Agricultural implements and machinery for harvesting vegetables grown on a raised bed

Description

[0001] The technical context of the present invention is that of agricultural machinery. More particularly, the invention relates to the detection and harvesting of a vegetable grown in a growing mound. It finds a preferred, but not exclusive, application in the detection and harvesting of asparagus grown in growing mounds, and it is within the framework of this preferred application that it will be more particularly described in the present document.

[0002] Asparagus harvesting takes place when the asparagus shoots emerge from the growing mound by only a few millimeters to a few centimeters. This harvest therefore requires, on the one hand, precise and efficient detection of the emergence of the asparagus head from the ground and, on the other hand, having tools capable of reaching the shoot underground without damaging or breaking it, while maintaining the integrity of the growing mound as much as possible. It is a manual harvest carried out mainly by seasonal staff. In a context of a scarcity of available labor, manual harvesting becomes problematic, especially when the harvest period is short.

[0003] For large-scale farms, harvesting machines are known which include detection devices using optical detection systems or by detecting a difference in electrical potential between the crop mound and the detected asparagus. These machines are extremely expensive and have a high technical complexity, making their prices excessive and unsuitable for small and medium-sized farms, i.e. those less than 20 hectares. The state of the art includes in particular document DE102016112905 B3.

[0004] The present invention aims to provide a solution for harvesting vegetables grown in growing mounds, which is both simple and inexpensive to be affordable for small or medium-sized farms.

[0005] For this purpose, the invention relates, according to a first aspect, to a system for harvesting a vegetable grown in a growing mound, the harvesting system comprising: a rigid structure, has a vertical translation stage secured to the rigid structure and configured to vertically move the harvesting tool relative to the rigid structure, the harvesting tool being linked to the vertical translation stage at an upper end of the arm of the harvesting tool opposite its free end, the vertical translation stage comprising an actuator configured to control a vertical movement of the harvesting tool, a pivoting member of the harvesting tool, the pivoting member being configured to pivot the harvesting tool relative to the vertical translation stage around an axis of rotation located at the upper end of the arm of the harvesting tool.

[0006] The vertical movement of the harvesting tool is to be understood here as leading to the claw of the harvesting tool being driven into the ground, in a direction parallel to a main direction of growth of a vegetable such as, for example, asparagus, in a cultivation mound.

[0007] The front face of the claw is here to be understood as the face of the claw closest, in a longitudinal direction of the harvesting tool, to the vegetable to be harvested, and it is also here to be understood that the sharp blade of the claw is configured to cut into the soil, that is to say into the depth of the cultivation mound, the vegetable to be harvested.

[0008] According to a characteristic of the harvesting system according to the invention, the claw of the harvesting tool comprises a plurality of blades all extending parallel to each other and perpendicular to the cutting blade.

[0009] With reference to the above, we define a trihedron (L, T, V) in which: the vertical direction V represents the direction of movement of the previously defined vertical translation stage, the transverse direction T represents a main direction of extension of the cutting blade of the claw of the harvesting tool, and the longitudinal direction L is perpendicular to both the aforementioned transverse direction T and the vertical direction V.

[0010] As previously indicated, the vertical direction V also represents, when the harvesting tool is placed on a growing mound, the main direction of growth of the vegetable in said mound. With reference to this direction, the axis of rotation of the harvesting tool is placed in the upper part of the harvesting system according to the invention, and the harvesting claw is placed in the lower part of the harvesting system according to the invention.

[0011] According to one feature, the harvesting tool comprises a cleaning shoe configured to remove the soil remaining on the claw of the harvesting tool, the cleaning shoe being integral with the rigid structure and configured to clean the harvesting tool when the latter is moved by the vertical translation stage.

[0012] More specifically, the invention provides that the cleaning shoe is placed, in the vertical direction V, above the claw of the harvesting tool.

[0013] According to a characteristic of the harvesting system according to the invention, the vertical translation stage comprises a worm screw linked by a sliding connection to a vertical translation plate supporting the harvesting tool, the actuator being configured to control a rotation of the worm screw in order to control a vertical movement of the vertical translation plate along said worm screw.

[0014] Advantageously, the invention provides that the axis of rotation of the pivoting member is integral with the translation plate.

[0015] According to another characteristic of the harvesting system according to the invention, the axis of rotation of the pivoting member extends in the transverse direction T, previously defined, of the harvesting system, perpendicular to the vertical direction V and so as to generate a pivoting movement of the harvesting tool leading to a movement of the claw in the longitudinal direction L previously defined. It follows from the above that the axis of rotation of the pivoting member is substantially parallel, within manufacturing and assembly tolerances, to the cutting blade of the claw of the harvesting tool.

[0016] When the actuator of the vertical translation stage controls a vertical movement of the harvesting tool, the invention provides that the claw of the latter penetrates the cultivation mound vertically, that is to say substantially in the main direction of growth of the vegetable to be harvested. When the harvesting tool is driven to pivot around the transverse axis of rotation of the pivoting member, located at the upper end of the arm of the harvesting tool, the claw of the harvesting tool is driven in the same rotational movement: the cutting blade of the harvesting claw is then driven in a rocking movement in the direction of the vegetable to be harvested until it is cut.It should be noted here that the dimensions, respectively, of the arm and the claw of the harvesting tool, are advantageously defined in such a way that, in the pivoting of the claw of the harvesting tool, the movement of the cutting blade of the latter occurs substantially in the longitudinal direction of the harvesting system according to the invention, that is to say in the direction of extension of the parallel blades of the claw of the harvesting tool. By convention, the direction of movement of the cutting blade of the harvesting tool in the rocking movement caused by the pivoting of the harvesting tool in the direction of the vegetable to be harvested will be designated in the following by the qualifier "front".

[0017] According to another characteristic of the harvesting system according to the invention, the pivoting member comprises at least one support member located at the upper end of the arm of the harvesting tool and configured to collaborate with a tilt guide groove secured to the rigid structure.

[0018] According to one or more of the following characteristics, taken separately or in combination: the at least one support member is located, with reference to the directions and orientations previously defined, in front of the axis of rotation of the pivoting member. the at least one support member is formed by a wheel or a roller collaborating with the tilt guide groove. the tilt guide groove comprises a first rectilinear part which extends vertically along the rigid structure and a second rectilinear part located in front of the first part, so that when the support member is located in the first part of the tilt guide groove of the harvesting tool, the arm of said harvesting tool is inclined, with reference to the directions and orientations previously defined, towards the rear of the harvesting system, and, when the support member is located in the second part of the tilt guide groove of the harvesting tool, the arm of the harvesting tool is oriented substantially vertically.the tilt guide groove has a lower limit, so that when the support member is in abutment against said lower limit and the translation plate is driven in a vertical translation movement towards the lower limit, the harvesting tool is driven in a pivoting movement around the axis of rotation of the pivoting member.

