Machine for processing at least one windrow

Abstract

Windrow Processing Machine The invention relates to a self-propelled or towed machine (1) for processing at least one windrow, comprising at least one pickup means (3) capable of collecting said at least one windrow from the ground in the form of a continuous sheet. The machine comprises at least one chassis (91) for supporting the pickup means, the pickup means (3) being movably mounted on the chassis. The pickup means is a controlled pickup means, and the machine includes an actuation means (2) configured to move, in particular orient, the controlled pickup means relative to the chassis. The machine includes, in particular, at least one first sensor configured to determine the position of said at least one windrow before, during, and / or after its pickup by said machine (1).The machine also includes control means configured to receive data from said at least one first sensor, and to control said actuating means (2) of said pickup means (3) controlled according to said position of said at least one swath provided by said at least one first sensor, so as to adjust the relative position of the controlled pickup means with respect to said swath. Figure for the abbreviation: Fig. 1.

Description

Title of the invention: Machine for processing at least one windrow Technical field

[0001] The present invention relates to a machine, towed or self-propelled, for processing plant stems, in particular flax, in the form of windrows which are left in the field after harvesting. The present invention will be implemented in particular by manufacturers of agricultural equipment and will find its application in the field of agriculture. Prior art

[0002] Flax is a fiber plant. To facilitate the extraction of fibers for use, particularly in the textile industry, flax stalks undergo a retting operation. This operation requires that during the flax harvest, after the stalks have been pulled out, they are placed on the ground in the form of windrows, consisting of a continuous layer of stems parallel to each other and aligned in the direction perpendicular to the advancement of the pulling machine. The windrow is left in the field for a sufficient time for the microorganisms present in the soil to carry out the biological degradation of the pectic cements that bind the fibers together. When this degradation is sufficient, the flax is collected for scutching, that is to say, to be treated in an industrial site for the extraction of the fibers and their cleaning for use in the textile industry.

[0003] Biological degradation depends on the humidity and sunlight conditions to which the stems are subjected. It is understood that these conditions can vary depending on whether the part of the stem is facing the ground or the sky. This is why an operation is carried out during retting consisting of turning the windrow over in the field.

[0004] This so-called turning operation is carried out by a machine, self-propelled or towed, which comprises collection means, capable of taking the windrow from the ground in the form of a continuous sheet, turning means capable of turning said collected sheet on itself and spreading means capable of spreading the sheet thus turned over on the ground. Such a machine is for example described in document FR.2.484.768.

[0005] In this document, the collecting means comprise a device, commonly called a pick-up, which is a sort of cylinder provided with retractable metal fingers which are in the extended position, towards the ground, to collect the stems, then in the following half-turn, in the retracted position, so that the stems thus collected can be taken up, still in the state of a sheet, by the turning means. The turning means generally comprise a crossed belt with spikes, the crossing of said belt allowing the windrow to describe a half spiral, turning the windrow so that the stems initially placed on top of the windrow end up below and vice versa. This spiked belt is stretched between a front cylinder and a rear cylinder, the front cylinder being able to be associated with the pick-up as in document FR.2.484.768.

[0006] Document FR 2 916 604 discloses a machine comprising two assemblies for collecting, turning and spreading windrows on the ground. In particular, and in order to adapt to the arrangement of the windrows relative to each other on the ground, one of the two assemblies can be pivoted around a vertical axis, while the other remains integral with the chassis of the machine, i.e. in the axis of the machine.

[0007] However, the turning step is not always satisfactory, particularly when it is carried out by the operator operating the machine, because this requires good control of the machine to ensure that the windrow is correctly taken up on the ground before treatment and / or that the windrow is correctly placed on the ground after treatment. For example, when the windrow is not correctly taken up, the quality of the alignment on the ground after turning is disturbed, to the point of causing blockages requiring the machine to be stopped and manual action to free the blocked stems. Statement of the invention

[0008] The present invention aims to solve the various technical problems stated above. In particular, the present invention aims to propose a machine facilitating and improving the taking of windrows by the collection means and / or the spreading of windrows by the spreading means, in order to obtain improved treatment. More specifically, the present invention aims to propose a machine making it possible to help the operator to control it correctly and easily.

[0009] Thus, according to one aspect, there is provided a machine, self-propelled or towed, for processing at least one windrow, of the type comprising at least one collection means capable of collecting said at least one windrow from the ground in the form of a continuous sheet. Said machine comprises at least one chassis allowing the support of the collection means, the collection means being mounted movably on the chassis, in particular in rotation relative to an axis, preferably substantially vertical. The collection means is a controlled collection means, and the machine comprises an actuating means, for example a motor or a cylinder, configured to move, in particular orient, the controlled collection means relative to the chassis.

