outer periphery of the core metal. A steel cord for reinforcing the tension is embedded, and the data storage member is embedded in rubber between the adjacent core bars.

  In the crawler-equipped vehicle monitoring device according to claim 4, since the data storage member is embedded in the rubber between the adjacent core bars, the signal from the data storage member to the track information reading means is blocked by the core bar. There is nothing.

  The invention according to claim 5 is the information input terminal device in which the crawler belt information reading means is mounted on the vehicle in the crawler belt mounted vehicle monitoring device according to claim 1.

  In the crawler-equipped vehicle monitoring device according to the fifth aspect, since the crawler track information is input from the information input terminal device mounted on the vehicle, the crawler track information can be input with a simple configuration.

  As described above, since the crawler-equipped vehicle monitoring device according to the first aspect has the above-described configuration, it has an excellent effect that it is possible to detect an abnormality of the crawler belt and notify the abnormality of the crawler belt.

  Further, since the crawler-equipped vehicle monitoring device according to the second aspect has the above-described configuration, the crawler track information can be stored quickly and accurately.

  Further, since the crawler-equipped vehicle monitoring device according to the third aspect has the above-described configuration, the data storage member is not easily affected by heat when the crawler belt is vulcanized.

  Further, since the crawler-equipped vehicle monitoring device according to the fourth aspect is configured as described above, a signal from the data storage member to the crawler track information reading means is not blocked by the cored bar.

  Further, since the crawler-equipped vehicle monitoring device according to the fifth aspect has the above-described configuration, it is possible to input the crawler track information with a simple configuration.

It is a schematic side view which shows the structure of the crawler-equipped vehicle monitoring apparatus which concerns on one Embodiment of this invention. FIG. 2 is an enlarged cross-sectional view taken along a line 2-2 in FIG. It is a side view which shows a part of rubber crawler of the crawler-equipped vehicle monitoring apparatus which concerns on one Embodiment of this invention. It is sectional drawing corresponding to FIG. 2 which concerns on other embodiment of this invention. It is explanatory drawing which shows the predicted vibration data D1 of the crawler-equipped vehicle monitoring apparatus which concerns on one Embodiment of this invention. It is explanatory drawing which shows the detection vibration data D2 of the crawler-equipped vehicle monitoring apparatus which concerns on one Embodiment of this invention. It is the flowchart which showed control of the crawler-equipped vehicle monitoring apparatus which concerns on one Embodiment of this invention.

  Hereinafter, an embodiment of a crawler-equipped vehicle monitoring device according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view of a vehicle 10 such as a construction machine or a civil engineering work machine to which a crawler-equipped vehicle monitoring device according to an embodiment of the present invention is applied. In the figure, symbol FR indicates the front of the vehicle, and symbol UP indicates the upper side of the vehicle.

<Vehicle configuration>

  As shown in FIG. 1, a pair of left and right idlers 14 are provided on the front portion 12 </ b> A of the gantry 12 in the vehicle 10, and a pair of left and right sprockets 16 are provided on the rear portion 12 </ b> B of the gantry 12. A rubber crawler 20 as a crawler belt is wound around each of the left and right idlers 14 and the sprocket 16.

  The rubber crawler is a crawler belt in which a core metal is embedded at a constant pitch in an endless rubber elastic body, and a steel cord for circumferential tension reinforcement is embedded in the outer periphery of the core metal, or the core metal. It is a track that does not have.

  The core metal is a member for giving strength to the width direction of the rubber crawler, receiving the rotational force of the sprocket 16, and propelling the vehicle 10 by the rotational force.

  Moreover, embedding means incorporating in a rubber crawler as a result regardless of the method.

  The left and right rubber crawlers 20 are pressed against the running surface S by a plurality of track rollers 24 rotatably supported on the grounding surface side of the gantry 12 in the vehicle 10.

  In the present embodiment, a pair of front and rear arms 30 are provided on the opposite side of the vehicle 10 from the grounding surface of the gantry 12, and the inner peripheral surface of the rubber crawler 20 faces upward at the upper ends of these arms 30. A roller 33 for pushing up is provided.

  FIG. 2 is an enlarged cross-sectional view taken along the line 2-2 in FIG. In addition, the code | symbol IN in a figure has shown the vehicle width inside direction of the vehicle.

