Self-driven agricultural machine with controllable and adjustable balance

Abstract

An agricultural machine (1) of which the assembly connection between a load-bearing frame (2) and a rolling assembly (4) is configured to allow movement between the load-bearing frame (2) and the rolling assembly (4) along a longitudinal axis (L); the agricultural machine further comprises a device for determining and adjusting, if necessary, the relative positioning between the bearing frame (2) and the rolling assembly (4) by means of an evaluation and control device (8) automatically or in accordance with an operator's command informed by the evaluation and control device (8), such that the center of gravity (CG) of the carrier frame (2) carrying one or more tools (3, 3 ') and the center point (C) of the rolling assembly (4) are close to each other, advantageously in the same plane (P) perpendicular to the longitudinal axis (L), and preferably coincide.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, more particularly to the balance and safety of agricultural machinery capable of being equipped with implements of different types and weights (variable if necessary), and to agricultural machinery whose balance can be controlled and adjusted. Background Art

[0002] The invention relates in particular to a self-propelled agricultural machine, which operates autonomously or is controlled by an operator and has a normal direction of advance, which determines the front, rear and longitudinal axis of the agricultural machine. The agricultural machine type involved comprises, on the one hand, a carrying frame configured to carry at least one tool at the front and / or rear, and, on the other hand, a rolling assembly. The rolling assembly comprises, as a rolling device, at least one tracked chassis and possibly at least one additional chassis with an axle with wheels or at least two chassis with an axle with wheels, the carrying frame being mounted on and assembled with the rolling assembly and carrying at least one tool.

[0003] Therefore, depending on the implements carried or mounted at the front or rear, changes in the weight and / or position of the implements, the center of gravity of the upper part of the agricultural machine (carrying frame and implements) and therefore of the entire agricultural machine can be offset to varying degrees relative to the ground support of the agricultural machine, leading in particular to instabilities and reduced performance during the displacement of the agricultural machine, possible deformation of agricultural machine components, uneven chassis wear and deviations from commands for autonomously operated agricultural machinery.

[0004] These disadvantages are particularly disadvantageous for tracked agricultural machinery, for example leading to:

[0005] - Due to uneven load distribution, some areas are subject to excessive ground pressure;

[0006] - due to the forward or backward tilting of the agricultural machine, the ground contact surface area is smaller than the lower surface area of ​​the tracks and the tracks therefore do not fully contact the ground: the traction and stability of the vehicle are therefore not optimal;

[0007] - Additional ballast is required to compensate for the poor weight distribution, which results in unnecessary additional ground load and therefore in greater soil compaction, which is of course undesirable.

[0008] In addition, some implements have hoppers or tanks (seeders, spreaders of various fertilizers, sprayers for plant protection products, etc.). As work progresses on a piece of land, these tanks are emptied and then refilled by the farmer until the work is completed. These changes mean that the weight and, therefore, the position of the center of gravity can change significantly.

[0009] Furthermore, a tracked vehicle whose center of gravity is not aligned with its instantaneous center of rotation is more difficult to navigate autonomously (via GPS) because the navigation system needs to be recalibrated every time the center of gravity position changes. This recalibration involves complex algorithms for managing the steering commands for each of the tracks. Summary of the invention

[0010] The purpose of the present invention is to overcome these disadvantages and is not only applicable to crawler-type agricultural machinery.

[0011] To this end, the invention relates to an autonomous agricultural machine of the type mentioned in the introduction, characterized in that the connection between the carrying frame and the rolling assembly is configured to allow displacement between the frame and the assembly along the longitudinal axis, and in that the agricultural machine comprises a device for determining and, if necessary, adjusting the relative positioning between the carrying frame and the rolling assembly automatically by means of an evaluation and control device or on the basis of commands of an operator informed by said evaluation and control device, so that the center of gravity of the carrying frame carrying one or more tools and the center point of the rolling assembly are close to each other, advantageously located in the same plane perpendicular to the longitudinal axis and preferably coincide. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The invention will be better understood through the following description, which relates to a preferred embodiment given as a non-limiting example and is explained with reference to the accompanying schematic drawings, in which:

[0013] [ Figure 1 ] is a functional schematic diagram of a self-propelled agricultural machine according to the present invention;

[0014] [ Figure 2A ]and

[0015] [ Figure 2B ] are in unbalanced configurations ( Figure 2A ) and the equilibrium configuration ( Figure 2B ) is a schematic side view of a first agricultural machine (crawler chassis) according to a first embodiment of the present invention;