[0010] The machine comprises in particular at least one first sensor, for example a first set of sensors, configured to determine the position of said at least one windrow before, during and / or after its collection by said machine. The machine also comprises control means configured to receive data from said at least one first sensor, and for controlling said actuating means of said controlled collection means as a function of said position of said at least one swath provided by said at least one first sensor, so as to adjust the relative position of the controlled collection means with respect to said swath.

[0011] Thus, the machine according to the present invention is configured to control a collection means automatically as a function of the position of the windrow before, during or after its collection. In particular, the control means assist the operator by directly controlling the position / orientation of the collection means in place of the operator who therefore only has to concentrate on the trajectory of the machine in the field and possibly on other processing means, for example another collection means or a means of spreading the windrow after turning, or even the adjustment of the means of extraction, threshing and cleaning of the seeds in the case of a decapper machine.

[0012] Preferably, the controlled collection means is also mounted movably on the chassis in rotation relative to a substantially horizontal axis. The actuating means is also configured to move the controlled collection means relative to the chassis along said substantially horizontal axis, so as to allow lifting of the controlled collection means relative to the ground, in particular in the event of an obstacle or disorganization of the windrow, and the control means are also configured to control said actuating means of said controlled collection means, in order to adjust the relative height of the controlled collection means relative to the ground.

[0013] The control means are thus configured to automatically orient the collection means, but also to raise the collection means. Such lifting can take place in particular at the end of the field, when the machine must turn around to continue collecting the windrow, or even in the case of a disordered windrow, for example following a gust of wind or following a puddle of water. In such cases, the control means can then automatically raise the collection means so as not to collect the disordered plant stems, but on the contrary to leave them in place. Similarly, the control means can also be configured to adjust the height of the collection means according to characteristics of the windrow, for example its thickness. This makes it possible to avoid increasing the quantity of dust raised during collection and which could pollute the quality of the windrow.

[0014] Preferably, the control means are based on artificial intelligence and configured to determine the command to be provided to the means actuation based on the data provided by said at least one first sensor.

[0015] In order to control the collection means in a precise and relevant manner, the control means may comprise artificial intelligence. The advantage of using artificial intelligence is the possibility of autonomously and automatically identifying different situations in order to then carry out the appropriate operations. Furthermore, it is also possible, with artificial intelligence, to carry out continuous learning to improve, over time, the performance in the decisions taken by the artificial intelligence depending on the situations.

[0016] Preferably, the control means based on artificial intelligence comprise a model based on machine learning, in particular trained or automatic, and possibly data used for training said model.

[0017] Learning makes it possible to continuously improve the performance of artificial intelligence, namely the decisions taken based on the situations detected from the information provided by the first sensor or set of sensors. In particular, learning makes it possible to correct errors made by artificial intelligence, in order to prevent them from being reproduced in the future, or to anticipate certain errors in order to prevent them from occurring.

[0018] Preferably, the control means based on artificial intelligence comprise an image analysis model, for example a neural network system such as a convolutional neural network.

[0019] The first sensor(s) of the machine may include in particular image acquisition means, in particular cameras. From the images provided by the camera(s), the artificial intelligence must then be able to determine the applicable situation in order to deduce the orders to be sent to the actuation means. In order to be able to analyze the data from the cameras in a relevant and efficient manner, the artificial intelligence may include a neural network, for example a convolutional neural network, which is suitable for analyzing such data.

[0020] Preferably, said at least one first sensor comprises at least one data acquisition means, such as a camera, a scanner and / or a radar, and / or at least one presence means, such as a mechanical or optical sensor, and / or a positioning means, such as a GPS beacon.

[0021] The first sensor may therefore comprise one or more data acquisition means, whether in the form of images or signals. In particular, the data acquisition means are chosen so as to provide the relevant data enabling the artificial intelligence to be able to correctly control the actuation means. This may therefore be cameras, but also sensors position sensors, such as a GPS beacon, or other presence sensors and / or torque or speed sensors, etc.

[0022] Preferably, the control means are also configured: to receive data from the machine, such as its geolocation, its speed of movement, its direction of movement, the position of the collection means and / or data from a previous treatment of the machine; and to control said actuating means as a function of said data from the machine.

[0023] In order to determine the control signals to be sent to the actuating means, the control means may also rely on data related to the operation, and in particular to the movement, of the machine. Thus, the control means may also receive location, movement, speed, etc. data, in order to adequately and precisely determine the control signals to be sent to the actuating means. Furthermore, the control means may also rely on data recorded from previous passages of the machine over the current work area and, where appropriate, reuse the data recorded during said previous passages, in order to adapt the instructions sent to the actuating means accordingly.

[0024] Preferably, the machine also comprises a second controlled collection means, the second controlled collection means being mounted movably on the chassis, in particular in rotation relative to an axis, preferably substantially vertical, and a second actuating means, for example a motor or a jack, configured to move, in particular orient, the second controlled collection means relative to the chassis. Said at least one first sensor is configured to determine the position of a second windrow before, during and / or after its collection by said machine, and said control means are configured to receive the data from said at least one first sensor, and to control said second actuating means as a function of the position of said second windrow provided by said at least one first sensor, so as to adjust the relative position of the second controlled collection means relative to the corresponding second windrow.