[0019] According to another characteristic, the harvesting system according to the invention comprises a stage for guiding the vertical translation of the vertical translation plate relative to the rigid structure.

[0020] According to different characteristics, taken separately or in combination: the vertical translation guide stage comprises at least one guide element which extends parallel to the worm screw and collaborating with at least one pad mounted on the translation plate. each at least one guide element takes the form of a cylinder. the translation plate has the general shape of a U, each free end of the U being engaged with a guide element of the vertical translation guide stage.

[0021] According to another characteristic, the harvesting system according to the invention comprises a gripping tool secured to the vertical translation plate, the gripping tool being configured to grip and release a vegetable harvested by the harvesting tool.

[0022] According to different characteristics taken separately or in combination: The gripping tool takes the form of a controlled gripper in order to control its opening and closing. The gripper comprises two combs located opposite each other and forming a jaw intended to grip or release the harvested vegetable. The opening and closing of the jaw forming the gripper are controlled by an electromagnet. The gripping tool comprises a longitudinal translation carriage, the gripper being supported by said longitudinal translation carriage so as to be able to be moved longitudinally relative to the harvesting tool.

[0023] According to another characteristic, the harvesting system according to the invention comprises a transverse translation stage, the transverse translation stage being configured to move the rigid structure in a direction perpendicular to the vertical direction. More precisely, the transverse translation stage is configured to move the rigid structure and the harvesting tool that it supports in the previously defined transverse direction.

[0024] According to different characteristics, taken separately or in combination: the transverse translation stage comprises at least one worm screw connected via a sliding connection to the rigid structure of the harvesting system, and an actuator configured to control a rotation of the at least one worm screw in order to control a transverse movement of the rigid structure along the worm screw. the transverse translation stage comprises a sensor configured to determine a transverse position of the rigid structure along the worm screw. the sensor comprises at least one encoder configured to measure a rotation of the at least one worm screw and / or at least one inductive sensor configured to measure a transverse distance between said inductive sensor and the rigid structure.

[0025] The harvesting system according to the invention therefore comprises, with reference to the above, a first endless screw intended to ensure the vertical translation of the vertical translation stage of the harvesting tool, and a second endless screw configured to allow transverse movement of the rigid structure and, therefore, of the harvesting tool. It should be noted that, with reference to the directions and orientations previously defined, the transverse direction is, when the harvesting system according to the invention is placed on a crop mound, advantageously a transverse direction of this crop mound, or, in other words, the direction of a width of this crop mound. IlIt follows from the above that the harvesting system according to the invention allows, on the one hand, a vertical movement of the harvesting tool in a cultivation mound, that is to say a movement of this harvesting tool in the depth of said cultivation mound to harvest, thanks to the sharp blade of the harvesting tool, vegetables growing in the depth of this cultivation mound, and, on the other hand, a transverse movement of the harvesting tool along a width of said cultivation mound. The harvesting system according to the invention therefore allows, when it is placed on a cultivation mound, access to all the vegetables located over a width of the latter.

[0026] According to a second aspect, the invention relates to an agricultural machine intended to enable the harvesting of vegetables grown in crop mounds in a field, the agricultural machine comprising: a chassis, at least two wheels integral with a shaft which can rotate relative to the chassis, the wheels being intended to be located on either side of the cultivation mound when the agricultural machine is used in the field, a harvesting system as previously described, the harvesting system being integral with the chassis.

[0027] The direction separating the two wheels located on either side of the cultivation mound is defined below as the transverse direction of the agricultural machine according to the invention. Advantageously, the invention provides that the harvesting system as previously defined is placed on the chassis of the agricultural machine in such a way that the transverse direction of the latter and the transverse direction, as previously defined, of the harvesting tool and the harvesting system, are merged, within manufacturing and assembly tolerances.

[0028] According to a characteristic of the agricultural machine according to the invention, the at least two wheels are driven, and the agricultural machine comprises a motor configured to generate a driving torque to the shaft of the at least two driven wheels, the motor being integral with the chassis.

[0029] According to a characteristic of the agricultural machine according to the invention, the at least two drive wheels are directional.

[0030] According to an advantageous embodiment, the agricultural machine according to the invention comprises four drive wheels. According to one example, these four drive wheels are also directional.

[0031] According to another characteristic, the agricultural machine according to the invention comprises a proximity sensor located between each directional wheel and the cultivation mound, a control unit configured to control the drive wheels so that a transverse distance between each directional wheel and the cultivation mound is constant and / or invariant and / or equal on each side of the cultivation mound.

[0032] According to one characteristic, the agricultural machine according to the invention comprises a system for vertical adjustment of the chassis relative to the drive wheels, the control unit being configured to control the system for vertical adjustment of the chassis in such a way that a vertical distance between the chassis and the cultivation mound is constant and / or invariant.

[0033] Advantageously, the invention provides that the harvesting system as previously defined is placed on the chassis of the agricultural machine in such a way that the vertical adjustment direction of the chassis relative to the drive wheels and the vertical direction, as previously defined, of the harvesting tool and the harvesting system, are the same, within manufacturing and assembly tolerances.

[0034] According to different characteristics, taken separately or in combination: the vertical adjustment system comprises an adjustment of the inclination of the chassis relative to a transverse axis of the agricultural machine and / or relative to a longitudinal axis of said agricultural machine. the vertical adjustment system comprises a jack located at at least one pillar of the chassis, the pillar forming a connection between said chassis and a shaft of the drive wheels.

[0035] According to another characteristic, the agricultural machine comprises a first set of storage boxes located along a first transverse side of said agricultural machine and a second set of storage boxes located along a second transverse side of said agricultural machine, each set of storage boxes being distributed by a conveyor belt. The agricultural machine according to the invention therefore comprises a first conveyor belt configured to distribute the first set of storage boxes, and a second conveyor belt configured to distribute the second set of storage boxes, each conveyor belt being located along a transverse side of the agricultural machine according to the invention.

[0036] According to a third aspect of the invention, the invention also relates to a tool for detecting at least one vegetable grown in a growing mound, the detection tool comprising: a support which extends in a main direction of elongation, and, a plurality of torque detection devices distributed along the main direction of elongation of the support, each torque detection device comprising, on the one hand, a pivoting plate extending perpendicular to the main direction of elongation of the support and being movable in rotation about a pivot axis and relative to the support, and, on the other hand, a sensor configured to detect a torque appearing on the pivoting plate.