  As shown in FIG. 2, the gantry 12 of the vehicle 10 has a U-shaped cross section that opens to the lower side of the vehicle, and a plurality of track rollers 24 at the lower end of the gantry 12 can be rotated at intervals in the longitudinal direction of the vehicle. It is supported. Further, both end portions 32 </ b> A in the vehicle width direction of the cradle 32 of the vehicle 10 are coupled to the gantry 12, and the base body 28 is attached to the central upper portion 32 </ b> B of the cradle 32.

  As shown in FIG. 1, a pair of left and right signal receivers 38 serving as crawler track information reading means for inputting crawler track information related to the rubber crawler 20 are provided on the lower portion 28 </ b> A in the longitudinal direction of the base body 28 of the vehicle 10. . These signal receivers 38 are disposed close to the movement track of the rubber crawler 20 and can read data stored in the IC tag 40 as a data storage member provided in the rubber crawler 20.

  In addition, the IC tag 40 has track information on the rubber crawler 20 as a guide rubber 20A pitch (P1 in FIG. 3), a rubber lug 20B pitch (P2 in FIG. 3), and a rubber lug 20B thickness (H2-H1 in FIG. 3). In addition, for example, a manufacturing factory, a manufacturing date, a manufacturing number, a model, and a size of the rubber crawler 20 are stored in advance. Note that the configurations of the IC tag 40 and the signal receiver 38 are well known, and a description thereof will be omitted.

  As shown in FIG. 2, an acceleration sensor (G sensor) 44 is provided as a pair of left and right vehicle vibration detection means at a portion 12 </ b> C supporting the shaft portion 24 </ b> A of the track roller 24 in the gantry 12 of the vehicle 10. These acceleration sensors 44 detect vibration generated in the track roller 24 when the vehicle 10 travels.

  As shown in FIG. 1, a control device 52 is mounted on the base body 28 of the vehicle 10 as abnormality determination means. An operating device 54 is mounted on the base 28 of the vehicle 10, and the operating device 54 includes at least one of a display 54A and a speaker 54B as warning means.

  The operation device 54 may be provided with an information input terminal device 54C such as a keyboard and a USB terminal.

  The control device 52 includes a CPU (Central Processing Unit) 52A composed of a known microprocessor and the like, and memories 52B, 52C, 52D, and 52E. The control device 52 is an operation device 54, a signal receiver 38, and an acceleration sensor 44. And are electrically connected.

  The memory 52B of the control device 52 stores a plurality of vehicle traveling vibration information (for example, the rotational speed of the sprocket 16 and the respective rubber crawlers 20) related to the vehicle-specific traveling vibration in a state in which a plurality of different rubber crawlers 20 are normally mounted. A plurality of predicted vibration data determined by (1) is stored. The memory 52C is a storage unit that stores crawler belt information about the rubber crawler 20, and the memory 52D is a storage unit that stores detected vibration data D2 obtained from the detected vibration detected by the acceleration sensor (G sensor) 44. ing.

  Note that the rubber crawler (crawler belt) in a normal state is a rubber crawler (crawler belt) in a state where no damage such as wear or scratches has occurred.

  In addition, a CPU (central processing unit) 52A of the control device 52 serves as both a predicted vibration calculation unit and an abnormality determination unit.

  That is, the CPU 52A of the control device 52 calculates the predicted vibration data D1 of the vehicle 10 based on the crawler track information obtained from the signal receiver 38 and the vehicle running vibration information stored in the memory 52B, and the predicted vibration data D1. The information is stored in the memory 52E.

  Specifically, a predetermined period T1 (frequency) determined by the rotational speed of the sprocket 16 in the vehicle 10, the pitch P2 of the rubber lug 20B of the rubber crawler 20 mounted, the thickness of the rubber lug 20B (H2-H1 in FIG. 3), and the like. The predicted vibration data D1 (FIG. 5) having the predetermined voltage V1 is calculated (selected from a plurality of predicted vibration data) and stored in the memory 52E.

  The CPU 52A of the control device 52 determines whether or not the rubber crawler 20 is abnormal based on the detected vibration data D2 obtained from the detected vibration detected by the acceleration sensor 44 and the predicted vibration data D1. .