[0025] In this embodiment, the machine comprises two movably mounted collection means. The control means are then configured to determine the positions to be obtained for each of the two collection means, and to control the corresponding actuating means in order to correctly position the two collection means in relation to the windrows in particular. The operator of the machine then only has to worry about driving the machine, the control means determining and controlling the position of the collection means autonomously and automatically.

[0026] Preferably, said two controlled collection means are independent of each other, in particular in position.

[0027] The collection means being controlled and positioned individually by the control means, these can then be independent of one another, in particular in position, in order to have even more freedom to position them, in particular according to the environment and the distribution of each windrow on the ground.

[0028] Preferably, said two controlled collection means each comprise an arm equipped with a collection wheel mounted at the end of the arm to collect the windrow.

[0029] Such a collection wheel is commonly called a “grounding wheel”, and makes it possible to collect plant stems lying on the ground to enable subsequent processing (turning, decapsulating, etc.).

[0030] Preferably, the machine also comprises turning and spreading means mounted downstream of the picking means, so as to successively pick up, turn and spread the plant stems, said operations being carried out continuously during the movement of the machine.

[0031] Collecting windrows can have several purposes, whether it is turning the stems, collecting the stems or even recovering the seeds present on the stems. In the present case, we consider the case of a windrow turning machine, in particular for the retting step. In this case, the machine also comprises, downstream of the collection means, in the direction of movement of the plant stems, turning means and then spreading means.

[0032] Preferably, the spreading means is a controlled spreading means and is mounted movably on the chassis, in particular in rotation relative to an axis, preferably substantially vertical. The machine comprises a rear actuation means, for example a motor or a jack, configured to move, in particular orient, the controlled spreading means relative to the chassis. The machine comprises at least one second sensor, for example a second set of sensors, configured to determine the position of said at least one swath before, during and / or after its spreading by said machine, and the control means are also configured to receive data from said at least one second sensor, and to control said rear actuation means of said controlled spreading means as a function of said position of said at least one swath provided by said at least one second sensor, so as to modify the position of the swath deposited on the ground.

[0033] The control means can therefore also be used for spreading the windrows behind the machine. In particular, in order to facilitate subsequent processing of the windrows, and in particular their collection for processing, the machine can comprise one or more, in particular two, windrow spreading means positioned by an actuating means. The control means can then also control the position of the spreading means(s) in order to obtain, at the output of the machine, swaths oriented parallel to each other and at equal distances. In particular, in order to correctly control the spreading means(s), the control means can rely on the data provided by at least one second sensor, for example by a second set of sensors, some of which may be common with the first set of sensors. Such spreading means controlled by the control means thus make it possible to obtain swaths spread by the machine that are better arranged and distributed on the ground, which facilitates the subsequent treatment work to be carried out on the swaths.

[0034] Preferably, the machine comprises a second controlled spreading means and a second rear actuation means configured to move, in particular orient, the second controlled spreading means relative to the chassis. Said at least one second sensor is configured to determine the position of at least two windrows before, during and / or after their spreading by said machine, and said control means are configured to receive the data from said at least one second sensor, and to control said rear actuation means as a function of said positions of said at least two windrows provided by said at least one second sensor, so as to modify the position of said windrows deposited on the ground.

[0035] Thus, the two spreading means can be independent of each other, in particular in position. The two spreading means are then controlled and positioned autonomously by the control means, in order to have even more freedom for spreading the windrows, in particular according to the environment and the distribution of the previous windrows on the ground. Brief description of the drawings

[0036] [Fig.l] [Fig.l] represents a machine according to the invention, with two sets of means for collecting, turning and spreading windrows, one of which is controlled;

[0037] [Fig.2] [Fig.2] schematically represents the controlled assembly of the machine illustrated in [Fig.l], seen from the side;

[0038] [Fig.3] [Fig.3] schematically represents the illustrated controlled assembly in [Fig.2], in the raised position;

[0039] [Fig.4] [Fig.4] schematically represents the illustrated controlled assembly in [Fig.2], seen from above;

[0040] [Fig.5] [Fig.5] schematically represents the control system of the ordered assembly illustrated in figures 2 to 4,

[0041] [Fig.6] [Fig.6] schematically represents a machine according to another mode embodiment of the invention, with two controlled picking means and two controlled spreading means, and

[0042] [Fig.7] [Fig.7] schematically represents the control system of the controlled means of the machine illustrated in [Fig.6]. Description of the embodiments

[0043] [Fig. 1] schematically illustrates an example of a machine 1 according to the invention, with a first set 100 and a second set 200 of means for collecting, turning and spreading windrows. The first set 100 is controlled in position by an actuating means 2.