[0016] [ Figure 3A ]and

[0017] [ Figure 3B ] is a schematic side view of an agricultural machine (tracked chassis) according to a second variant of the first embodiment of the invention, which is in two equilibrium configurations despite the different levels in the front hopper due to the controlled offset between the carrying frame and the rolling assembly;

[0018] [ Figure 4A ]and

[0019] [ Figure 4B] is a schematic side view of an agricultural machine (tracked chassis) according to a third variant of the first embodiment of the invention, which is in two equilibrium configurations due to the controlled offset between the carrying frame and the rolling assembly despite the different levels in the rear hopper;

[0020] [ Figure 5A ]and

[0021] [ Figure 5B ] is a schematic side view of an agricultural machine (tracked chassis) according to a fourth variant of the first embodiment of the invention, which is in two equilibrium configurations due to the controlled offset between the carrying frame and the rolling assembly despite the different levels in the rear hopper;

[0022] [ Fig. 6A ]and

[0023] [ Figure 6B ] is a schematic side view of an agricultural machine (tracked chassis) according to a fifth variant of the first embodiment of the invention, which is in two equilibrium configurations due to the controlled offset between the carrying frame and the rolling assembly despite the different levels of the fuel tank;

[0024] [ Fig. 7A ]and

[0025] [ Figure 7B ] is a schematic side view of an agricultural machine (chassis with axles) according to a first variant of the second embodiment of the present invention, the agricultural machine being in an unbalanced configuration ( Fig. 7A ) and the equilibrium configuration ( Figure 7B );

[0026] [ Fig. 8A ]and

[0027] [ Figure 8B ] is a schematic side view of an agricultural machine (chassis with axles) according to a second variant of a second embodiment of the invention, which is in two equilibrium configurations despite the different levels in the front hopper, thanks to the controlled offset between the carrying frame and the rolling assembly;

[0028] [ Fig. 9 ] is a simplified schematic top view of an agricultural machine according to FIGS. 2 to 8 , with tools and other equipment carried by the carrying frame removed to view the connection between the rolling assembly and the carrying frame, and

[0029] [ Fig. 10A ]and

[0030] [ Fig. 10B ] is related to Fig. 9Similar views show two extreme deflection positions of the rolling assembly relative to the carrier frame along the longitudinal axis, the two extreme deflection positions being respectively a maximum front position (10A) and a maximum rear position (10B). DETAILED DESCRIPTION

[0031] Figure 1 Figures 8 to 8 show a self-propelled agricultural machine (1) operating autonomously or controlled by an operator, having a general direction of travel (A) defining the front and rear of the agricultural machine and a longitudinal axis (L) of the agricultural machine (1).

[0032] The agricultural machine (1) comprises, on the one hand, a carrying frame (2) configured to carry at least one implement (3, 3') at the front and / or rear, and, on the other hand, a rolling assembly (4) comprising, as a rolling device, at least one chassis (5) with tracks (5') and possibly at least one additional chassis with an axle (6, 6') with wheels (6") or at least two chassis with axles (6, 6') with wheels (6"), the carrying frame (2) being mounted on the rolling assembly (4) and assembled therewith and carrying at least one implement (3, 3').

[0033] As also shown in the examples in Figures 2 to 8, the tool, at least one of the tools or the front and rear tools (3, 3') can be mounted on the carrying frame (2) in a fixed or movable manner and have a constant or variable weight. In particular, the tool or one of the tools (3, 3') can include a hopper (12) or a similar tank, which is gradually or intermittently emptied and / or filled during the operation of the agricultural machine (1). In addition, the carrying frame (2) can carry a ballast weight (3") at the front or rear, which can be movable or attached via a ballast weight bracket (13") or similar device. The various interchangeable tools and similar equipment of the agricultural machine (1) are usually rigidly fixed to the carrying frame (2) and carried by the carrying frame via a hitch with a front linkage (13) and a rear linkage (13'). However, it is of course understood that other equipment necessary and useful for the operation of the agricultural machine (1) and certain tools can be mounted on the carrying frame or attached to the top of the agricultural machine and locked in place, or attached below the top of the agricultural machine.

[0034] According to the invention, the agricultural machine (1) is characterized in that the connection between the supporting frame (2) and the rolling assembly (4) is configured to allow displacement between the supporting frame and the rolling assembly along the longitudinal axis (L), and also in that it includes a device for determining and, if necessary, being able to adjust the relative positioning between the supporting frame (2) and the rolling assembly (4), so that the center of gravity (CG) of the supporting frame (2) carrying one or more tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L) and preferably coincide, said determination and said adjustment being carried out automatically by the evaluation and control device (8) or according to the command of the operator informed by said evaluation and control device (8).

