Multi-unit harvester allowing execution of sequence

Abstract

The invention relates to a multi-unit harvester allowing the execution of a sequence. A machine comprising right and left side units, and a central unit extending between the left and right side units as viewed in a work direction, each unit being able to use a work configuration and an edge configuration, an interface for command input associated with the machine and connected to a controller for transforming each unit down, in other words, each unit is transformed from its headstock configuration to a job configuration and used for up-transforming each unit, in other words, each unit is transformed from its job configuration to the headstock configuration. The controller is configured to allow execution of a down sequence and a up sequence during which each input of the same command causes at least one of the cells to transform down or up.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and in particular to a multi-unit harvester that allows sequential execution.

[0002] More particularly, the present invention relates to a harvester moving in a working direction, comprising a right unit, a left unit and a central unit extending at least mainly between the left unit and the right unit, seen in the working direction, each unit being capable of occupying a working configuration and a headland configuration, an interface for inputting commands associated with the harvester and connected to a controller, the controller being capable of transforming each unit downwards, in other words, from its headland configuration to its working configuration, and transforming each unit upwards, in other words, from its working configuration to its headland configuration. Background Art

[0003] Document EP3892084A1 discloses a multi-unit harvester comprising two left-side units and two right-side units. The harvester allows the right front unit to shift downward or upward after a command input via an interface, and allows the right rear unit to automatically shift downward or upward after a time delay. Furthermore, the harvester allows the left front unit to shift downward or upward after another command input via the interface, and allows the left rear unit to automatically shift downward or upward after a time delay. This harvester reduces the number of commands an operator must input when crossing the boundary between an area to be worked and an area to be eliminated.

[0004] However, a disadvantage of this harvester is that when the harvester crosses the boundary between the area to be worked and the area to be excluded, the user must simultaneously focus on selecting the command to enter on the interface and the correct timing for shifting each front unit downward or upward. This requires considerable dexterity and concentration, meaning the operator may be prone to issuing incorrect commands and / or missing the correct timing for shifting at least one of these units downward or upward. Furthermore, the time delay between the two units on the same side only allows the rear unit to be shifted downward or upward at the correct time for certain types of boundaries. As this boundary changes, it becomes necessary to modify the time delay to maintain precision regarding when to shift the rear unit downward or upward, thereby ensuring high-quality work. Improperly configured time delays risk working the area to be excluded if a unit is shifted upward too late and / or downward too quickly, and / or risk leaving the area to be worked unworked if a unit is shifted upward too quickly and / or downward too late. Finally, if the harvester's midplane is misaligned with the tractor's midplane, particularly when turning, the time delay is more likely to be inaccurate. Summary of the Invention

[0005] The object of the present invention is to overcome at least some of the above-mentioned problems and in particular to reduce the burden on the operator when crossing the boundary between the area to be worked and the area to be excluded, while allowing a better quality of work due to improved maneuverability of the harvester by shifting the individual units downwards and upwards, respectively.

[0006] To this end, the present invention proposes that the controller is configured to allow the execution of a lowering sequence and a lifting sequence, during which each input of the same lowering command causes at least one of the units to be transformed downward, and during the lifting sequence, each input of the same lifting command causes at least one of the units to be transformed upward. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The invention will become clearer after reading the following description of a preferred variant given as an example. Said description makes reference to the attached schematic diagram, in which:

[0008] Figure 1 is a top view of a harvester according to the present invention;

[0009] Figure 2 is a view of a possible embodiment of an interface of a harvester according to the present invention;

[0010] Figure 3A 、 Figure 3B and Figure 3C are further views of possible embodiments of an interface for a harvester according to the present invention;

[0011] Figure 4 is a simplified top view of a harvester preparing to cross the boundary between the working area and the area to be excluded;

[0012] Figure 5 yes Figure 1 A simplified side view of a harvester in which the right unit, left unit, and center unit are in a headland configuration;

[0013] Figure 6 is a simplified top view of a harvester with its units arranged so that the right unit, left unit and center unit are aligned orthogonally to the working direction. DETAILED DESCRIPTION

[0014] Figure 1A harvester (1) is shown moving along a working direction (S). In the figure, the harvester (1) comprises a right unit (30), a left unit (40) and a central unit (50). The central unit (50) extends at least primarily between the left unit (40) and the right unit (30) as viewed in the working direction (S), enabling a larger width to be harvested with minimal overlap between the central unit (50) and each of the left unit (40) and the right unit (30) as viewed in the working direction (S). Each unit (30, 40, 50) can occupy a working configuration and a headland configuration. The right unit (30) can be moved between its working configuration and its headland configuration by a right actuator (31). The left unit (40) can be moved between its working configuration and its headland configuration by a left actuator (41). Finally, the central unit (50) can be moved between its working configuration and its headland configuration by a central actuator (51).

[0015] In a preferred embodiment, each unit (30, 40, 50) is associated with a single actuator (31, 41, 51) for transforming the unit (30, 40, 50) between the working configuration and the headland configuration. Alternatively, several actuators may be required to transform the unit (30, 40, 50) between the working configuration and the headland configuration. Each actuator (31, 41, 51) may be formed by at least one hydraulic cylinder. Alternatively, the actuators (31, 41, 51) may be electric and / or pneumatic.