[0044] In the example described, the machine 1, self-propelled or towed, is capable of turning two windrows during a single pass, which makes it possible to multiply the work rate by two. For this, the machine is equipped with two monobloc assemblies 100, 200, of which only the first 100 will be described below, each comprising a supporting structure, collection means, turning means and spreading means. These monobloc assemblies 100, 200 are pivotally mounted along first pivoting means along a substantially horizontal axis 93 (see [Fig. 4]) as described in more detail below. The second monobloc assembly 200 is equipped only with substantially horizontal pivoting means, but is devoid of vertical pivoting means.The second assembly 200 is therefore positioned, horizontally, in the axis of the machine 1 and, in particular, has a horizontal longitudinal direction integral with that of the machine 1: the second assembly 200 can thus be pivoted relative to the vertical by rotation of the machine 1 itself, so that, to correctly position the second assembly 200 relative to the corresponding swath, it is necessary to drive the machine 1 accordingly.

[0045] However, the turning of two simultaneous windrows during the same pass of the machine 1, requires taking into account the variations in positioning between the two windrows which are worked at the same time and which are not always strictly parallel. Indeed, the spacing between two windrows is variable, firstly depending on the type of machine having carried out the mowing or the uprooting and the laying of the sheets on the ground, the spacing between the two sheets being able to vary according to the cutting machine used, and then due to the variations in the relief on the ground 9. For this purpose, the first assembly 100 according to the present invention, is pivotally mounted relative to a substantially vertical axis 97 (see [Fig.4]) which is located towards the rear of the machine 1, substantially at the level of the outlet of the spreading means 7. In particular, the pivoting of the first assembly 100 around the substantially vertical axis vertical 97 is controlled and is carried out by the actuating means 2, for example a cylinder or a motor. In order to facilitate the correct positioning of the first assembly 100 relative to the swath, in particular the collection means, the pivoting of the first assembly 100 is automatically controlled by control means controlling the actuating means 2, as will be described below.

[0046] As illustrated in Figures 1 and 2, the first assembly 100 comprises successively, from front to rear, a controlled collection means 3, a turning means 5, and a spreading means 7. In normal use mode, the collection means 3, the turning means 5, and the spreading means 7, arranged on the supporting structure, form a single-piece assembly. In particular, the collection means 3 and the spreading means 7, which are part of the first single-piece assembly 100, are described as “controlled” because their position relative to the machine 1 is determined by control means controlling the actuating means 2, in order to adjust or adjust the position of the windrow before or after the passage of the machine 1.

[0047] The controlled collection means 3 makes it possible to collect from the ground 9 a continuous sheet 11 of stems constituting the windrow as illustrated in [Fig.2]. The turning means 5 is capable of turning said continuous sheet 11 on itself, the latter performing a half-spiral from its collection at the front of the controlled collection means 3 to the rear of said turning means 5. The controlled spreading means 7 is capable of spreading the turned continuous sheet 11' on the ground 9. All of these collection, turning and spreading operations are carried out continuously during the movement of the machine 1. According to the preferred mode illustrated, the controlled collection means 3 comprises a pick-up 13 provided with retractable metal fingers 15.The pick-up 13 rotates on itself in the direction of the arrow F' opposite to the direction of rotation of the wheels 17 of the machine 1, so that the metal fingers 15, coming into contact with the continuous sheet 11, lift the latter and drive it in rotation on the surface as shown in [Fig.2]. The pick-up is preceded by a wheel 19 which, when the machine 1 is moving, comes to bear on the outer surface 21 of the continuous sheet 11. This wheel 19 is adjustable in height, and makes it possible to maintain a constant distance between the pick-up 13 and the continuous sheet 11 regardless of the irregularities of the ground 9. According to the example illustrated, the turning means 5 is constituted by a belt 23 provided with pins 25, which is stretched between a front cylinder 27 and a rear cylinder 29. The front cylinder 27 is associated with the pick-up 13 in such a way that the sheet 11 picked up by the fingers 15 of the pick-up is driven onto the belt 23 by the pins 25.This belt 23 is crossed between the front cylinder 27 and the rear cylinder 29 so that the web describes a half-spiral between the two cylinders during its movement from front to rear. In doing so, the rods initially arranged . at ground level on top of the sheet are found below it after turning and vice versa. The crossed belt has an active strand and a passive strand. The active strand is understood to mean the part of the crossed belt transporting the flax stems from the front cylinder 27 to the rear cylinder 29 of the turning means 5. Conversely, the passive strand corresponds to the return of the empty crossed belt from the rear cylinder 29 to the front cylinder 27, the flax stems having been previously transferred to the controlled spreading means 7. Furthermore, the turning means 5 comprises mechanical elements such as round irons 31 allowing the support of the sheet 11 during its turning, when it is no longer supported by the spiked belt.Indeed, initially, the lifted sheet 11 is rotated by the metal fingers 15 of the pick-up 13, are then transported and supported by the belt 23 until said sheet 11 turns over, the latter then being supported by the round irons 31, the belt 23 with spikes 25 only allowing the transport of said sheet 11 to the rear of the turning means 5.