[0035] Ideally, it is assumed that the agricultural machine (1) is transversely balanced relative to a plane containing the longitudinal axis (L) and perpendicular to the plane (P). However, when such transverse balance is not verified, the balancing according to the invention can also be implemented. In this case, in Figures 2 to 8, the crosses will not represent the aforementioned center of gravity (CG) and center point (C), but will represent a horizontal line containing the center of gravity and the center point and perpendicular to the longitudinal axis (L), and the same situation will be sought in which the crosses are close, advantageously coplanar, and preferably coincident.

[0036] The present invention thus makes it possible to overcome the above-mentioned drawbacks and to propose a simple and integrated solution making it possible to: i) achieve an optimized relative positioning between the carrying frame (2) and the rolling assembly (4) according to a given configuration of different weights corresponding to the tools or similar accessories carried by the carrying frame (2); and ii) maintain or restore this optimized positioning when the weight distribution changes due to changes in the movable tools or accessories carried, or when it changes during an operating phase or between two consecutive operating phases of the agricultural machine (1).

[0037] By achieving and maintaining a central positioning of the carrying frame (2) relative to the rolling assembly (4), optimal stability of the agricultural machine (1) and maximum contact with the ground (S) are achieved, as well as a substantial distribution of the load over the bearing surface, resulting in optimized grip and traction. Furthermore, the resulting limitation of the need for ballast makes it possible to reduce the impact on the ground (S). Furthermore, since the center of gravity and the instantaneous center of rotation always coincide, GPS navigation of the agricultural machine (1) is facilitated. Furthermore, if the weight of the implement changes (e.g. emptying a hopper), the progress of this change can be monitored indirectly by monitoring the adjustment of the relative positioning. Finally, it should be noted that the solution of the invention is compatible with all types of implements, accessories, equipment and weights and is applicable to all configurations of the linkage of the implement or to the attached ballast weight.

[0038] According to a first embodiment variant, the center point (C) of the rolling assembly (4) corresponds to the geometric center or center of gravity of the contact area between the chassis (5, 5'; 6, 6', 6") and the ground (S).

[0039] According to a second embodiment variant, when the rolling assembly (4) comprises only a chassis (5) with tracks (5'), the centre point (C) of the rolling assembly (4) corresponds to the geometric centre of the chassis (5) or the midpoint of the drive axle of the chassis (5).

[0040] According to a third embodiment variant, when the rolling assembly (4) comprises two chassis (5, 5'; 6, 6', 6"), the center point (C) corresponds to the midpoint between the geometric centers of the axes of the two chassis (5, 5'; 6, 6', 6")

[0041] like Fig. 9 As schematically shown in Figure 10, the connection between the supporting frame (2) and the rolling assembly (4) has the freedom to slide along the longitudinal axis (L) and includes one or more cylinders (7) that can be locked in place, the actuation of at least some of the cylinders, in particular at least one electric cylinder provided with a position sensor, causing a relative sliding displacement between the frame and the assembly.

[0042] As shown in particular in Figures 3 to 5 and 8, the implement (3, 3') or at least one of the implements (3, 3') carried by the carrying frame (2) can have a variable weight and / or can be moved relative to the carrying frame (2), especially during use or when the agricultural machine (1) changes from one configuration or state to another configuration or state, the agricultural machine (1) includes a measuring device (9) for measuring the ballast weight and a relative position detection device (9') for detecting the relative position of the implement or each of the implements (3, 3') mounted at the front or rear relative to the carrying frame (2). These devices (9, 9') are in the form of sensors that make it possible to monitor changes in position and weight, in particular changes in position and weight corresponding to various implements and ballast, thereby allowing dynamic adjustment of the relative positioning of the two target parts (2 and 4).

[0043] As an alternative non-dynamic variant, a system without weighing is conceivable, in which the weights are known from a catalog of possible implements of the relevant agricultural machine or by manual input by the user at a control terminal of the agricultural machine ("front implement = X kg, rear implement = Y kg").