[0016] An interface (8) for inputting commands is associated with the harvester (1). The interface (8) is connected to a controller (7). The controller (7) is capable of sending signals to and receiving signals from the interface (8). In particular, the interface (8) can send a signal to the controller (7) to cause it to switch at least one unit (30, 40, 50) downward or upward. In addition, the controller (7) can send a signal to an actuator (31, 41, 51) to switch the associated unit (30, 40, 50) downward or upward and / or send a signal to a valve for actuating these actuators (31, 41, 51). Actuating one or more actuators (31, 41, 51) switches the associated one or more units (30, 40, 50) downward or upward.

[0017] The controller (7) thus allows each actuator (31, 41, 51) to downshift the corresponding unit (30, 40, 50). Downshifting a unit (30, 40, 50) means shifting it from its headland configuration to its working configuration. The controller (7) also allows each unit (30, 40, 50) to upshift. Accordingly, the controller (7) allows each actuator (31, 41, 51) to upshift the corresponding unit (30, 40, 50). Upshifting a unit (30, 40, 50) means shifting it from its working configuration to its headland configuration.

[0018] When viewed in the working direction (S), the right unit (30) is located on the right side of the harvester (1), and the left unit (40) is located on the left side of the harvester (1). Figure 1 、 Figure 4 、 Figure 5 and Figure 6 As shown in , the harvester (1) further comprises a chassis (2) for connecting at least the right unit (30) and the left unit (40) to the tractor (3). Preferably, the left unit (40) and the right unit (30) are connected to the chassis (2) via respective support arms (10). Figure 1 As shown in FIG, the chassis (2) is connected to the tractor (3) via the two lower arms of the rear three-point hitch of the tractor (3). Figure 1 、 Figure 4 and Figure 5 As shown in , the central unit (50) is connected to the tractor (3) via the front chassis (5) and the front three-point hitch of the tractor (3). Alternatively, the central actuator (51) forms part of the tractor (3) and can be actuated by the controller (7) of the harvester (1).

[0019] The tractor (3) is used to move the harvester (1) in a working direction (S) and is preferably also used to operate the harvester (1). The harvester (1) can also be self-propelled, and the tractor (3) forms an integral part of the harvester (1). The harvester (1) has a vertical mid-plane (4). When the harvester (1) moves in a straight line, the mid-plane (4) is parallel to the working direction (S). The mid-plane (4) also passes through the center of the harvester (1) and / or the chassis (2). The harvester (1) is substantially symmetrical along the mid-plane (4). The tractor (3) also has a symmetry plane that is aligned with the mid-plane (4). The operator drives the tractor (3) and / or the harvester (1).

[0020] In this document, the concepts of "left", "right", "front", "rear", "side", "in front of", and "behind" are defined when viewed in the working direction (S). The concepts of "inside" and "outside" are defined relative to the midplane (4). External components are further away from the midplane (4) than internal components.

[0021] In the working configuration, each unit (30, 40, 50) is placed on the ground of the field, providing support for the chassis (2) and / or the front chassis (5) (if applicable). For harvesting the product, each unit (30, 40, 50) includes a corresponding conveyor (34, 44, 54). Each unit (30, 40, 50) also includes a corresponding gathering device (33, 43, 53). Each gathering device (33, 43, 53) is designed to move the product in a gathering direction (C), preferably in both directions. Preferably, in the working configuration, each gathering device (33, 43, 53) extends along the gathering direction (C). In particular, each gathering device (33, 43, 53) can include a screw conveyor partially contained in a housing for guiding the product. The screw conveyor is preferably driven around a horizontal axis transverse to the working direction (S). Alternatively or additionally, each gathering device (33, 43, 53) comprises an endless belt stretched between at least two cylinders (12). Each endless belt is preferably driven by at least one of the cylinders (12). The at least two cylinders (12) are guided in rotation about an axis substantially parallel to the working direction (S). The product is in particular a plant product, such as grass or straw. Preferably, the or each gathering direction (C) is orthogonal to the working direction (S).

[0022] In the working configuration, each conveyor (34, 44, 54) is located in front of the gathering device (33, 43, 53) of the same unit (30, 40, 50). Each conveyor (34, 44, 54) is designed to convey the product to the corresponding gathering device (33, 43, 53) in a direction parallel to the working direction (S). Preferably, each conveyor (34, 44, 54) has substantially the same length as the corresponding gathering device (33, 43, 53) along the gathering direction (C).

[0023] In particular, each conveyor (34, 44, 54) can include at least one mower bar and / or at least one pickup roller. When the conveyor (34, 44, 54) includes a mower bar, it can mow upright plant products. When the conveyor (34, 44, 54) consists only of pickup rollers, it can pick up products lying on the ground, such as cut plants. Each conveyor (34, 44, 54) can include pickup rollers that are driven to rotate around their respective roller axes (13). Preferably, each roller axis (13) is perpendicular to the working direction (S). Each pickup roller has fingers distributed around its periphery for picking up products from the ground and conveying them back to the corresponding gathering device (33, 43, 53). Each pickup roller is preferably driven by a corresponding drive motor, which is electric or preferably hydraulic. Each pickup roller can also be driven via the PTO of the tractor (3), just like the corresponding gathering device (33, 43, 53).