[0048] The controlled spreading means 7 preferably comprises a set of two parallel belts 33, 33' provided with pins 35, 35'. Each belt 33, 33' is mounted taut between a front cylinder 37, 37' and a rear cylinder 39, 39'. The front cylinder 37, 37' is arranged in the same axis as the rear cylinder 27 of the turning means 5. The rear cylinder 39, 39' is arranged close to the ground 9 so that the turned over sheet 11', driven by the pins 35, 35' which penetrate into the sheet 11', is spread on the ground 9 as close as possible to it so as to avoid any disturbance. Just like the turning means 5, the controlled spreading means 7 also comprises a mechanical element, in particular round irons or a plate, allowing the support of the turned sheet 11' during its transfer from the front cylinder 37, 37' to the rear cylinder 39, 39'.

[0049] As illustrated in Figures 1 and 2, the machine 1 comprises at least one supporting structure 43 which allows the support of the controlled picking-up means 3, the turning-over means 5 and the controlled spreading means 7. This supporting structure 43 is arranged to allow the lifting of said means by pivoting along a substantially horizontal axis, but also pivoting along a substantially vertical axis, as will be described below. This supporting structure 43 comprises at least two arms 45, 47 which extend longitudinally towards the front of the machine 1. Longitudinal is understood to mean that the arms 45, 47 have a direction which is substantially linear and perpendicular to the axis of rotation of the rear cylinder 29 of the turning means 5. These arms 45, 47 extend over a length corresponding substantially to that of the turning means 5, i.e. the distance separating the front cylinder 27 from the rear cylinder 29 between which the crossed belt 23 is stretched.These two arms 45, 47 are secured to each other at their front end 49, 51 and their . rear end 53, 55. The arms 45, 47 are arranged close to each other on either side of the cross belt 23, as illustrated in [Fig.2].

[0050] As illustrated in Figures 1 and 2, the supporting structure comprises two pieces 59, 61 for reinforcing the arms 45, 47, making it possible to stiffen said structure 43. The first reinforcing piece 59 is arranged at the rear of the arms 45, 47, and the second reinforcing piece is arranged at the front of said arms. Preferably, these two parts 59, 61 have the shape of a C, or possibly an inverted C as illustrated in Figures 1 and 2. These two reinforcement parts 59, 61 each have an upper support branch 63, 65 and a lower support branch 67, 69. The first arm 45 is integral with the upper branch 63 of the rear part 59 and integral with the lower branch 69 of the front part 61. Conversely, the second arm 47 is integral with the lower branch 67 of the rear part 59, and integral with the upper branch 65 of the front part 61.

[0051] Preferably, the different means 3, 5, 7 are driven by a single drive means, for example a motor M, illustrated in [Fig. 4]. This motor is arranged at the rear cylinder 29 of the turning means 5 and the front cylinder 37, 37' of the controlled spreading means 7, said cylinders being arranged along the same axis of rotation.

[0052] As illustrated in [Fig.l], the machine 1 comprises a chassis 91 on which the supporting structure 43 is mounted. This supporting structure 43 comprises first pivoting means on the chassis 91 along a substantially horizontal axis 93, illustrated in Figures 3 and 4. Thus, the single-piece assembly 100, consisting of the supporting structure 43, the controlled pickup means 3, the turning means 5 and the controlled spreading means 7, is pivotally mounted relative to the chassis 91 along the substantially horizontal axis 93. These first pivoting means along the horizontal axis allow in particular the lifting in the inactive position of the single-piece assembly 95, making it possible to lift the pick-up 13 and the wheel 19 provided with the adjustment means as illustrated in [Fig.3], for its movement on the road for example.This pivoting along the substantially horizontal axis 93 also allows the ground relief 9 to be followed in the active position thanks to the wheel 19 arranged at the end of the controlled pick-up means 3 at the front of the second arm 47, this wheel making it possible to maintain a constant spacing between the pick-up and the sheet regardless of the irregularities of the ground on which it is placed. The transition from the active working position of the machine 1 to the inactive position is obtained by pivoting the single-piece assembly 100 around the substantially horizontal axis 93 of rotation, relative to the chassis of the machine 1. According to the example illustrated in [Fig. 3], this substantially horizontal axis 93 of rotation is, preferably, coincident with the axis of rotation of the rear cylinder 39, 39' of the controlled spreading means 7. However, a position of the axis substantially . horizontal 93 slightly offset forwards relative to the axis of rotation of the rear cylinder 39, 39'. [Fig.3] shows the planes passing through the axis of rotation of the front cylinder of the turning means 5 and the pivot axis 93, corresponding to the axes of rotation of the rear cylinders 39, 39' of the controlled spreading means 7, respectively the plane PI in the active working position and the plane P2 in the inactive position after pivoting upwards by an angle alpha (a).