[0044] According to an advantageous embodiment of the invention, Figure 1Schematically, allowing for dynamic controlled adjustment of the desired relative positioning of two components (2 and 4), an agricultural machine (1) comprises an evaluation and control device (8) configured to: i) analyse data provided by a measuring device (1') for measuring the balance of the agricultural machine (1) (e.g. a balancing device (measuring the inclination relative to the horizontal)) and / or by a database (10); ii) determine the optimal relative positioning between the support frame (2) and the rolling assembly (4); iii) if necessary, make adjustments by controlling the relative displacement between the support frame (2) and the rolling assembly (4) or inform an operator if the centre of gravity (CG) of the support frame (2) carrying one or more implements (3, 3') and the centre point (C) of the rolling assembly (4) are not at least approximately coincident. The computer-type device (8) will operate under the control of specially adapted management and control software.

[0045] Preferably, the agricultural machine (1) comprises an evaluation and control device (8) which is configured and programmed to: i) analyze data provided by a measuring device (9) on the one hand, which measures the ballast weight of an implement (3, 3') or one or more implements (3 and 3') mounted at the front or rear, and by a relative position detection device (9') on the other hand, and / or finally by a database (10), wherein the measuring device measures the ballast weight of an implement (3, 3') or one or more implements (3 and 3') mounted at the front or rear and movable (e.g. by raising / lowering) relative to the support frame (2); ii) determine the optimal relative positioning between the support frame (2) and the rolling assembly (4); and iii) if necessary, make adjustments by controlling the relative displacement between the support frame (2) and the rolling assembly (4), or inform the operator if the center of gravity (CG) of the support frame (2) carrying one or more implements (3, 3') and the center point (C) of the rolling assembly (4) do not at least approximately coincide.

[0046] According to another advantageous feature of the invention, the agricultural machine (1) further comprises: a database (10) providing predefined states of optimal relative positioning between the carrying frame (2) and the rolling assembly (4) based on the type of one or more implements (3, 3') or one or more ballast weights (3") mounted at the front and / or rear; and a device (11) for detecting the type of the mounted one or more implements (3, 3') or ballast weights (3")

[0047] With regard to the above arrangement, the evaluation and control device (8) can advantageously be programmed so as to analyze the data provided by the device (11) for detecting the type of one or more tools (3, 3') or one or more ballast weights (3") installed and consult the database (10) at least at the beginning of an operation or movement phase of the agricultural machine (1) and, if necessary, to be able to adjust the relative positioning between the supporting frame (2) and the rolling assembly (4) and / or to inform the operator. Thus, it is possible to define a balanced initial configuration of the agricultural machine (1) at the beginning of a given phase.

[0048] Likewise, with regard to the above arrangement, the evaluation and control device (8) can advantageously be programmed to: i) repeatedly analyze (if necessary, in a quasi-continuous manner) the data provided by the measuring device (1') for measuring the balance of the agricultural machine (1) or by the measuring device (9) for measuring the ballast weight and by the relative position detection device (9') for detecting the relative position of the implement (3, 3') or one or more implements (3 and 3') mounted at the front or rear; and ii) automatically (if necessary, in real time and continuously) determine and repeatedly adjust the relative positioning between the support frame (2) and the rolling assembly (4) during the entire operating phase of the agricultural machine (1). Thus, a balanced configuration can always be ensured for implements of variable weight (for example, containing a hopper that is emptied during the operation of the agricultural machine) (see Figures 3 to 5 and 8).

[0049] In fully autonomous operation of the agricultural machine (1), such as an agricultural robot type agricultural machine, dynamic adjustments can be made without user intervention as work progresses on the field and according to the needs of the agricultural machine. The agricultural machine is also capable of sending a warning signal to the user (via the vehicle control interface) to indicate that the weight is unbalanced or poorly distributed. The operator can then be advised of the optimal adjustment of the position of the crawler (5') to resolve the problem.

[0050] As regards another advantageous feature of the invention, as shown by way of example in FIG. 6 , the evaluation and control device (8) can further be programmed to take into account the filling level of the fuel tank (12′) of the agricultural machine (1) and changes in the filling level of the fuel tank during the working phases in order to determine and, if necessary, adjust the optimal relative positioning between the supporting frame (2) and the rolling assembly (4).

[0051] In order to overcome the disadvantages of the prior art, another object of the present invention is a method for managing the configuration of an agricultural machine (1) of the type described in the introduction to the present invention, in particular an agricultural machine (1) having the above-mentioned technical provisions and characteristics.

[0052] According to the invention, the method comprises providing a connection between a carrying frame (2) and a rolling assembly (4), said connection being configured to allow displacement between the frame and the assembly along a longitudinal axis (L), and the method comprises determining and, if necessary, being able to adjust the relative positioning between the carrying frame (2) and the rolling assembly (4) by means of an evaluation and control device (8), automatically or according to commands of an operator informed by said evaluation and control device (8), so that the center of gravity (CG) of the carrying frame (2) carrying one or more tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L) and preferably coincide.