[0024] Before the units (30, 40, 50) are transferred to the working configuration, the surface of the field constitutes the working area (62). For example, if a path passes through the field, it is preferred that the path be considered as the area to be excluded (60). Figure 5 As shown in , in the headland configuration, each unit (30, 40, 50) is separated from the ground. The headland configuration allows the units (30, 40, 50) not to operate on a certain area, especially the area to be excluded (60). The area that the units (30, 40, 50) have already operated on is also the area to be excluded (60). Figure 4 As shown in FIG, a field may include at least one area to be worked (62) and at least one area to be excluded (60). A boundary (61) is a line between the area to be worked (62) and the area to be excluded (60).

[0025] In order to reduce the burden on the operator when the harvester (1) must cross the border (61), the controller (7) is configured to allow a lowering sequence to be executed, during which each input of the same lowering command allows at least one of the units (30, 40, 50) to be shifted downwards. In order to reduce the burden on the operator when the harvester (1) must cross the border (61) in the opposite direction, the controller (7) is configured to allow a lifting sequence to be executed, during which each input of the same lifting command allows at least one of the units (30, 40, 50) to be shifted upwards.

[0026] Thanks to these arrangements, when the harvester (1) must cross the boundary (61), the operator advantageously repeats the same command for each unit (30, 40, 50), thereby reducing the risk of incorrect commands. The operator, freed from this task, can focus more on the correct timing of shifting each unit (30, 40, 50) downwards or upwards relative to the boundary (61), thereby improving the accuracy of these actuations, especially when the harvester (1) and / or tractor (3) do not allow them to be automated, thereby avoiding working the same place twice and leaving places unworked, thus improving the quality of the work.

[0027] In a preferred embodiment, the controller (7) is configured to allow a right lift sequence to be executed. During the right lift sequence, a first input of a lift command causes the center unit (50) to shift upwards, a second input of a lift command causes the right unit (30) to shift upwards, and a third input of a lift command causes the left unit (40) to shift upwards. In particular, at the boundary (61) and with Figure 4 In the case of a harvester (1) with the arrangement of units (30, 40, 50) shown, a right lifting sequence can be used.

[0028] In a preferred variant, in order to Figure 4 In the case of the harvester (1) shown in FIG. 1 , the harvester (1) is crossed in the opposite direction. Figure 4 , the controller (7) is configured to allow execution of a right lowering sequence. During the right lowering sequence, a first input of a lowering command causes the center unit (50) to shift downwards, a second input of a lowering command causes the right unit (30) to shift downwards, and a third input of a lowering command causes the left unit (40) to shift downwards. In an alternative variant, only two right sequences (raising and lowering) may be executed, thereby reducing the computing power required in particularly common scenarios. To simplify the presentation, the term "right sequence" encompasses both the right raising sequence and the right lowering sequence.

[0029] In order to reduce the burden on the operator for different types of boundaries (61), in a preferred variant, the controller (7) is also configured to allow the execution of a left sequence (lifting and lowering). Therefore, the controller (7) is preferably configured to allow the execution of a left lift sequence. During the left lift sequence, the first input of the lift command causes the central unit (50) to shift upward, the second input of the lift command causes the left unit (40) to shift upward, and the third input of the lift command causes the right unit (30) to shift upward. Conversely, the controller (7) is preferably configured to allow the execution of a left lowering sequence. During the left lowering sequence, the first input of the lowering command causes the central unit (50) to shift downward, the second input of the lowering command causes the left unit (40) to shift downward, and the third input of the lowering command causes the right unit (30) to shift downward. For simplicity, the term "left sequence" includes both the left lift sequence and the left lowering sequence.

[0030] In this document, once started, a sequence is considered to be in progress. In a simple and fast manner, in a preferred variant, the controller (7) is configured such that when no sequence is in progress, the first input of a lowering or lifting command enables the start of a sequence.

[0031] In a preferred embodiment, the controller (7) is further configured to allow for a symmetrical lowering sequence. During a symmetrical lowering sequence, a first input of a lowering command causes the central unit (50) to shift downward, and a second input of a lowering command causes both the left unit (40) and the right unit (30) to shift downward simultaneously. Finally, in a preferred embodiment, the controller (7) is further configured to allow for a symmetrical raising sequence. During a symmetrical raising sequence, a first input of a raising command causes the central unit (50) to shift upward, and a second input of a raising command causes both the left unit (40) and the right unit (30) to shift upward simultaneously. For simplicity, the term "symmetrical sequence" encompasses both symmetrical raising sequences and symmetrical lowering sequences.

[0032] In an alternative variant, even after all commands in a sequence have been entered, a specific command must be entered to end the sequence. This type of variant therefore requires an additional command entry for each sequence, which wastes the operator's time and may lead to oversights that negatively affect the quality of the work. In a preferred variant, each sequence holds a predetermined number of commands. In other words, a predetermined number of commands is associated with each sequence. In particular, the left sequence and the right sequence each have three commands. In addition, each of the symmetrical sequences has two commands. Thus, each sequence has at least two commands. In a simple and fast manner, the controller (7) is configured to end the sequence once all commands in the sequence have been entered. In other words, all commands in the sequence must have been entered before another sequence can be started. It is further provided that during a sequence, each unit (30, 40, 50) is only switched down or up once.

[0033] like Figure 2 As shown in FIG3 , in order to input commands on the interface (8), the interface (8) is provided with a plurality of keys (81, 82, 83, 84, 85, 86, 87). The keys (81-87) are used to input commands. Preferably, the keys (81-87) are actuated by an operator. Thus, the commands are preferably input by the operator. Input of a command may correspond to the actuation of one or more keys (81-87), respectively, to the continuous and / or simultaneous actuation of one or more keys (81-87).