[0053] As will be described below, the pivoting of the first assembly 100 around the axis 93 can also be carried out by the actuating means 2, in particular in order to take into account the quality of the windrow present in the first assembly 100. Thus, in the event of disorder in the windrow or in the event of the presence of a plate of water on the windrow or the like, the actuating means 2 will be able to actuate the assembly 100 so as to pivot it from an active position to an inactive position during the passage of the disordered or water-covered windrow, so as not to pick it up, then will be able to actuate the assembly 100 again so as to return it to its active position.

[0054] [Fig. 4] illustrates more specifically the pivoting of the first assembly 100 relative to the substantially vertical axis 97. The substantially vertical pivoting axis 97 is arranged centrally between the belts 33, 33' of the controlled spreading means 7, at the level of the axis of rotation of the rear cylinders 39, 39'. This substantially vertical pivoting axis 97 passes through the median plane P3 of the front 27 and rear 29 cylinders of the turning means 5. Thus, these second pivoting means of the first assembly 100 relative to the second single-piece assembly 200 make it possible to modify the position of the controlled picking-up means 3 to take into account variations in the spacing between the two windrows.Furthermore, the position of the substantially vertical pivot axis 97 at the rear of the machine 1, at the level of the rear cylinders 39, 39' of the controlled spreading means 7, makes it possible to limit the angle beta (|3) of rotation of the first monobloc assembly 100, and avoids variations in the rear end of the controlled spreading means 7, thus ensuring a constant spacing between the two layers of windrows turned over and deposited on the ground 9 at the outlet of the spreading means 7 on the two monobloc assemblies 100, 200.

[0055] In other words, the actuating means 2 is configured to pivot the first assembly 100 around the substantially vertical axis 97, and possibly around the substantially horizontal axis 93.

[0056] In order to improve the processing of the windrows, while facilitating the work of the operator, the machine 1 according to the present invention also comprises, as illustrated in [Fig. 5], control means 71 configured to control the actuating means 2 of the first assembly 100 in order to position it laterally, and possibly in height, according to the position, and possibly the quality, of the windrow to be pick up.

[0057] In order to develop the control signals sent to the actuating means 2, the control means 71 receive data relating to the windrows and to the machine 1, in particular from one or more first sensors 73. More precisely, the control means 71 can receive the data provided by a first sensor 73 or by a set of first sensors 73. The first sensor or sensors can thus comprise an image acquisition means, such as a camera, making it possible to visualize the position of the windrow or windrows before, and possibly during and / or after, the passage of the machine 1. Advantageously, the image acquisition means can make it possible to visualize both the windrow or windrows and the controlled collection means 3, so as to allow the control means 71 to determine the correct command to be provided to the actuating means 2 in order to obtain the correct positioning of the controlled collection means 3 relative to the corresponding windrow.

[0058] However, the first sensor 73 is not limited to a camera, but can include several, as well as other sensors, such as a scanner, a radar, a means of acquiring an image outside the visible range, for example in the infrared or in the ultraviolet. Such sensors, alone or in combination with each other or with a camera, can make it possible to best determine the signals to be sent by the control means 71, based on additional information. Thus, such sensors can be used to identify an obstacle, a puddle of water or a disorganization at the level of the windrow, before the latter is picked up by the picking up means 3.

[0059] Similarly, the set of first sensors 73 may also comprise one or more presence means, such as mechanical or optical sensors, and / or one or more positioning means, such as a GPS beacon. Such sensors may in particular be used to determine the state of an element of the machine, for example if one of the elements of the set 100 comes into abutment against the chassis 91, or to determine the precise geolocation of the pick-up 13 during the operations of collecting the windrow, which may be used, in a second stage, by the control means 71, to develop the appropriate instruction to be sent to the actuating means 2.

[0060] To develop the instructions to be sent to the actuation means 2, the control means 71 comprise artificial intelligence. The artificial intelligence makes it possible to adapt the instructions provided, depending on the situation, from learning information recorded in the artificial intelligence beforehand. Such control means 71 can then adapt depending on the situations occurring in front of the machine 1, in order to make the appropriate decision and to control the actuation means 2 accordingly.

[0061] Thus, the artificial intelligence of the control means 71 may comprise a model based on machine learning, in particular trained or automatic, making it possible to improve the decisions taken by the control means 71. In particular, the learning makes it possible to teach the artificial intelligence to make better decisions, depending on the situations, or even to correct decisions previously taken by the artificial intelligence and not ultimately adapted to the situation.

[0062] The artificial intelligence of the control means 71 may in particular comprise an image analysis model, for example a neural network system such as a convolutional neural network. Such models are particularly suitable for image analysis, and may therefore be particularly advantageous for analyzing the information provided by the first sensor 73 when the latter comprises one or more cameras.