[0037] More specifically, the pivoting plate of each torque detection device has a substantially rectangular general shape whose short sides are substantially parallel, within manufacturing tolerances, to the support of the detection tool, and whose long sides are substantially perpendicular, within manufacturing tolerances, to said support. More specifically still, the invention provides that the pivot axis around which the pivoting plate of each torque detection device is rotatable is substantially parallel, within manufacturing tolerances, to the short sides of the aforementioned pivoting plate and to the support of the detection tool.A rest position of the pivoting plate of each torque detection device is then defined, in which no torque is detected and in which the pivoting plate does not rotate about its pivot axis, and a detection position in which the torque detection sensor is actuated and in which the aforementioned pivoting plate forms, with its rest position, a non-zero angle defined by the rotation of said pivoting plate about its pivot axis.

[0038] With reference to the directions and orientations previously defined, the invention provides that the support of the detection tool extends, in an agricultural machine such as the aforementioned, in the transverse direction T of the trihedron (L, T, V) previously defined. More precisely, the invention provides that the pivoting plates of the detection tool extend, in their rest position, in a substantially vertical transverse plane (T, V) of the aforementioned trihedron.

[0039] The operation of the detection tool is as follows: each torque detection device is intended to be moved relative to a growing mound, such that, when a cultivated vegetable comes into contact with the pivot plate, the latter pivots about its pivot axis, thereby actuating the sensor configured to detect a torque appearing on said pivot plate.

[0040] More specifically, each torque detection device is intended to be moved relative to a crop mound in a direction substantially perpendicular to the plane in which its pivoting plate extends in its rest position. With reference to the above, the direction of movement of the detection tool is therefore substantially parallel to the longitudinal direction L, previously defined, of the trihedron (L, T, V), that is to say also to a length of a crop mound along which the agricultural machine according to the invention moves to harvest the vegetables growing there.

[0041] Advantageously, the detection devices are regularly distributed along the main direction of elongation of the support.

[0042] Advantageously, each torque detection device comprises a plate secured to the support, the plate comprising a peripheral frame with a central opening through which the pivot axis extends, the pivot plate extending through the central opening.

[0043] Advantageously, each pivoting plate comprises a first part located on a first side relative to the pivot axis and a second part located on a second side relative to said pivot axis, the first and second parts being configured so that the torque detection device is in equilibrium when the detection tool is placed above the crop mound. The term "above" is here to be understood according to the vertical direction, previously defined, of the detection tool.

[0044] According to different examples of implementation, taken separately or in combination: the first and second parts of the pivoting plate extend in the same plane comprising the pivot axis, the first part of the pivoting blade is made of a plastic material, the first part of the pivoting plates of all the detection devices have a free end and these free ends collectively define a shape complementary to that of a transverse profile of the cultivation mound. According to various examples, this transverse shape can be substantially trapezoidal, elliptical, circular or triangular.the second part of each pivoting plate is attached to the first part and fixed thereto, the second part of each pivoting plate is formed of a stainless material, preferably metallic, preferably steel, the second part of each pivoting plate takes the form of a bearing surface, one free end of which collaborates with the previously defined torque detection sensor, the free end of the second part of each pivoting plate carries a target for the torque detection sensor, the latter being configured to measure the presence of the target in front of it in order to detect the torque experienced by the pivoting plate. Advantageously, the target is of the magnet type and the torque detection sensor is of the Hall effect sensor type.the detection tool comprises a control unit configured to record in a memory area the torque detected by the sensor of at least one of the torque detection devices and / or an identifier of the at least one of the torque detection devices and / or a time at which the at least one of the torque detection devices detected said torque.

[0045] According to a fourth aspect, the invention relates to an agricultural machine comprising a tool for detecting at least one vegetable grown in a growing mound. The technical characteristics described in relation to the agricultural machine according to the second aspect of the invention apply mutatis mutandis to the agricultural machine according to the fourth aspect of the invention. In other words, the agricultural machine according to the fourth aspect of the invention comprises all the technical characteristics, taken alone or in combination, which have been described in relation to the agricultural machine according to the second aspect of the invention, with the exception of the harvesting system.

[0046] 12such an agricultural machine thus comprises: a chassis, at least two drive wheels secured to a shaft that can rotate relative to the chassis, the wheels being intended to be located on either side of the crop mound when the agricultural machine is used in the field, a motor configured to generate a driving torque to the shaft of the at least two drive wheels, a detection tool as described previously.

[0047] The agricultural machine according to the invention is then configured solely for the detection of vegetables to be harvested, the harvest being able to be carried out by various other means, manual or automated.

[0048] Advantageously, the agricultural machine according to the second aspect of the invention may also comprise the detection tool, and the agricultural machine according to the fourth aspect of the invention may also comprise the harvesting system. Thus, such an agricultural machine comprising both the detection tool and the harvesting system as described above, therefore makes it possible, on the one hand, by its detection tool, to detect the presence of vegetables to be harvested in a cultivation mound and, on the other hand, by its harvesting system, to harvest said vegetables. To do this, the detection tool and the harvesting system are advantageously arranged on the agricultural machine in such a way that the detection tool is actuated before the harvesting system.More specifically, the invention provides that the agricultural machine can be moved in translation along a crop mound, the longitudinal direction of the latter being substantially coincident with the longitudinal direction of the agricultural machine, such that, in this movement, the detection tool is located in front, with reference to the directions and orientations previously defined, of the harvesting system. According to various examples, the longitudinal translation of the agricultural machine according to the invention can be carried out by traction of the latter, for example by a motorized agricultural machine, or it can be carried out by means of a motor governing the drive and directional wheels of said agricultural machine.

[0049] According to a fifth aspect, the invention relates to a method of harvesting vegetables grown in a cultivation mound using an agricultural machine as previously described, the harvesting method comprising: a step of positioning the agricultural machine above one of the cultivated vegetables, called the vegetable to be harvested, so that the harvesting system of the agricultural machine is located in direct proximity to the vegetable to be harvested, a step of pushing the harvesting tool of the agricultural machine into the growing mound, a step of slicing the vegetable to be harvested in the growing mound, the slicing step being carried out by the harvesting tool, a step of harvesting the vegetable to be harvested, the harvesting step comprising a raising of the vegetable to be harvested by the harvesting tool, a step of storing the vegetable to be harvested in a plurality of storage boxes on board the agricultural machine.

[0050] Here, "direct proximity" is understood to mean that a distance, measured along the previously defined longitudinal direction of the harvesting system and the agricultural machine according to the invention, between the vegetable to be harvested and the cutting blade of the claw of the harvesting tool, is sufficiently small so that, in the rocking movement of the aforementioned claw, previously described, the movement of the cutting blade of the latter leads to the slicing of the vegetable to be harvested. In practice, a distance, measured along the previously defined longitudinal direction, between the harvesting tool and the vegetable to be harvested is of the order of a few centimeters, the harvesting tool being placed behind the vegetable to be harvested with reference to the previously defined directions, senses and orientations.

[0051] IlIt should be understood here that the step of pushing the harvesting tool into the cultivation mound and the operation of raising the sliced ​​vegetable are carried out by means of the vertical translation stage, previously described, of the harvesting tool.