[0034] Preferably, the interface (8) is provided with a screen (80) for displaying information about the harvester (1), such as its status and / or settings. The screen (80) may be tactile and may include programmable keys (81-87). Alternatively or in addition, the interface (8) may include a joystick and / or a key unit (81-87) without the screen (80). The interface (8) may then include, for example, mechanical keys (81-87) on a joystick and / or programmable keys (81-87) on the screen (80), all of which allow the input of commands. Figure 2 As shown in , in order to more easily identify the keys (81-87), it is preferred to associate a pictograph, image and / or text with each programmable key (81-87).

[0035] In the case of a screen (80), at least one programmable key (81-87) can occupy different positions on the screen (80). To avoid operating errors, each key (81-87) preferably always occupies the same position on the screen (80), at least during the same sequence.

[0036] In order to avoid unnecessary actuation, at least one key (81-87) of the interface (8) can be deactivated. When a key (81-87) is deactivated, its actuation has no effect. Furthermore, in particular in the case of an interface (8) with a screen (80), at least one key (81-87) of the interface (8) can be displayed differently from the other keys. Thus, when a programmable key (81-87) is deactivated, the deactivated key is preferably displayed in a different manner, advantageously informing the operator of the active key (81-87) and the deactivated key (81-87) at a specific moment, respectively. In a preferred variant, each key (81-87) can then have a first appearance and a second appearance. Preferably, the key (81-87) having the first appearance is the active key (81-87). The active key (81-87) is the key (81-87) that is not deactivated. As Figure 2 As shown in , the keys (81-87) with the first appearance may in particular have a solid line, a strong contrast and / or a first color. Preferably, the keys (81-87) with the second appearance are deactivated keys (81-87). The keys (81-87) with the second appearance may have a second color or be hidden. Figure 3B As shown in , the left selection key (81) and the right selection key (83) are hidden because they are deactivated. This arrangement advantageously reduces the risk of making a mistake when pressing the keys (81-87). Each key (81-87) can also have a third appearance, preferably when it is active but the command (or function) is not in progress, so that the operator can be further informed about the status of the harvester (1). The keys (81-87) with the third appearance can in particular have a dotted line, a grey outer frame and / or a third color. In Figure 3AIn the example, the left selection key (81) and the right selection key (83) have a third appearance because they are active and the command in progress is the symmetric mode associated with the symmetric selection key (82).

[0037] In a first embodiment variant not shown in the drawings, in order to shift the unit (30, 40, 50) upwards during a right raising sequence, each input of a raising command corresponds to an actuation of the right raising key. Similarly, in this first embodiment variant, in order to shift the unit (30, 40, 50) downwards during a right lowering sequence, each input of a lowering command corresponds to an actuation of the right lowering key.

[0038] In a first embodiment, to shift the unit (30, 40, 50) upwards during a left raise sequence, each input of a raise command corresponds to an actuation of the left raise key. In a first variant, to shift the unit (30, 40, 50) downwards during a left lower sequence, each input of a lower command corresponds to an actuation of the left lower key.

[0039] Also in the first variant, to shift the unit (30, 40, 50) upward during a symmetrical raising sequence, each input of the raising command corresponds to an actuation of a symmetrical raising key. In the first variant, to shift the unit (30, 40, 50) downward during a symmetrical lowering sequence, each input of the lowering command corresponds to an actuation of a symmetrical lowering key.

[0040] Thus, in a first variant, the interface (8) must have at least six keys (81-87) for switching the units (30, 40, 50) downwards and upwards, in order to store six sequences, namely two left sequences, two right sequences and two symmetrical sequences. This first variant has the disadvantage that it requires a large number of keys (81-87), which can confuse the operator when selecting a sequence and increase the risk of the operator selecting the wrong key. This is particularly true when crossing a border (61), as the operator usually needs to make a U-turn and must therefore concentrate on other commands.

[0041] To allow the operator to select the next sequence in advance, thereby reducing the risk of them selecting the wrong key (81-87) and allowing them to focus more on driving and / or other tasks or commands when crossing the boundary (61), in a preferred embodiment, the right mode is associated with the right sequence and the left mode is associated with the left sequence. In a preferred embodiment, the symmetric mode is associated with the symmetric sequence.

[0042] Advantageously, the controller (7) is configured to allow entry into a right mode in which only a right sequence can be executed. Alternatively, the controller (7) is configured to allow entry into a left mode in which only a left sequence can be executed. In a preferred variant, the controller (7) is configured to allow entry into the right mode by inputting a right selection command, and into the left mode by inputting a left selection command. Still in this preferred variant, the controller (7) is configured to allow entry into the symmetric mode by inputting a symmetric selection command. Provision is made that no selection command input allows the units (30, 40, 50) to be switched up or down. With this arrangement, a mode or each mode can be entered before reaching the boundary (61). After entering a mode, the mode is considered to be in progress. Thus, a mode or each mode can be entered without starting a sequence or switching the units (30, 40, 50) up or down. Being able to enter a mode in advance gives the operator more time to make a selection, thereby avoiding manipulation errors and allowing them to focus more on other commands. In the case of the screen (80), the number of keys (81-87) can be further reduced, at least when no sequence is in progress.