[0053] Ideally, the positions of the chassis (5) and the tracks (5') are changed only in the following two situations:

[0054] - Initial adjustments before starting work: the agricultural machine (1) is stationary, the implement (3, 3') is attached (if necessary, the hopper is filled to the necessary level);

[0055] - Dynamic adjustment: For use only in straight-line driving to reduce the risk of stability problems with the equipped and loaded agricultural machinery (1) which could occur if dynamic deviations occur during turns, U-turns or manoeuvres.

[0056] It can also be provided that the agricultural machine (1) adopts one of several predetermined configurations (each configuration corresponding to a predetermined relative positioning between the frame and the rolling assembly), namely:

[0057] - "Transport" configuration: used to minimize space requirements or to achieve optimal stability (if a tool is held / attached);

[0058] - A "working" configuration applying the following rule: if the implement X+Y combination is attached to the carrier, the rolling assembly will reach position Z. A "catalogue" of known implements can be integrated into the management software controlling the agricultural machine.

[0059] Of course, the invention is not limited to the embodiments described and shown in the drawings. Modifications are still possible, in particular from the point of view of the composition of the various elements or by replacing them with technical equivalents, without departing from the scope of protection of the invention.

Claims

1. A self-propelled agricultural machine (1) which operates autonomously or is controlled by an operator, the agricultural machine having a normal direction of travel (A) which determines the front and rear of the agricultural machine (1) and a longitudinal axis (L), the agricultural machine (1) comprising, on the one hand, a carrying frame (2) which is configured to carry at least one implement (3, 3') at the front and / or at the rear, and, on the other hand, a rolling assembly (4) which comprises, as a rolling device, at least one chassis (5) with tracks (5') and optionally at least one additional chassis with an axle (6, 6') with wheels (6") or at least two chassis with axles (6, 6') with wheels (6"), the carrying frame (2) being mounted on the rolling assembly (4) and assembled therewith and carrying the at least one implement (3, 3'), The agricultural machine (1) is characterized in that the connection between the supporting frame (2) and the rolling assembly (4) is configured to allow displacement between the supporting frame and the rolling assembly along the longitudinal axis (L), and the agricultural machine includes a device for automatically determining by means of an evaluation and control device (8) or according to a command of an operator informed by the evaluation and control device (8) and, if necessary, being able to adjust the relative positioning between the supporting frame (2) and the rolling assembly (4), so that the center of gravity (CG) of the supporting frame (2) carrying the tool (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L) and preferably coincide.

2. The agricultural machine (1) according to claim 1, characterized in that: The center point (C) of the rolling assembly (4) corresponds to the geometric center or center of gravity of the contact area between the chassis (5, 5'; 6, 6', 6") and the ground (S).

3. The agricultural machine (1) according to claim 1, characterized in that: The rolling assembly (4) comprises only a chassis (5) with tracks (5'), and the center point (C) of the rolling assembly (4) corresponds to the geometric center of the chassis (5) with tracks or to the midpoint of the drive shaft of the chassis (5) with tracks.

4. The agricultural machine (1) according to claim 1, characterized in that: The rolling assembly (4) comprises two chassis (5; 6, 6'), the center point (C) corresponding to the midpoint between the geometric centers of the axes of the two chassis (5; 6, 6').

5. The agricultural machine (1) according to any one of claims 1 to 4, characterized in that The connection between the supporting frame (2) and the rolling assembly (4) has the freedom to slide along the longitudinal axis (L) and comprises one or more cylinders (7) capable of being locked in place, the actuation of at least some of the cylinders, in particular at least one electric cylinder provided with a position sensor, causing a relative displacement between the supporting frame (2) and the rolling assembly (4).

6. The agricultural machine (1) according to any one of claims 1 to 5, characterized in that The implement (3, 3') or at least one of the implements (3, 3') carried by the carrying frame (2) can have a variable weight and / or can be moved relative to the carrying frame (2), in particular during use or when the agricultural machine (1) changes from one configuration or state to another configuration or state, the agricultural machine (1) comprises a measuring device (9) for measuring the ballast weight and a relative position detection device (9') for detecting the relative position of the implement or each of the implements (3, 3') mounted at the front or rear relative to the carrying frame (2).