[0052] According to another characteristic, the method according to the invention comprises at least one step of detecting at least one vegetable grown in the cultivation mound, called detected vegetable, each at least one detection step being implemented by a detection tool of the agricultural machine as previously defined and leading to defining a longitudinal position of the agricultural machine relative to the cultivation mound, called longitudinal harvesting position, so that the harvesting tool, at the end of the positioning step, is located at one of the at least one longitudinal harvesting position, the detected vegetable then becoming the vegetable to be harvested.

[0053] More specifically, the invention provides that the determination of each longitudinal position obtained during the at least one detection step is carried out from the detection of a longitudinal position of the detection tool, the longitudinal harvesting position being determined by adding, to the longitudinal position of the detection tool, a value corresponding to a distance separating the detection tool from the harvesting tool on the agricultural machine, taken in the longitudinal direction.

[0054] According to a first embodiment of the method according to the invention, the agricultural machine detects a vegetable in the cultivation mound and harvests it during the same cycle. According to another embodiment of the method according to the invention, the agricultural machine detects several different vegetables and harvests them subsequently, depending on their respective positions.

[0055] According to one characteristic, the harvesting method according to the invention comprises a step of recording each at least one longitudinal position defined during the detection step.

[0056] According to another characteristic of the method according to the invention, the step of detecting the at least one detected vegetable comprises a step of defining a transverse position of the at least one detected vegetable relative to the cultivation mound, called transverse harvest position, the transverse position of the at least one detected vegetable being defined for each at least one longitudinal position defined previously.

[0057] According to different characteristics, taken separately or in combination: the harvesting method comprises a step of recording each at least one defined transverse position, each transverse position of the at least one detected vegetable being associated with the longitudinal position of said at least one corresponding detected vegetable, thus forming at least one pair of associated positions of the at least one detected vegetable, the harvesting method comprises a step of sorting the pairs of positions of the at least one detected vegetable according to the longitudinal positions, so as to organize the pairs of positions in ascending or descending order of their respective longitudinal positions, the steps of positioning, driving in, slicing and harvesting forming a harvesting cycle carried out together for each of the determined pairs of positions, the harvesting method comprises a step of transverse alignment of the harvesting system relative to the cultivation mound, so that the harvesting tool is located,at the end of the transverse alignment step, in one of the at least one transverse harvesting position, the harvesting system being movable in translation relative to a chassis of the agricultural machine and in a direction substantially parallel to a shaft of two drive wheels of said agricultural machine. the slicing step comprises a rotational movement of the harvesting tool around an axis of rotation located at an upper end of the harvesting tool, the upper end of the harvesting tool being located opposite the cutting blade, the upper end being movable in rotation relative to a movable plate of the vertical translation stage of the harvesting tool, so as to slice the vegetable to be harvested, called sliced ​​vegetable. the rotational movement is induced by the vertical translational movement of the harvesting tool generated by the vertical translation stage,the rotational movement of the harvesting tool induces a rotary movement of the cutting blade of the harvesting tool towards and through the vegetable to be harvested. at any stage of the harvesting process, the upper end of the harvesting tool and the axis of rotation of said harvesting tool are located strictly above the growing mound the harvesting step comprises a vertical movement of the harvesting tool via the vertical translation stage of the harvesting tool, so as to extract the sliced ​​vegetable from the growing mound, called extracted vegetable in the harvesting step, during the vertical movement of the harvesting tool, the extracted vegetable rests by gravity on the harvesting tool. the harvesting step comprises a step of gripping the extracted vegetable by a gripping tool of the harvesting tool,the harvesting step comprises a step of moving the gripping tool so as to place it and the extracted vegetable transported by the gripping tool directly above a conveyor belt of the harvesting machine, the harvesting step comprises a step of releasing the extracted vegetable transported by the gripping tool, in order to place the extracted vegetable on the conveyor belt. the harvesting method comprises a step of selecting one of the storage boxes - called the selected storage box - into which the extracted vegetable present on the conveyor belt is loaded. This selection step comprises an operation of alternatively choosing a storage box from the first set of storage boxes and a storage box from the second set of storage boxes,the alternation is carried out for each extracted vegetable or for each filled storage box. the harvesting method comprises a step of loading the extracted vegetable present on the conveyor belt - called transported vegetable - into the selected storage box, the conveyor belt being set in motion so as to transport the transported vegetable towards said selected storage box. the harvesting method comprises a step of detecting a mass of each storage box, the step of selecting the selected storage box comprises a step of comparing the mass of the selected storage box with a reference mass, the harvesting method comprising a step of closing an access hatch to said selected storage box if the mass of said selected storage box is greater than the aforementioned reference mass.

[0058] By implementing the method as just described, the invention allows simple and low-cost detection and harvesting of vegetables grown in a growing mound.

[0059] In summary, the invention relates to the following objects: the harvesting system according to the first aspect of the invention, as well as the agricultural machine according to the second aspect of the invention and comprising said harvesting system; the detection tool according to the third aspect of the invention, as well as the agricultural machine according to the fourth aspect of the invention and comprising said harvesting system; the agricultural machine comprising both the detection tool and the harvesting system; the method of harvesting vegetables according to the fifth aspect of the invention.

[0060] Other characteristics and advantages of the invention will become apparent from the following description on the one hand, and from several examples of embodiment given for informational and non-limiting purposes with reference to the attached schematic drawings on the other hand, in which: [ Fig.1 ] is a schematic perspective view of an agricultural machine according to a particular embodiment of the invention in which the agricultural machine comprises a detection tool and a harvesting tool as previously described, [ Fig.2 ] is a schematic view in general perspective of the harvesting system of an agricultural machine such as that illustrated by the FIGURE 1 , [ Fig. 3 ] is a close-up perspective schematic view of the claw of a harvesting tool such as that of the harvesting system illustrated by the FIGURE 2 , [ Fig. 4 ] is a schematic perspective view of a detail of a claw such as that presented by the FIGURE 3 , [ Fig. 5 ] illustrates in perspective the gripping tool of a harvesting system such as that presented by the FIGURE 2 , [ Fig. 6 ] is a schematic perspective view, from another angle of view, of a harvesting system such as that illustrated by the FIGURE 2 , there FIGURE 6 showing more specifically the upper part of the harvesting system in connection with the chassis of an agricultural machine such as that illustrated by the FIGURE 1 , [ Fig. 7a ], [ Fig. 7b ], And [ Fig. 7c ] are schematic side views illustrating the operation of a harvesting system such as that illustrated by the FIGURES 2 à 6 , [ Fig.8 ] is a close-up perspective schematic view of an agricultural machine such as that illustrated by the FIGURE 1 , view from one side of the latter, showing more precisely a conveyor belt and the associated storage boxes, [ Fig. 9 ] is a schematic perspective view of the detection tool of an agricultural machine such as that illustrated by the FIGURE 1 , [ Fig. 10 ] is a close-up perspective schematic view of a torque sensing device of a sensing tool such as that illustrated by FIGURE 5 ,

[0061] In the following, the invention will preferably be described, with reference to the various FIGURES, in the context of its application to the harvesting of asparagus. Of course, as indicated previously, the invention applies in the same way to any vegetable having a growing and harvesting method similar to that of asparagus.