  Specifically, out of the detected vibrations with different periods detected by the acceleration sensor 44, only the detected vibrations with a period in the range of plus or minus several milliseconds with respect to the period of the predicted vibration data D1 are extracted (bandpass filter). Thus, the detected vibration data D2 (FIG. 6) is acquired, and whether or not the rubber crawler 20 is abnormal is determined based on the detected vibration data D2 and the predicted vibration data D1.

  For example, when no vibration is detected at the period T1 in the detected vibration data D2, or when the voltage V1 does not reach a predetermined range, the rubber crawler 20 is determined to be abnormal.

  Further, when it is determined that the rubber crawler 20 is abnormal, the control device 52 activates the display 54A of the operation device 54, displays a warning text, and announces a warning from the speaker 54B.

<Configuration of rubber crawler>

  As shown in FIG. 1, the rubber crawler 20 is composed of an endless rubber elastic body. Further, as shown in FIG. 3, guide rubbers (rubber protrusions) 20A are formed on the inner peripheral surface of the rubber crawler 20 at a predetermined pitch P1 along the longitudinal direction (rotational direction) of the rubber crawler 20. A rubber lug 20B is formed on the outer peripheral surface of the rubber crawler 20 so as to protrude in the longitudinal direction (rotational direction) of the rubber crawler 20 at a predetermined pitch P2.

  As shown in FIG. 2, a tensile body (steel cord) 50 is embedded in the rubber crawler 20 along the longitudinal direction thereof.

  The track roller 24 and the roller 33 are arranged on the inner peripheral surface of the rubber crawler 20 with the guide rubber 20A sandwiched from both sides in the width direction.

  As shown in FIG. 1, the guide rubber 20 </ b> A of the rubber crawler 20 is engaged with the sprocket 16 so that driving force is transmitted from the sprocket 16.

  As shown in FIG. 4, the rubber crawler 20 has a core metal 51 embedded at a constant pitch in an endless rubber elastic body, and a circumferential tension reinforcement on the outer peripheral side of the core metal 51. A configuration in which the steel cord 50 is embedded is also possible.

<Configuration of IC tag>

  As the IC tag 40 provided on the rubber crawler 20, for example, a ceramic IC tag having high pressure durability (withstand pressure of 2 MPa or more) and high temperature durability (heat resistance of 200 degrees or more) is used. The IC tag 40 may have a rectangular plate shape or another shape.

  Further, the embedded position of the IC tag 40 in the rubber crawler 20 is embedded in a portion whose periphery is covered with rubber and hardly affected by heat during vulcanization.

  That is, as shown in FIG. 2, in the case of the rubber crawler 20 having no core metal, the IC tag 40 is embedded between the steel cord 50 and the guide rubber 20A. As shown in FIG. 4, in the case of the rubber crawler 20 having the cored bar 51, the rubber crawler 20 is embedded between the adjacent steel cords 50 and on the inner peripheral side of the rubber crawler 20 from the steel cord 50.

(Operation and effect of this embodiment)

  The operation of the crawler-equipped vehicle monitoring device of this embodiment will be described below with reference to the flowchart of FIG.

  In the crawler-equipped vehicle monitoring device of the present embodiment, the control device 52 performs abnormality detection processing in steps (hereinafter referred to as S) 102 to S110 at a predetermined timing.

  The predetermined timing is when the vehicle 10 starts traveling, or when an occupant inputs an abnormality detection processing start signal from the operation device 54.

  First, in S102, the track information corresponding to the rubber crawler 20 stored in the IC tag 40 provided on the rubber crawler 20 by the signal receiver 38, that is, the pitch P1 of the guide rubber 20A, the pitch P2 of the rubber lug 20B, and the rubber lug. The thickness 20B (H2-H1 in FIG. 3) is read, stored in the memory 52C, and the process proceeds to S104.

  Also, the position of the rubber crawler 20 in which the IC tag 40 is embedded is recognized as a starting point (one cycle C1) along the circumferential direction of the rubber crawler 20.

  Note that N rubber lugs 20 </ b> B are formed around the circumferential direction of the rubber crawler 20 (one cycle C <b> 1).

  In S104, the predicted vibration data D1 of the vehicle 10 is calculated based on the crawler track information about the rubber crawler 20 obtained from the signal receiver 38 and stored in the memory 52C and the vehicle running vibration information stored in the memory 52B in advance. The predicted vibration data D1 is stored in the memory 52E.