7. The agricultural machine (1) according to any one of claims 1 to 6, characterized in that The agricultural machine comprises an evaluation and control device (8) which is configured to: i) analyse data provided by a measuring device (1') for measuring the balance of the agricultural machine (1), such as a balancing device, and / or by a database (10); ii) determine the optimum relative positioning between the supporting frame (2) and the rolling assembly (4); and iii) make adjustments if necessary by controlling the relative displacement between the supporting frame (2) and the rolling assembly (4), or notify an operator if the centre of gravity (CG) of the supporting frame (2) carrying the implement (3, 3') and the centre point (C) of the rolling assembly (4) are not at least approximately aligned.

8. The agricultural machine (1) according to any one of claims 1 to 6, characterized in that The agricultural machine comprises an evaluation and control device (8) which is configured and programmed to: i) analyse data provided by a measuring device (9) for measuring the ballast weight of the implement (3, 3') or implements (3 and 3') mounted at the front or rear, by a relative position detection device (9') for detecting the relative position of the implement (3, 3') or implements (3 and 3') mounted at the front or rear and movable, for example by raising / lowering, relative to the supporting frame (2), and / or by a database (10); ii) determine the optimum relative positioning between the supporting frame (2) and the rolling assembly (4); and iii) if necessary, make adjustments by controlling the relative displacement between the supporting frame (2) and the rolling assembly (4), or inform an operator if the centre of gravity (CG) of the supporting frame (2) carrying one or more implements (3, 3') and the centre point (C) of the rolling assembly (4) are not at least approximately aligned.

9. The agricultural machine (1) according to any one of claims 1 to 8, characterized in that The agricultural machine comprises: a database (10) which provides predefined states of optimal relative positioning between the carrying frame (2) and the rolling assembly (4) depending on the type of one or more tools (3, 3') or one or more ballast weights (3") mounted at the front and / or rear; and a device (11) for detecting the type of one or more tools (3, 3') or one or more ballast weights (3") mounted.

10. The agricultural machine (1) according to claim 8 and 9, characterized in that The evaluation and control device (8) is programmed to analyze data provided by a device (11) of the type used to detect the installation of one or more tools (3, 3') or one or more ballast weights (3") and to consult a database (10) at least at the beginning of an operation or movement phase of the agricultural machine (1) and to adjust the relative positioning between the supporting frame (2) and the rolling assembly (4) if necessary and / or to inform an operator.

11. The agricultural machine (1) according to any one of claims 7, 8 and 9, characterized in that The evaluation and control device (8) is programmed to repeatedly analyze, if necessary, in a quasi-continuous manner, the data provided by a measuring device (1') for measuring the balance of the agricultural machine (1) or by a measuring device (9) for measuring the ballast weight and by a relative position detection device (9') for detecting the relative position of a tool (3, 3') or one or more tools (3 and 3') mounted at the front or rear, and to automatically determine and repeatedly adjust, if necessary, in real time and continuously, the relative positioning between the supporting frame (2) and the rolling assembly (4) during the entire operating phase of the agricultural machine (1).

12. The agricultural machine (1) according to any one of claims 1 to 11, characterized in that The evaluation and control device (8) is programmed to also take into account the filling level of the fuel tank (12') of the agricultural machine (1) and changes in the filling level of the fuel tank during working phases in order to determine and, if necessary, adjust the optimal relative positioning between the supporting frame (2) and the rolling assembly (4).

13. Method for managing the configuration of an agricultural machine (1), in particular an agricultural machine (1) according to any one of claims 1 to 12, comprising, on the one hand, a carrying frame (2) configured to carry at least one implement (3, 3') at the front and / or at the rear, and, on the other hand, a rolling assembly (4), comprising, as a rolling device, at least one chassis (5) with tracks (5') and optionally at least one additional chassis with an axle (6, 6') with wheels (6"), or at least two chassis with axles (6, 6') with wheels (6"), the carrying frame (2) being mounted on the rolling assembly (4) and assembled therewith and carrying at least one implement (3, 3'), The method is characterized in that it comprises providing a connection between the supporting frame (2) and the rolling assembly (4), the connection being configured to allow displacement between the supporting frame and the rolling assembly along the longitudinal axis (L), and the method comprises determining and, if necessary, adjusting the relative positioning between the supporting frame (2) and the rolling assembly (4) automatically by means of an evaluation and control device (8) or according to commands of an operator informed by the evaluation and control device (8), so that the center of gravity (CG) of the supporting frame (2) carrying one or more tools (3, 3') and the center point (C) of the rolling assembly (4) are close to each other, advantageously located in the same plane (P) perpendicular to the longitudinal axis (L) and preferably coincide.

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