[0062] Of course, the features, variants and different embodiments of the invention may also be combined with each other, in various combinations, provided that they are not incompatible or mutually exclusive. In particular, variants of the invention may be imagined comprising only a selection of features described below in isolation from the other features described, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the prior art.

[0063] In particular, all the variants and embodiments described can be combined with each other if there is no technical obstacle to this combination.

[0064] In the figures, elements common to several figures retain the same reference.

[0065] There FIGURE 1 is a schematic perspective view of an agricultural machine 500 according to the invention placed in a portion of a field comprising several cultivation mounds 600. More precisely, the agricultural machine 500 as illustrated by the FIGURE 1 is placed on a cultivation mound 600 located between two identical cultivation mounds respectively located on either side of the cultivation mound 600 on which the agricultural machine 500 is placed and partially represented on the FIGURE 1 .

[0066] In reference to the FIGURE 1 , the agricultural machine 500 comprises a chassis 501 equipped with four wheels 502 parallel to each other two by two: only two of the wheels 502 are clearly visible on the FIGURE 1 .

[0067] The chassis 501 of the agricultural machine 500 has the general shape of a rectangular parallelepiped whose largest dimension extends substantially parallel to that of the cultivation mounds 600.

[0068] In the following, the longitudinal direction L will be designated as the direction of the largest dimension of the rectangular parallelepiped formed by the chassis 501 of the agricultural machine 500. As shown in FIGURE 1 , the longitudinal direction L is also the main direction of extension of the cultivation mounds 600 on and between which the agricultural machine 500 is placed: the longitudinal direction L of the agricultural machine 500 according to the invention therefore also represents the direction of the length of the aforementioned cultivation mounds.

[0069] With reference to the aforementioned longitudinal direction L and to the FIGURE 1 , the wheels 502 of the agricultural machine 500 are substantially aligned two by two in the longitudinal direction L and they are substantially parallel to each other two by two in a direction T designated in the following as the transverse direction of the agricultural machine 500. The aforementioned transverse direction T is therefore, in particular, the direction of a connecting shaft, not visible on the FIGURE 1 , connecting the two aforementioned wheels 502 together, connecting shaft around which said wheels 502 are rotatable. As shown in the FIGURE 1 , the transverse direction T of the agricultural machine 500 is parallel to a width of the cultivation mounds 600 previously mentioned.

[0070] With reference to the aforementioned longitudinal direction L and transverse direction T, a vertical direction V of the agricultural machine 500 is defined, perpendicular to both the longitudinal direction L and the transverse direction T, in such a way that the longitudinal directions L, transverse T, and vertical directions V, together form a direct trihedron (L, T, V) with respect to which the agricultural machine and its components will be described in the following. As shown in FIGURE 1 , when the agricultural machine 500 is placed in a field formed of cultivation mounds 600, the vertical direction V is parallel to a depth of the aforementioned cultivation mounds 600.

[0071] In reference to the FIGURE 1 , the agricultural machine 500 comprises, at one of the ends of the chassis 501 in the longitudinal direction L, several rigid bars 503 together forming a coupling by which the agricultural machine 500 can be attached to an agricultural traction machine, not shown in the FIGURE 1 , in order to move it, for example from a field comprising a plurality of cultivation mounds 600 to another field. In the following, the term "front" will designate the longitudinal end of the chassis 501 from which the bars 503 forming the aforementioned hitch extend.

[0072] According to the embodiment more particularly illustrated by the FIGURE 1 , the agricultural machine 500 also comprises a first gantry 504, or front gantry, extending in the vicinity of the front longitudinal end, previously defined, of the chassis 501, and a second gantry 504, or rear gantry, extending in the vicinity of the rear longitudinal end of the chassis 501, opposite, in the longitudinal direction L, to the front end, previously defined, of the chassis 501.

[0073] As the watch shows FIGURE 1 , each gantry 504 comprises two posts 505 substantially parallel to each other within manufacturing tolerances, and extending, from the chassis 501, in the vertical direction V, opposite the wheels 502. With reference to the aforementioned vertical direction V, the part of the agricultural machine 500 towards which the posts 505 of the gantries 504 extend will be designated in the following as "upper", the wheels 502 extending in the lower part of the agricultural machine 500.

[0074] In addition to the aforementioned "front" and "rear" directions, and with reference to the transverse direction T previously defined, the "right" and the "left" of the agricultural machine 500 according to the invention will be defined in the following with reference to an observer placed on the chassis 501 of the agricultural machine 500 and looking towards the front longitudinal end thereof, that is to say towards the bars 503 previously defined.

[0075] With reference to the directions and orientations previously defined, within a gantry 504, the posts 505 are attached to the chassis 501 by their lower end, and they are connected to each other, at their upper end by a bridge 506 which extends substantially, within manufacturing tolerances, along the transverse direction T of the agricultural machine 500.

[0076] As also shown by the FIGURE 1 , the agricultural machine 500 comprises two rigid longitudinal extension bars 507, integral with the aforementioned bridges 506. More precisely, one of the rigid bars 507 is located, in the transverse direction T, in the vicinity of the posts 505 located to the left of the front and rear gantries 504, and the other rigid bar 507 is located, in the transverse direction T, in the vicinity of the posts 505 located to the right of the front and rear gantries 504. As shown in FIGURE 1 , the rigid bars 507 have a longitudinal dimension greater than that of the chassis 501, and they are connected to each other by two shields 508 of transverse main extension, one of which connects to each other the "front" longitudinal ends of the rigid bars 507 and the other of which connects to each other the "rear" longitudinal ends of the rigid bars 507. It follows from the above that, with reference to the directions and orientations previously defined, the "front" shield 508 is located in front of the chassis 501, and the "rear" shield 508 is located behind said chassis 501.

[0077] According to the example more particularly illustrated by the FIGURE 1 , the rigid bars 507 form, between the posts 505 and in the longitudinal direction L of the agricultural machine 500, structural beams of the chassis 501, and they extend longitudinally at the front and rear of the chassis 501 in the form of substantially cylindrical bars at the front and rear ends of which the shields 508 are placed.

[0078] According to the example more particularly illustrated by the FIGURE 1 , the shields 508 each have a curved shape whose center of curvature is directed towards the lower part of the agricultural machine 500, with reference to the directions and orientations previously defined.