[0043] like Figure 2 As shown in , the interface (8) is provided with a right selection key (83) associated with the right mode and a left selection key (81) associated with the left mode. Preferably, the interface (8) is also provided with a symmetrical selection key (82). In a preferred variant, the interface (8) is provided with at least three selection keys (81-83), each selection key being associated with a corresponding mode. The controller (7) is configured so that when a sequence is in progress, the selection keys (81, 82, 83) are preferably deactivated, thereby ensuring that the ongoing sequence is completed before starting another sequence. In order for the interface (8) to inform the operator of the ongoing mode, the controller (7) is configured so that when it enters a mode, the selection key (81, 82, 83) associated with the mode is displayed differently from the other selection keys (81, 82, 83). For example, when the controller (7) enters a mode, the selection key (81, 82, 83) corresponding to the mode is the only selection key displayed on the screen (80), and the other selection keys (81, 82, 83) are hidden or have a second appearance respectively. Alternatively or additionally, when the deactivated keys (81-87) are actuated, the controller (7) can be configured to issue a warning, thereby avoiding manipulation errors and improving the quality of the work. The warning can be audible and / or visual. Alternatively or additionally, for the tactile screen (80), if the operator touches it next to the active key (81-87), the controller (7) can also be configured to issue a warning.

[0044] In a simple and fast manner, in a preferred variant, each selection command corresponds only to the actuation of a single corresponding selection key (81, 82, 83). In a preferred variant, the input of a right selection command corresponds only to the actuation of the right selection key (83), while the input of a left selection command corresponds only to the actuation of the left selection key (81). Similarly, the input of a symmetrical selection command corresponds only to the actuation of the symmetrical selection key (82). In an alternative variant, the selection commands correspond to the continuous and / or simultaneous actuation of one or more keys (81-87).

[0045] Due to the possibility of entering a mode, each lowering command and raising command can be identical regardless of the mode in progress. Therefore, the interface (8) can be provided with a raising key (84) and a lowering key (85). Thus, in a preferred variant, the controller (7) is configured such that, regardless of the mode in progress, the input of a lowering command corresponds only to a single actuation of the lowering key (85). Similarly, the controller (7) is configured such that, regardless of the mode in progress, the input of a raising command preferably corresponds only to a single actuation of the raising key (84). Such an arrangement makes it possible to reduce the number of keys, and accordingly the number of active keys, at least when no sequence is in progress, thereby further reducing the risk of manipulation errors.

[0046] As can be seen from the above, in a preferred variant, the left selection key (81) is associated with the left mode, while the right selection key (83) is associated with the right mode. In a preferred variant, the symmetry selection key (82) is associated with the symmetry mode. Thus, when no sequence is in progress, if a selection command is input, correspondingly if the selection keys (81, 82, 83) are actuated, the controller (7) is configured to enter the corresponding mode.

[0047] In a simple and fast manner, after a sequence, if no other mode has been selected by a selection command, respectively by selecting keys (81, 82, 83), the mode last entered will still be continued. In other words, the controller (7) is configured so that when no sequence is in progress, if no other mode has been selected, the next input of a lowering command or a raising command, respectively the next actuation of one of the lowering keys (85) or the raising keys (84), will start a new sequence of the last mode entered by the controller (7).

[0048] like Figure 5As shown in , in a preferred variation, a configuration sensor (32, 42, 52) is associated with each unit (30, 40, 50). Specifically, the right configuration sensor (32) is associated with the right unit (31), the left configuration sensor (42) is associated with the left unit (41), and the central configuration sensor (52) is associated with the central unit (51). Each configuration sensor (32, 42, 52) at least detects whether the associated unit (30, 40, 50) is in a working configuration or a headland configuration. In addition, each configuration sensor (32, 42, 52) can notify the controller (7) of the configuration of the associated unit (30, 40, 50).

[0049] The lower key (85) and the raise key (84) are preferably both displayed on the screen (80) until the sequence begins. In this preferred variation, once the sequence is initiated by actuating one of the raise key (84) and the lower key (85), the other (of the raise key (84) and the lower key (85)) is no longer displayed (see Figure 3B ), thereby reducing the number of keys (81-87), correspondingly reducing the number of active keys, and reducing the risk of manipulation errors. In addition, if applicable, the screen (80) thus informs the operator of the ongoing sequence.

[0050] In a preferred embodiment, the controller (7) is configured such that if, at the start of the sequence, the configuration sensors (32, 42, 52) inform the controller (7) that all units (30, 40, 50) are in the working configuration, the lower key (85) is deactivated. In a preferred embodiment, the controller (7) is configured such that if, at the start of the sequence, the configuration sensors (32, 42, 52) inform the controller (7) that all units (30, 40, 50) are in the working configuration, the lower key (85) is displayed differently from the raise key (84). In this case, if the interface (8) has a screen (80), the lower key (85) has a second appearance and is accordingly not displayed. Similarly, if, at the start of the sequence, the configuration sensors (32, 42, 52) inform the controller (7) that all units (30, 40, 50) are in the headland configuration, the raise key (84) is deactivated. In a preferred variant, the controller (7) is configured so that if, at the start of the sequence, the configuration sensors (32, 42, 52) inform the controller (7) that all units (30, 40, 50) are in the headland configuration, the raise key (84) is displayed differently from the lower key (85). In this case, if the interface (8) has a screen (80), the raise key (84) has a second appearance and is accordingly not displayed. Figure 3BIn the embodiment of the present invention, the lift key (84) has been hidden. This arrangement reduces the risk of manipulation errors and reduces the number of keys (81-87) displayed on the screen (80), if applicable. In addition, these arrangements enable the operator to be informed when all units (30, 40, 50) are in the same configuration at the beginning of the sequence. In addition, in a preferred variant, the controller (7) is configured so that at the beginning of the sequence, if the configuration sensor (32, 42, 52) informs the controller (7) that all units (30, 40, 50) are in the same configuration, one of the lift key (84) and the lower key is deactivated, thereby reducing the number of keys (81-87) that are active at the beginning of the sequence. Preferably, at the beginning of the sequence, if the configuration sensor (32, 42, 52) informs the controller (7) that all units (30, 40, 50) are in the same configuration, the controller (7) is configured so that the lift key (84) and the lower key (85) are displayed differently, thereby reducing the risk of selecting the wrong key.