[0063] Furthermore, in addition to the signals provided by the first sensor(s) 73, the control means 71 may also receive other information, in particular relating to the machine or to previous treatments. Thus, the control means 71 may receive the operating data of the machine 1, such as its geolocation, its real-time travel speed, its real-time direction, etc. Such information may then be combined with that provided by the first sensor(s) 73, to determine a control instruction for the actuating means 2. For example, the first sensor 73 may provide information relating to a low thickness of windrow in front of the collection means 3, while the machine 1 may provide the control means 71 with a high travel speed, which could lead to a significant raising of dust and therefore to pollution of the windrow.In such a case, the control means 71 can then decide to partially or totally raise the collection means 3, in order to limit the dust raised as long as the thickness of the windrow remains low.

[0064] Similarly, the control means 71 can also include previous data, corresponding to previous treatments of the windrow by a machine, or by the same machine 1, in order to also adjust the instructions sent to the actuating means 2 according to the instructions developed during the previous pass(es).

[0065] According to a variant of the machine 1 described above and illustrated in [Fig.l], the second assembly 200 may also comprise an actuation means controlled by the control means 71 in order to also be positioned independently of the direction of the machine 1. In such an embodiment, the orientation of the two assemblies 100, 200 is then independent of the direction of movement of the machine 1, and the two assemblies 100, 200 are also independent of each other. The control means 71 can then specifically position each assembly 100, 200, and in particular each collection means 3, according to information received by the first sensors 73 or by the machine 1. In particular, the first sensor(s) 73 can be chosen so as to provide the necessary information to the control means 71 to determine the instructions of the actuating means of each assembly 100, 200. The operator of the machine 1 then only has to drive and direct the machine 1 in relation to the different windrows, without worrying about the control of each assembly which is managed by the control means 71.

[0066] [Fig. 6] illustrates another embodiment of the present invention. In [Fig. 6] is shown a machine 1' in which the picking-up, turning-over and spreading means no longer form steerable monobloc assemblies. On the contrary, the machine 1' comprises two picking-up means 3', 3”, associated with corresponding turning-over means not shown, which are positioned at the front of the machine 1', and two spreading means 7', 7” mounted at the rear of the machine 1'. Each picking-up means 3', 3”, and each spreading means 7', 7” is positioned individually and possibly independently of the other means. More specifically, each 3', 3”, 7', 7” picking or spreading means is movably mounted on the chassis and can be pivoted around a substantially vertical, and possibly substantially horizontal, axis to be correctly positioned according to the particular conditions applying.

[0067] Thus, the machine 1' comprises an actuating means 2' configured to move the collecting means 3', and a second actuating means 2" configured to move the second collecting means 2". In addition, the machine 1' comprises a rear actuating means 4' configured to move the spreading means 7', and a second rear actuating means 4" configured to move the second spreading means 7".

[0068] The control means 71' are then configured to control the different actuation means 2', 2”, 4', 4”. As illustrated in [Fig.7], the control means 71' can receive information provided by one or more first sensors, in particular in connection with the front of the machine 1' in order to control the collection means 3', 3”, and information provided by one or more second sensors 75', in particular in connection with the rear of the machine 1' in order to control the spreading means 7', 7”. However, the invention is not limited to such an embodiment, and the first sensors 73' and the second sensors 75' can be, in whole or in part, common.

[0069] In the machine 1', in addition to the adjustable positioning of the two collection means 3', 3”, the spreading means 7', 7” can also be positioned individually in order to obtain, at the outlet of the machine 1', correctly positioned windrows for subsequent processing. Thus, the control means 71' can rely on the positions of the windrows before the machine 1', during the transport of the plant stems into the machine 1' and on the positions of the windrows previously spread by the machine 1', to determine the setting of the rear actuation means 4', 4”.

[0070] Thus, the invention makes it possible to obtain a machine with a large choice of controls for processing the windrows, without requiring the operator driving the machine to manage all the parameters at the same time and continuously. Thanks to the different sensors and artificial intelligence, it becomes possible to automatically control different means of the machine, in particular the collection and spreading means, in an optimized and continuous manner, which makes it possible to obtain better processing results while having an operator less stressed while driving the machine.

Claims

1.