[0079] According to the example more particularly illustrated by the FIGURE 1 , the rigid bars 507 support a plurality of guide hoops 509 of transverse extension, regularly distributed according to the longitudinal dimension of the rigid bars 507, between the bridges 506 previously described. According to this example, the guide hoops 509 each have a substantially trapezoidal shape and they are each formed of a plurality of tubular elements connected together.

[0080] According to the invention, the shields 508 and the guide hoops 509 are configured to allow the agricultural machine 500 to move longitudinally along the cultivation mound 600 without damaging any protective element of such a mound such as a tunnel formed from a textile or plastic tarpaulin placed above said mound. To this end, and as shown in FIGURE 1 , with reference to a longitudinal movement towards the front of the agricultural machine 500, the front shield 508 allows the engagement of the agricultural machine 500 under the tunnel considered without risk of tearing it, the material forming this tunnel then being progressively guided on the guide hoops 509 then returned to its original position by the rear shield 508. In other words, the shields 508 and the guide hoops 509 make it possible to keep such a tunnel away from the agricultural machine 500, then to put it back in place without risk of damaging it.

[0081] In order to guarantee, in the vertical direction V, a substantially constant distance between the chassis 501 of the agricultural machine 500 and the cultivation mound 600, the invention provides that the agricultural machine 500 comprises a system for relative vertical adjustment of the chassis 501 with respect to the wheels 502, not visible on the FIGURE 1 . Advantageously, this vertical adjustment system comprises a device for adjusting the inclination of the chassis 501 relative to the transverse direction T of the agricultural machine 500 and / or relative to the longitudinal direction L of the latter. According to an exemplary embodiment, the vertical adjustment system comprises a jack located at the level of at least one post 505 of the chassis 501, the pillar 505 forming a connection between said chassis 501 and a connecting shaft, previously mentioned, of the wheels 502.

[0082] The invention further provides that the agricultural machine 500 comprises a proximity sensor, not shown in the FIGURE 1 , located between each wheel 502 and the cultivation mound 600.

[0083] Additionally, the invention provides that the agricultural machine 500 comprises a control unit 550, not visible on the FIGURE 1 , configured to drive the wheels 502 so that a transverse distance between each wheel 502 and the cultivation mound 600 is constant and / or invariant and / or equal on each side of the cultivation mound 600.

[0084] According to the invention, the agricultural machine 500 also comprises a tray 510 configured in particular to receive and store a plurality of storage boxes 700 intended to accommodate the asparagus or other vegetables harvested by the agricultural machine 500.

[0085] According to the example more particularly illustrated by the FIGURE 1 , the agricultural machine 500 also comprises one or more electric batteries 511 configured to power an electric motor, not visible in the FIGURE 1 , allowing, for example, the longitudinal movement of the agricultural machine 500 along the cultivation mound 600. For this purpose, as well as for moving the agricultural machine from one field to another, the wheels 502 thereof are advantageously steered and at least two of them are driven.

[0086] The agricultural machine 500 also comprises two conveyor belts 512 of longitudinal main extension and of which a longitudinal dimension is substantially equal to a longitudinal dimension of the plate 510 of the chassis 501. More precisely, with reference to the directions and orientations previously defined, the agricultural machine 500 comprises a "right" conveyor belt 512 and a "left" conveyor belt 512, the "right" and "left" conveyor belts 512 being parallel to each other.

[0087] According to the invention, each conveyor belt 512 is configured to distribute a plurality of storage crates 700 placed in housings 513 located next to, in the transverse direction T, the conveyor belt 512 in question. More precisely, the agricultural machine 500 comprises a plurality of housings 513 located to the right of the "right" conveyor belt 512, as well as a plurality of housings 513 located to the left of the "left" conveyor belt 512. In other words, the housings 513 are located towards the outside of the agricultural machine 500 in the transverse direction T thereof, with reference to the conveyor belts 512.

[0088] According to the invention, the agricultural machine 500 also comprises a harvesting system 100 as previously described. In addition, according to the example more particularly illustrated by the FIGURE 1 , the agricultural machine 500 comprises a detection tool 200 as previously described. The harvesting system 100 and the detection tool 200 are placed on the chassis 501 of the agricultural machine 500, in the vicinity of the front longitudinal end thereof and, as shown in the FIGURE 1 , the harvesting system 100 is located, with reference to the directions and orientations previously defined, behind the detection tool 200 in the longitudinal direction L.

[0089] There FIGURE 2 is a schematic perspective view of the harvesting system 100 according to the invention. We find on the FIGURE 2 the trihedron (L, T, V) of the agricultural machine 500, previously defined. As shown in the FIGURE 2 and as previously indicated, the harvesting system 100 is placed in the agricultural machine 500 in such a way that the longitudinal directions L, transverse T and vertical V of the agricultural machine 500 are also longitudinal directions L, transverse T and vertical V of the harvesting system 100.

[0090] In reference to the FIGURE 2 , the harvesting system 100 comprises a rigid structure 101 and a harvesting tool 102. The rigid structure 101 is formed of a set of plates and pillars which together delimit a cage shape in which the harvesting tool 102 is received, more precisely illustrated by the FIGURES 3 And 4 The rigid structure 101 is preferably, but not exclusively, made of a metal such as steel.

[0091] According to the example more particularly illustrated by the FIGURES 3 And 4, the harvesting tool 102 comprises an arm 103 formed of two substantially flat and mutually parallel plates 1030, 1031, each plate 1030, 1031 extending mainly in the vertical direction V and in the longitudinal direction L previously defined. As shown in the FIGURES, plates 1030, 1031 of the arm 103 are connected to each other by a substantially cylindrical pivot axis 104, which extends mainly in the transverse direction T, that is to say substantially perpendicular, within manufacturing and assembly tolerances, to the plates 1030, 1031 of the arm 103.

[0092] More precisely, each plate 1030, 1031 of the arm 103 has the general shape of an L whose two branches form a substantially straight line between them. The longest branch 103a of the L forming each plate 1030, 1031 of the arm 103 extends mainly in the vertical direction V of the harvesting tool 102, and the shortest branch 103b of the aforementioned L extends mainly in the longitudinal direction L of the harvesting tool 102, below, with reference to the directions and orientations previously defined, the aforementioned substantially vertical branch 103a. More precisely still, the pivot axis 104 connects the two plates 1030, 1031 of the arm 103 to each other by passing through their upper part 103a. the two plates 1030, 1031, of the arm 103 of the harvesting tool 102 are therefore mounted to be mobile in rotation around the aforementioned pivot axis 104.