[0051] If the harvester (1) is equipped with a configuration sensor (32, 42, 52), then at the start of a sequence, if all units (30, 40, 50) are not in the same configuration, both a raise key (84) and a lower key (85) are preferably displayed, thereby allowing the next sequence to be determined. If the harvester (1) is equipped with a configuration sensor (32, 42, 52), then when a mode is in progress and when all units (30, 40, 50) are not in the same configuration at the start of a sequence, the controller (7) is configured to cause the first command input to determine the next sequence. Thus, when a mode is in progress and when all units (30, 40, 50) are not in the same configuration at the start of a sequence, if the first input is a raise command input, the sequence that begins is a raise sequence. Conversely, when a mode is in progress and when all units (30, 40, 50) are not in the same configuration at the start of a sequence, if the first input is a lower command input, the sequence that begins is a lower sequence.

[0052] Alternatively, if one unit (30, 40, 50) is in a different configuration than the other two units (30, 40, 50), the next sequence will be determined by the configuration of the two units (30, 40, 50) that are in the same configuration.

[0053] like Figure 2As shown in , in a second alternative embodiment variant in which the harvester (1) is equipped with configuration sensors (32, 42, 52), only the common action key (86) is active when a mode is in progress. In the second variant, the controller (7) is configured so that when a mode is in progress and when the configuration sensors (32, 42, 52) inform the controller (7) at the beginning of the sequence that all units (30, 40, 50) are in the headland configuration, each actuation of the common action key (86) shifts at least one unit (30, 40, 50) downward. In this second variant, the controller (7) is also configured so that when a mode is in progress and when the configuration sensors (32, 42, 52) inform the controller (7) at the beginning of the sequence that all units (30, 40, 50) are in the working configuration, each actuation of the common action key (86) shifts at least one unit (30, 40, 50) upward. Thus, in the second variant, the lowering command and the raising command are identical, thereby further reducing the number of keys ( 81 - 87 ) and the risk of manipulation errors.

[0054] In a simple and rapid manner, in a preferred variant, the controller (7) is configured such that the start of a sequence corresponds to the first input of a lowering command or a lifting command, regardless of the mode in progress. In other words, in a preferred variant, when a mode is in progress but no sequence is in progress, the controller (7) is configured such that the first input of a lowering command or a lifting command initiates the corresponding sequence and causes at least one of the units (30, 40, 50) to shift downward or upward. Alternatively, when a mode is in progress but no sequence is in progress, the controller (7) is configured such that an additional command input before the first input of a lowering command or a lifting command initiates the sequence.

[0055] The interface (8) may also include a stop button (87). The stop button (87) is used to stop an ongoing sequence. For safety reasons, actuation of the stop button (87) immediately stops any lifting and / or lowering of the units (30, 40, 50). If the stop button (87) is actuated a second time during the sequence, the sequence restarts normally.

[0056] In the case of a screen (80), a stop key (87) preferably appears on the screen (80) after the start sequence and is preferably hidden at the end of the sequence. In the case of an interface (8) with a screen (80), during the sequence, the stop key (87) may replace either the raise key (84) or the lower key (85) which are hidden at the start of the ongoing sequence. Preferably, when the keys (81-87) are displayed on the screen (80), the keys, with the exception of the stop key (87), always occupy the same position.

[0057] Alternatively or additionally, if during the sequence a raise command is input while the unit (30, 40, 50) in question is in the headland configuration, the raise command has no effect (and the unit (30, 40, 50) in question remains in the headland configuration). Conversely, if during the sequence a lower command is input while the unit (30, 40, 50) in question is in the working configuration, the lower command has no effect (and the unit (30, 40, 50) in question remains in the working configuration).

[0058] The controller (7) can be mounted on the tractor (3) or on the harvester (1). The controller (7) and / or the interface (8) can be part of the harvester (1) or the tractor (3). Alternatively, the interface (8) and the controller (7) can be a single component. The harvester (1) is connected to the tractor (3) via a standardized bus connection, such as ISOBUS (ISO 11783), thereby allowing the harvester (1) to operate with different tractor (3) brands and / or components (interface (8), controller (7), etc.). The controller (7) can therefore also receive a signal representing the forward speed of the harvester (1). The signal representing the forward speed of the harvester (1) can be obtained by at least one GPS sensor, a speed sensor mounted on the harvester (1) and / or a tractor speed sensor (3).