2. Claims Self-propelled or towed machine (1, 1') for processing at least one windrow, of the type comprising at least one collection means (3, 3', 3”) capable of collecting said at least one windrow from the ground in the form of a continuous sheet, said machine (1, 1') comprising at least one chassis (91) allowing the collection means to be supported, the collection means (3, 3', 3”) being mounted so as to be movable on the chassis, in particular in rotation relative to an axis (97), preferably substantially vertical, characterized in that the collection means (3, 3', 3”) is a controlled collection means, in that the machine (1, 1') comprises an actuating means (2, 2', 2”), for example a motor or a cylinder, configured to move, in particular to orient, the controlled collection means (3, 3', 3”) relative to the chassis (91), and in that the machine (1, 1') also comprises: - at least one first sensor (73, 73') configured to determine the position of said at least one windrow before, during and / or after its collection by said machine, and - control means (71, 71') configured to receive data from said at least one first sensor (73, 73'), and to control said actuating means (2, 2', 2”) of said controlled collection means as a function of said position of said at least one swath provided by said at least one first sensor, so as to adjust the relative position of the controlled collection means (3, 3', 3”) with respect to said swath, wherein said at least one first sensor comprises image acquisition means, in particular one or more cameras, and wherein the control means (71, 71') are based on artificial intelligence comprising an image analysis model based on machine learning, in particular trained or automatic, and configured to determine the command to be provided to the actuating means (2, 2', 2”) as a function of the data provided by said at least one first sensor (73, 73'). Machine (1, 1') according to claim 1, in which the controlled collection means (3, 3', 3”) is also mounted movably on the chassis (91) in rotation relative to a substantially horizontal axis (93), in which the actuating means (2, 2', 2”) is also configured to move the controlled collection means (3, 3', 3”) relative to the chassis along said substantially horizontal axis, so as to allow lifting of the controlled collection means relative to the ground, in particular in the event of an obstacle or disorganization of the windrow, and in which the control means (71, 71') are also configured to control said actuating means (2, 2', 2") of said controlled collection means, in order to adjust the relative height of the controlled collection means (3, 3', 3") relative to the ground.

3. Machine (1, 1') according to claim 1 or 2, wherein the control means (71, 71') based on artificial intelligence also comprise data used for training said model.

4. Machine (1, 1') according to claim 3 or 4, wherein the control means (71, 71') based on artificial intelligence comprise a neural network system such as a convolutional neural network.

5. Machine (1, 1') according to any one of the preceding claims, wherein said at least one first sensor (73, 73') also comprises at least one data acquisition means, such as a scanner and / or a radar, and / or at least one presence means, such as a mechanical or optical sensor, and / or a positioning means, such as a GPS beacon.

6. Machine (1, 1') according to any one of the preceding claims, wherein the control means (71, 71') are also configured to receive data from the machine, such as: its geolocation, its speed of movement, its direction of movement, the position of the collection means and / or data from a previous treatment of the machine (1, 1'), and to control said actuating means as a function of said data from the machine (1, 1').

7. Machine (1') according to any one of the preceding claims, comprising: a second controlled collection means (3”), the second controlled collection means being mounted movably on the chassis, in particular in rotation relative to an axis, preferably substantially vertical, and a second actuating means (2”), for example a motor or a jack, configured to move, in particular orient, the second controlled collection means (3”) relative to the chassis, wherein said at least one first sensor (73) is configured to determine the position of a second swath before, during and / or after its collection by said machine (1'), and said control means (71') are configured to receive data from said at least one first sensor (73'), and to control said second actuating means (2”) as a function of the position of said second swath provided by said at least one first sensor (73'), so as to adjust the relative position of the second controlled collection means (3”) with respect to the corresponding second swath.

8. Machine (1') according to the preceding claim, in which said two controlled collection means (3', 3”) are independent of each other, in particular in position.

9. Machine (1') according to claim 8 or 9, wherein said two controlled collection means (3', 3”) each comprise an arm provided with a collection wheel mounted at the end of the arm for picking up the windrow.

10. Machine (1, 1') according to any one of the preceding claims, also comprising turning and spreading means (7, 7', 7”) mounted downstream of the picking-up means (3, 3', 3”), so as to successively pick up, turn over and spread the plant stems, said operations being carried out continuously during the movement of the machine.

11. Machine (1') according to the preceding claim, in which the spreading means (7') is a controlled spreading means and is mounted movably on the chassis, in particular in rotation relative to an axis, preferably substantially vertical, in which the machine comprises a rear actuating means (4'), for example a motor or a jack, configured to move, in particular orient, the controlled spreading means (7') relative to the chassis, in which the machine (1') comprises at least one second sensor (75') configured to determine the position of said at least one swath before, during and / or after its spreading by said machine, and in which the control means (71') are also configured to receive data from said at least one second sensor (75'), and to control said rear actuating means (4') of said controlled spreading means (7') as a function of said position of said at least one swath provided by said at least one second sensor,so as to modify the position of the windrow placed on the ground.,

12. Machine (1') according to the preceding claim, comprising a second controlled spreading means (7”) and a second rear actuation means (4”) configured to move, in particular orient, the second controlled spreading means (7”) relative to the chassis, wherein said at least one second sensor (75') is configured to determine the position of at least two windrows before, during and / or after their spreading by said machine, and said control means (71') are configured to receive the data from said at least one second sensor (75'), and to control said rear actuation means (4', 4”) as a function of said positions of said at least two windrows provided by said at least one second sensor (75'), so as to modify the position of said windrows deposited on the ground.

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