[0093] In reference to the FIGURE 3 , the pivot axis 104 is integral with a vertical translation plate 105 whose shape is substantially that of a U which extends mainly in a transverse longitudinal plane (L, T) of the harvesting tool 100. More precisely, the harvesting tool 102 is substantially centered, to within manufacturing and assembly tolerances, relative to the vertical translation plate 105 in the transverse direction T of the harvesting tool 102, that is to say that a median vertical longitudinal plane 1035 of the harvesting tool 102, passing through the middle, in the transverse direction T, of the transverse space located between the plates 1030, 1031, of the arm 103, is also a median vertical longitudinal plane for the vertical translation plate 105, passing through the middle, in the transverse direction T, of the base of the U forming the latter. As shown in FIGURE 3 , with reference to the directions and orientations previously defined, the branches of the U forming the vertical translation plate 105 are directed towards the front of the harvesting tool 102 and the harvesting system 100.

[0094] As shown in the FIGURE 3 , the ends of the branches of the U forming the vertical translation plate 105 are configured to receive the ends of the pivot axis 104. More precisely, the front longitudinal ends of the branches of the U forming the vertical translation plate 105 are each pierced, in their vertical dimension, with a substantially cylindrical orifice 106 whose axis extends in the transverse direction T of the harvesting tool 102, the orifices 106 being arranged face to face so as to each receive one end of the aforementioned pivot axis 104 and in such a way that said pivot axis 104 is placed parallel to the transverse direction T of the harvesting tool 102.

[0095] Furthermore, the invention provides that the U forming the vertical translation plate 105 is pierced with several substantially cylindrical through-orifices 107 whose axis extends in the vertical direction V of the harvesting tool 102. According to the example more particularly illustrated here, the vertical translation plate 105 is pierced with three through-orifices 107. More precisely, according to this example, a through-orifice 107 is pierced in the vicinity of each longitudinal end of the branches of the U forming the vertical translation plate 105, and a through-orifice 107 is pierced in a substantially median position, in the transverse direction T, of the base of the aforementioned U, that is to say that its axis is, within manufacturing tolerances, located in the median vertical longitudinal plane 1035 previously defined.

[0096] The base of the U forming the vertical translation plate 105 also comprises a vertical through opening 108 located, in the longitudinal direction L of the harvesting tool 100, in front of the through orifice 107 drilled in said base. As shown in FIGURE 3 , the through opening 108 is substantially centered, along the aforementioned transverse direction T, in the vertical translation plate 105, that is to say, in other words, it is substantially symmetrical with respect to the median vertical longitudinal plane 1035 previously mentioned.

[0097] As also shown by the FIGURE 3 , each plate 1030, 1031, of the arm 103 of the harvesting tool 102 comprises, extending longitudinally forward from a front edge 109 of the upper part 103a of the arm 103, an ear 110 substantially flat and parallel to a vertical longitudinal plane (L, V) of the harvesting tool 102. According to the invention, each ear 110 is crossed right through, in the transverse direction T of the harvesting tool 102, by a cam 111 whose outer part, located outside the transverse space defined between the two ears 110, forms a cam roller 112. Only one cam 111 and one cam roller 112 are visible on the FIGURE 3 .

[0098] There FIGURE 4 illustrates more specifically the lower portion 103b of the arm 103 of the harvesting tool 102. This FIGURE shows the lower portion of the upper portion 103a of the arm 103, as well as the lower portion 103b of the latter.

[0099] In reference to the FIGURE 4 , the lower part 103b of each plate 1030, 1031, of the arm 103, has the substantially trapezoidal shape of a spatula of which a front edge 113 and a lower edge 114 are thinned in the transverse direction T of the harvesting tool 100.

[0100] Moreover, as shown in the FIGURE 4 , the lower parts 103b of the plates 1030, 1031, forming the arm 103 are connected to each other by a cutting blade 115 which extends mainly in the transverse direction T of the harvesting tool 102. More precisely, the cutting blade 115 is in the form of a thin plate placed at the front longitudinal end of an upper edge 116 of the lower part 103b of each plate 1030, 1031, of the arm 103.

[0101] According to the example more particularly illustrated by the FIGURES, a front edge 117 of the cutting blade 115 is substantially thinned in the vertical direction V. In addition, according to the example more particularly illustrated by the FIGURES, the cutting blade 115 has, in section in a vertical longitudinal plane (L, V), a profile substantially curved in the direction of the upper part 103a of the arm 103.

[0102] As also shown by the FIGURE 4 , the harvesting tool 102 comprises a plurality of blades 118 substantially parallel to each other and to the lower parts 103b of the plates 1030, 1031, of the arm 103 and regularly distributed between the latter in the aforementioned transverse direction T. More precisely, each blade 118, substantially flat to within manufacturing tolerances, extends in a substantially vertical longitudinal plane of the harvesting tool 102, and it is attached, at its front longitudinal end, to the cutting blade 115 previously defined, and, at its rear longitudinal end, to a stiffening bar 119 of the harvesting tool 102, which extends transversely between the rear longitudinal ends of the lower parts 103b of the plates 1030, 1031, of the arm 103, rear longitudinal ends to which the stiffening bar 119 is fixed.More precisely, each blade 118 is placed, with reference to the directions and orientations previously defined, below the cutting blade 115 in the vertical direction V of the harvesting tool 102.

[0103] The lower portions 103b of the plates 1030, 1031, of the arm 103, the cutting blade 115, the blades 118 and the stiffening bar 119 together form a harvesting claw 1020 of the harvesting tool 102. As shown in the FIGURE 4 , the harvesting claw 1020 substantially forms a grid.

[0104] It should be noted that the stiffening bar 119 also makes the plates 1030, 1031 of the arm 103 integral with each other in their rotation around the pivot axis 104 previously described.

[0105] According to an exemplary embodiment, the claw 1020 is made of a metallic material, for example steel, and the different elements which compose it are fixed together by welding.

[0106] There FIGURE 2 shows the harvesting tool 102 as it has just been described and, in particular, the harvesting claw 1020, the vertical translation plate 105 and its orifices 107, 108, previously described. We also find on the FIGURE 2 the median vertical longitudinal plane 1035 previously mentioned.

[0107] In reference to the FIGURE 2 , the rigid structure 101 of the harvesting system 100 comprises an upper plate 120 and a lower plate 121 substantially parallel to each other and substantially parallel to a transverse longitudinal plane (L, T) of the harvesting system 100. The lower plate 121 has substantially the shape of a U whose branches delimit between them a space whose transverse dimension allows the passage of the harvesting claw 1020 previously described. It must therefore be understood here that, with reference to the directions and orientations previously defined, the lower plate 121 is oriented in such a way that the branches of the U whose shape it takes are directed towards the front of the harvesting system 100.