[0059] exist Figure 1 、 Figure 4 and Figure 5 In the figures, the central unit (50) is located in front of the left unit (40) and the right unit (30) when viewed from above. In these figures, the central unit (50) is located in front of the tractor (3) to avoid rolling on the area to be worked (62). Figure 1 and Figure 4 As shown in the figure, in order to ensure operation of the entire field, even during turning, the central unit (50) is partially located between the left unit (40) and the right unit (30) when viewed in the working direction (S). In other words, when viewed in the working direction (S), the central unit (50) slightly overlaps with the left unit (40) and the right unit (30), respectively. Preferably, these overlaps can be adjusted simultaneously and / or individually. The central unit (50) can also be completely located between the left unit (40) and the right unit (30) when viewed in the working direction (S).

[0060] like Figure 1As shown in the figure, the chassis (2) can be mounted on wheels (15). The wheels (15) are preferably located at the rear of the chassis (2). Furthermore, in its operating configuration, each unit (30, 40, 50) is at least partially placed on the ground via blocks (14). Alternatively or additionally, each unit (30, 40, 50) can be placed on the ground via casters. In the operating configuration, each unit (30, 40, 50) is configured to harvest produce.

[0061] When the product is deposited by the units (30, 40, 50), respectively by the gathering devices (33, 43, 53), the product forms a swath (22) on the ground due to the movement of the harvester (1) in the working direction (S). The swath (22) is then longitudinal to the working direction (S). Figure 4 As shown in the figure, the right-hand gathering device (33) and the left-hand gathering device (43) move the product towards the mid-plane (4), with the result that the swath (22) is placed between the right-hand unit (30) and the left-hand unit (40). To this end, in their operating configuration, the left-hand unit (40) and the right-hand unit (30) are separated from each other in a direction perpendicular to the working direction (S). The right-hand gathering device (33) and the left-hand gathering device (43) are preferably aligned in the gathering direction (C), thereby reducing the length of the harvester (1) in the working direction (S).

[0062] In its headland configuration, each unit (30, 40, 50) is further from the ground than in its working configuration. In its headland configuration, each unit (30, 40, 50) is slightly separated from the ground so that movement between the working configuration and the headland configuration is as quick as possible. In its headland configuration, each unit (30, 40, 50) does not harvest any product. In particular, the headland configuration allows the harvester (1) to move over an area that has already been worked without damaging the swath.

[0063] The units (30, 40, 50) can also use a transport configuration. In their transport configuration, the size of the left unit (30) and the right unit (40) seen in the working direction (S) is reduced. In their transport configuration, each left unit (30) and right unit (40) is oriented parallel to the midplane (4), thereby reducing the width of the harvester (1). In order to minimize the height of the harvester (1) in the transport configuration, the left unit (30) and the right unit (40) are preferably oriented parallel to the working direction (S). In their transport configuration, the units (30, 40, 50) are separated from the ground, thereby allowing higher forward speeds without the risk of damaging the harvester (1). The transport configuration of the central unit (50) is preferably the same as its headland configuration.

[0064] In a preferred embodiment, each actuator (31, 41, 51) further allows the associated unit (30, 40, 50) to be transformed between a headland configuration and a transport configuration and / or between a working configuration and a transport configuration. In a preferred embodiment, each configuration sensor (32, 42, 52) further detects whether the associated unit (30, 40, 50) is in the working configuration, the headland configuration, or the transport configuration. In a preferred embodiment, if, at the start of a sequence, the configuration sensor (32, 42, 52) informs the controller (7) that the associated unit (30, 40, 50) is in its transport configuration, the controller (7) is configured such that the associated unit (30, 40, 50) is neither transformed upward nor transformed downward during the sequence.

[0065] As mentioned earlier in this specification, other arrangements of the units (30, 40, 50) on the harvester (1) are also possible. As an example, Figure 6 A harvester (1) with another possible arrangement of units (30, 40, 50) is shown in FIG. Figure 6 In the embodiment, the central unit (50), the left unit (40) and the right unit (30) are aligned along a straight line transverse to the working direction (S), and the central unit (50) is connected to the same chassis (2) as the left unit (40) and the right unit (30). Preferably, the units (30, 40, 50) are aligned perpendicular to the working direction (S). Figure 6 In the case of the harvester (1) shown in , the pre-saved sequence may be the same as for Figure 4 The sequence of arrangement of the units (30, 40, 50) shown in FIG.

[0066] Thus, to accommodate different types of boundaries (61) and / or different arrangements of units (30, 40, 50), the controller (7) may be configured to allow an alternative left lowering sequence to be executed, during which a first input of a lowering command causes the left unit (30) to shift downward, a second input of a lowering command causes the central unit (50) to shift downward, and a third input of a lowering command causes the right unit (40) to shift downward. For the same purpose, the controller (7) may be configured to allow an alternative left raising sequence to be executed, during which a first input of a raising command causes the left unit (30) to shift upward, a second input of a raising command causes the central unit (50) to shift upward, and a third input of a raising command causes the right unit (40) to shift upward.

[0067] Additionally, to accommodate different types of boundaries (61) and / or different arrangements of units (30, 40, 50), the controller (7) may be configured to allow execution of an alternative right lowering sequence, during which a first input of a lowering command causes the right unit (40) to shift downward, a second input of a lowering command causes the center unit (50) to shift downward, and a third input of a lowering command causes the left unit (30) to shift downward. For the same purpose, the controller (7) may be configured to allow execution of an alternative left raising sequence, during which a first input of a raising command causes the right unit (40) to shift upward, a second input of a raising command causes the center unit (50) to shift upward, and a third input of a raising command causes the left unit (30) to shift upward.