  Specifically, a predetermined period T1 (frequency) determined by the rotational speed of the sprocket 16 in the vehicle 10, the pitch P2 of the rubber lug 20B of the rubber crawler 20 mounted, the thickness of the rubber lug 20B (H2-H1 in FIG. 3), and the like. The predicted vibration data D1 (FIG. 5) having the predetermined voltage V1 is calculated (selected from a plurality of predicted vibration data), stored in the memory 52E, and the process proceeds to S106.

  In S106, out of the detected vibrations having different periods detected by the acceleration sensor 44, only the detected vibrations having a period in the range of plus or minus several milliseconds with respect to the period of the predicted vibration data D1 are extracted (bandpass filter). The detected vibration data D2 (FIG. 6) is acquired, stored in the memory 52D, and the process proceeds to S108.

  In S108, it is determined whether the rubber crawler 20 is abnormal based on the predicted vibration data D1 calculated in S104 and the detected vibration data D2 acquired in S106.

  For example, when wear has occurred on some rubber lugs 20B (rubber lugs 3 in the figure) in the rubber crawler 20, as shown in FIG. 6, with respect to the voltage V1 of the predicted vibration data D1 shown in FIG. The voltage V2 of the detected vibration data D2 changes (change amount V1-V2). For this reason, when this (variation V1-V2) exceeds the allowable range, it is determined that the rubber crawler 20 is abnormal.

  Further, when a crack occurs between adjacent rubber lugs 20B (rubber lugs 5 and 6 in the figure) in the rubber crawler 20, the pitch P2 of the predicted vibration data D1 shown in FIG. Further, the pitch P3 of the detected vibration data D2 changes (change amount P3-P2). For this reason, when this (change amount P3-P2) exceeds the allowable range, it is determined that the rubber crawler 20 is abnormal.

  Note that these determination results are comprehensively determined and the rubber crawler 20 is determined to be abnormal. For example, when it is determined that there is an abnormality in at least one of these determination results, the rubber crawler 20 determines that it is abnormal. Further, in order to improve the determination accuracy, the rubber crawler 20 may be determined to be abnormal when the abnormality determination result has exceeded a predetermined number of times after the rubber crawler 20 has rotated a plurality of times.

  Next, when it is determined in S106 that the rubber crawler 20 is abnormal, in S108, the display 54A of the operation device 54 is activated to display a warning text and a warning is announced from the speaker 54B. In S104, when it is determined that the rubber crawler 20 is not abnormal, the process returns to S102.

  The above determination is performed for each of the left and right rubber crawlers 20 provided in the vehicle 10.

  In S108, the control device 52 may output a signal for cutting off the power supply of the vehicle 10 to the driving device of the vehicle 10 to forcibly stop the vehicle 10. In addition, a signal is sent from the control device 52 to the transmitter 60 mounted on the vehicle 10, and a management number or detected vibration corresponding to the rubber crawler 20 is sent from the transmitter 60 to a receiver such as a service station at a location different from the vehicle. For example, the data D2 may be transmitted using a frequency signal in the UHF band and the 2.45 GHz band.

  Therefore, in this embodiment, it is possible to detect an abnormality of the rubber crawler 20 and notify the abnormality of the rubber crawler 20. As a result, even if the travel distance is short, these abnormalities are not overlooked when the rubber crawler 20 is significantly worn or cracked due to a sudden situation during travel. As a result, it is possible to prevent abnormal vibration of the vehicle 10 due to abnormality of the rubber crawler 20 and to prevent abnormality of the vehicle itself due to abnormal vibration of the vehicle 10.

  In the present embodiment, since the data stored in the IC tag 40 provided in the rubber crawler 20 is read by the signal receiver 38 mounted on the vehicle 10, the data can be stored quickly and accurately. Become.

  Further, in the present embodiment, as shown in FIG. 2, in the rubber crawler 20 having no core metal, the IC tag 40 is embedded between the steel cord 50 and the guide rubber 20A. For this reason, since the rubber layer at the portion where the IC tag 40 is embedded in the rubber crawler 20 is thick, the IC tag 40 is hardly affected by heat when the rubber crawler 20 is vulcanized.