[0068] The controller (7) may also be configured to allow execution of other sequences in order to accommodate other types of boundaries (61) and / or other arrangements of cells (30, 40, 50).

[0069] The present invention also relates to a controller (7) for a harvester (1) as described above. The controller (7) is configured to allow each unit (30, 40, 50) of the harvester (1) as described above to be transformed downward or upward. In addition, the controller (7) is configured to execute the lowering sequence and the lifting sequence as described above. Preferably, each sequence is stored in a memory (MS). The memory (MS) can be part of the controller (7). In a preferred variant, the controller (7) includes a memory (MS) and a processor. Alternatively, each sequence can be stored in an external memory (MS) connected to the controller (7). In addition, the present invention can also relate to a computer program comprising code for causing each unit (30, 40, 50) of the harvester (1) as described above to be transformed downward or upward. In addition, the computer program comprises code allowing the execution of the lowering sequence and the lifting sequence as described above.

[0070] Of course, the present invention is not limited to what is described and represented in the accompanying drawings and is broken down into several structurally modified embodiments. Modifications are still possible without departing from the scope of protection of the present invention, particularly with regard to the composition of the various elements or the substitution of technical equivalents.

Claims

1. A harvester (1) moving in a working direction (S), the harvester (1) comprising a right unit (30), a left unit (40) and a central unit (50) extending at least mainly between the left unit (40) and the right unit (30) as viewed in the working direction (S), each unit (30, 40, 50) being capable of a working configuration and a headland configuration, an interface (8) for inputting commands associated with the harvester (1) and connected to a controller (7), the controller (7) being capable of transforming each unit (30, 40, 50) downward, meaning that each unit (30, 40, 50) is transformed from a working configuration to a headland configuration. Its headland configuration is transformed into a working configuration and each unit (30, 40, 50) is capable of being transformed upward, which means that each unit (30, 40, 50) is transformed from its working configuration to the headland configuration, and the harvester is characterized in that the controller (7) is configured to allow the execution of a lowering sequence and a lifting sequence, during which each input of the same lowering command allows at least one of the units (30, 40, 50) to be transformed downward, and during the lifting sequence, each input of the same lifting command allows at least one of the units (30, 40, 50) to be transformed upward.

2. The harvester according to claim 1, characterized in that The controller (7) is configured to allow execution of a right lift sequence during which a first input of the lift command causes the central unit (50) to shift upward, a second input of the lift command causes the right unit (30) to shift upward, and a third input of the lift command causes the left unit (40) to shift upward.

3. The harvester according to claim 1 or 2, characterized in that The controller (7) is configured to allow execution of a right lowering sequence, during which a first input of the lowering command causes the central unit (50) to shift downward, a second input of the lowering command causes the right unit (30) to shift downward, and a third input of the lowering command causes the left unit (40) to shift downward.

4. The harvester according to any one of claims 1 to 3, characterized in that The controller (7) is configured to allow execution of a left lift sequence during which a first input of the lift command causes the central unit (50) to shift upward, a second input of the lift command causes the left unit (40) to shift upward, and a third input of the lift command causes the right unit (30) to shift upward.

5. The harvester according to any one of claims 1 to 4, characterized in that The controller (7) is configured to allow execution of a left lowering sequence, during which a first input of the lowering command causes the central unit (50) to shift downward, a second input of the lowering command causes the left unit (40) to shift downward, and a third input of the lowering command causes the right unit (30) to shift downward.

6. The harvester according to any one of claims 1 to 5, characterized in that A predetermined number of commands are associated with each sequence, and the controller (7) is configured to end each sequence once all commands of the sequence have been entered.

7. The harvester according to any one of claims 2 to 6, characterized in that The controller (7) is configured to allow entry into a right mode in which only a right sequence can be executed, and the controller (7) is configured to allow entry into a left mode in which only a left sequence can be executed.

8. The harvester according to claim 7, characterized in that The interface (8) is provided with selection keys (81, 82, 83), each selection key being associated with a respective mode, and the controller (7) is configured such that the selection keys (81, 82, 83) are deactivated when a sequence is in progress.

9. The harvester according to any one of claims 7 or 8, characterized in that The interface (8) is provided with a lift key (84) and a lower key (85), and the controller (7) is configured so that the input of the lowering command corresponds only to a single actuation of the lowering key (85) regardless of the mode being performed, and so that the input of the lift command corresponds to a single actuation of the lift key (84) regardless of the mode being performed.

10. The harvester according to claim 8, characterized in that A configuration sensor (32, 42, 52) is associated with each unit (30, 40, 50), each configuration sensor (32, 42, 52) detecting whether the associated unit (30, 40, 50) is in a working configuration or a headland configuration, and the controller (7) is configured such that at the start of a sequence, if the configuration sensor (32, 42, 52) informs the controller (7) that all units (30, 40, 50) are in the same configuration, one of the raise key (84) and the lower key (85) is deactivated.

11. The harvester according to any one of claims 1 to 10, characterized in that The controller (7) is configured such that when no sequence is in progress, a first input of the lowering command or the raising command enables a sequence to be started.

12. A controller (7), characterized in that The controller is configured to allow each unit (30, 40, 50) of the harvester (1) according to one of claims 1 to 11 to be shifted down or up.

13. A computer program for a harvester (1), characterized in that It contains a code for down-converting or up-converting each unit (30, 40, 50) in a harvester (1) according to one of claims 1 to 12.

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