  In the present embodiment, as shown in FIG. 4, in the case of the rubber crawler 20 having the cored bar 51, the IC tag 40 is placed between the adjacent steel cords 50 and from the steel cord 50 to the inner circumference of the rubber crawler 20. Embed on the side. For this reason, the signal from the IC tag 40 to the signal receiver 38 is not blocked by the cored bar 51. Further, since the rubber layer at the portion where the IC tag 40 is embedded in the rubber crawler 20 is thick, the IC tag 40 is hardly affected by heat when the rubber crawler 20 is vulcanized.

  [Supplementary explanation of the above embodiment]

  Although the present invention has been described in detail with respect to specific embodiments, the present invention is not limited to such embodiments, and various other embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art. For example, the arrangement position of the acceleration sensor (G sensor) 44 as the vehicle vibration detection means is not limited to the portion 12C that supports the shaft portion 24A of the track roller 24 in the gantry 12 of the vehicle 10, and the cradle 32 of the vehicle 10 or the like. Other parts may be used. The vehicle vibration detection means is not limited to the acceleration sensor (G sensor) 44, and other sensors such as a pressure sensor may be used.

  Although not shown, in the invention described in claim 1, the crawler track information reading means is an information input terminal device 54 </ b> C such as a keyboard and a USB terminal of the operation device 54 mounted on the vehicle 10. A configuration in which crawler belt information related to the rubber crawler 20 is input to the control device 52 from the terminal device 54C is also included. In this configuration, since the signal receiver 38 and the IC tag 40 are not required, the configuration can be simplified.

  Although not shown, the invention described in claim 2 includes a configuration in which the IC tag 40 is embedded in a portion other than the portion between the steel cord 50 and the guide rubber 20A in the rubber crawler 20 without the cored bar. However, in the case of the rubber crawler 20 having the cored bar 51, a configuration in which the IC tag 40 is embedded between the adjacent steel cords 50 and other than the inner peripheral side of the rubber crawler 20 from the steel cord 50 is also included.

10 Vehicle 20 Rubber Crawler (Crawler Track)
20A Guide rubber 20B Rubber lug 38 Signal receiver (crawler track information reading means)
40 IC tag (data storage member)
44 Acceleration sensor (vehicle vibration detection means)
52 Control device (predicted vibration calculation means, abnormality determination means)
52A CPU
52B Memory (storage unit)
54 Operation device 54A Display (warning means)
54B Speaker (Warning means)
54C Information input terminal device

Claims (5)

A crawler track information reading means for reading the crawler track information on the crawler track mounted on the vehicle traveling in the crawler belt,
A crawler track information obtained from the crawler track information reading means, comprising a storage unit that stores a plurality of vehicle travel vibration information related to the vehicle-specific vibration during travel in a state in which different crawler belts are mounted in a normal state. Predicted vibration calculation means for calculating predicted vibration data of the vehicle based on the vehicle running vibration information of the storage unit,
Vehicle vibration detection means mounted on the vehicle for detecting vibrations of the vehicle;
An abnormality determining means for determining whether or not the crawler belt is abnormal based on detected vibration data obtained from the detected vibration detected by the vehicle vibration detecting means and the predicted vibration data;
Warning means mounted on the vehicle and warning when the crawler track is determined to be abnormal by the abnormality determination means;
A crawler-equipped vehicle monitoring device.   2. The crawler-equipped vehicle monitoring device according to claim 1, wherein the crawler belt information reading means reads the crawler belt information from a data storage member provided in the crawler belt and storing the crawler belt information.   The crawler belt has an endless rubber elastic body embedded with a steel cord for circumferential tension reinforcement, and the data storage member is embedded between the steel cord and the rubber protrusion of the rubber elastic body. The crawler-equipped vehicle monitoring device according to claim 2.   The crawler belt has an endless rubber elastic body embedded with a core metal at a constant pitch, and a steel cord for circumferential tension reinforcement is embedded on the outer periphery of the core metal, and the data storage members are adjacent to each other. The crawler-equipped vehicle monitoring device according to claim 2, which is embedded in rubber between core bars.   The crawler-equipped vehicle monitoring device according to claim 1, wherein the crawler belt information reading means is an information input terminal device mounted on the vehicle.

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