[0108] The upper plate 120 and the lower plate 121 of the rigid support structure 101 are connected to each other by pillars 122 and columns 123 which are substantially parallel to each other and extend in the vertical direction V of the harvesting tool. Pillars 122 and columns 123 are therefore perpendicular to the upper plate 120 and to the lower plate 121. As shown in FIGURE 2 , the pillars 122 and the columns 123 together delimit a volume 150 in which the harvesting tool 102 described above is received. More precisely, the invention provides that the harvesting tool 102 is received, within the aforementioned volume 150, in a substantially median position, in the transverse direction T, between the aforementioned pillars 122. Similarly, the invention provides that the vertical translation plate 105 is received in the aforementioned volume 150 in such a way that the median vertical longitudinal plane 1035 previously defined is also the median vertical longitudinal plane of the volume 150.

[0109] According to the embodiment example more particularly illustrated by the FIGURES, the pillars 122 each have a substantially parallelepiped shape, and they extend between, on the one hand, the ends of the two branches of the U whose shape the lower plate 121 has and, on the other hand, with reference to the directions and orientations previously defined, respectively a front right corner and a front left corner of the upper plate 120. Furthermore, according to this example, the rigid structure 101 comprises three substantially cylindrical columns 123 distributed between the upper plate 120 and the lower plate 121 to form a tripod. More precisely, one of the columns 123 extends from the base of the U formed by the lower plate 121, the other two columns 123 extending from the branches of the aforementioned U, in such a way that the columns 123 form, in their part by which they are attached to the lower plate 121, a substantially isosceles triangle.More precisely, each column 123 extends through a previously defined through-orifice 107, arranged in the vertical translation plate 105 previously described.

[0110] As shown in the FIGURE 2 , each pillar 122 comprises, on its inner face 1220, that is to say its face directed, in the transverse direction T of the harvesting system 100, towards the second pillar 122, a tilt guide groove 124 of complex shape.

[0111] More specifically, each tilt guide groove 124 extends from the inner face 1220 over a portion of the dimension, in the aforementioned transverse direction T, of the corresponding pillar 122. In the vertical direction V of the harvesting system 100, a dimension of each tilt guide groove 124 is less than a vertical dimension of the pillar 122. Furthermore, in the longitudinal direction L of the harvesting system 100, a dimension of each tilt guide groove 124, measured at an upper end thereof, is less than a longitudinal dimension of said tilt guide groove 124 measured at a lower end thereof.More specifically, the invention provides that a longitudinal dimension of each tilt guide groove 124, measured at the upper end thereof, is substantially equal to or slightly greater than a diameter of a cam roller 112, previously defined, of the harvesting tool 102.

[0112] As also shown by the FIGURE 2 , the harvesting system 100 comprises an endless screw 125 which extends vertically between the upper plate 120 and the lower plate 121 previously defined, passing through the opening 108 previously described, arranged in the vertical translation plate 105 previously defined.

[0113] More specifically, the invention provides that the worm screw 125 and the opening 108 of the vertical translation plate 105 are configured in such a way that a rotation of the worm screw 125 causes a vertical translation of the vertical translation plate 105 and the elements connected thereto. To this end, the invention provides that the harvesting system 100 comprises in particular an electric motor 126 configured to drive the worm screw 125 in rotation about its axis. The harvesting system 100 also advantageously comprises a set of sensors and limit switches not detailed in the FIGURE 2 , configured to control the vertical translational movement of the vertical translation plate 105 and the elements linked to it under the effect of the rotation of the worm screw 125.

[0114] According to the invention, the harvesting system 100 also comprises a gripper 127, more precisely illustrated in perspective by the FIGURE 5 , on which we also find the upper part 103a of the arm 103 of the harvesting tool 102, the pivot axis 104 of the latter and the pillars 122 of the rigid structure 101 of the harvesting system 100.

[0115] In reference to the FIGURE 5 , the gripper 127 comprises a clamp 128 formed of two combs 1280 each of which is mounted to rotate about a transverse jaw axis 129, itself connected to a clamp support 130 of the gripper 127. Each comb 1280 of the clamp 128 extends mainly transversely and vertically with reference to the directions and orientations previously defined, and the shapes and dimensions of the combs 1280 are advantageously defined so that, under the effect of their respective rotations about their jaw axes 129, the combs 1280 approach each other in such a way that they define between them a capture volume 131. According to the example more particularly illustrated by the FIGURE 5 , the combs 1280 are identical and arranged symmetrically with respect to the clamp support 130.

[0116] The gripper support 130 is, according to the invention, attached to a transfer carriage 132 movable in translation along the longitudinal direction L of the harvesting system 100. In order to carry out this longitudinal translation, the invention provides that the harvesting system 100 comprises a translation motor 133 as well as a set of sensors, stops and limit switches not marked on the FIGURE 5 , configured to control the longitudinal translation of the transfer carriage 132.

[0117] According to the invention, the transfer carriage 132 is placed in the harvesting system 100 in such a way that when said transfer carriage 132 is, with reference to the directions and orientations previously defined, at its rear longitudinal end of travel stop, the clamp support 130 is substantially placed in the middle position, in the longitudinal direction L, in the transverse space delimited between the pillars 122 previously defined. In addition, the invention provides that, in its rear end of travel stop, the transfer carriage 132 is placed, in the transverse direction T of the harvesting system 100, in a substantially middle position between the aforementioned pillars 122. It should therefore be understood here that in its longitudinal translation, the transfer carriage 132 is located outside the volume 150 previously defined. IlIt should also be understood here that the transfer carriage 132 and the previously mentioned clamp 128 are placed in a substantially median transverse position in the harvesting system 100.

[0118] According to the invention, the gripper 127 also comprises a gripper carriage 134 configured to drive the clamp 128 and the transfer carriage 132 in a translational movement in the vertical direction V of the harvesting system 100. The gripper carriage 134 consists of a support 135 equipped with pads 136 configured to guide the gripper carriage 134 along vertical rails 137 arranged on the front face of the pillars 122. The gripper carriage 134 also comprises a positioning bracket 138 configured to ensure the connection of said gripper carriage 134 with the harvesting tool 102 previously described.

[0119] The positioning bracket 138 is formed of a flat plate substantially arranged, within manufacturing and assembly tolerances, in the median vertical longitudinal plane 1035 previously described, fixed on a rear face, with reference to the directions and orientations previously defined, of the support 135. More precisely, the positioning bracket 138 substantially forms a hook directed longitudinally towards the rear of the harvesting system 100 and the longitudinal dimension of which is configured so that said hook can be placed in support on the pivot axis 104 of the harvesting tool 102. Il It should therefore be understood here that, with reference to the directions and orientations previously defined, the hook formed by the positioning bracket 138 is configured to be placed above, in the vertical direction V previously defined, the aforementioned pivot axis 104.

[0120] The invention provides that a permanent magnet 139 is placed between the rear longitudinal end of the aforementioned hook and the pivot axis 104 in order to provide a magnetic coupling between the gripper carriage 134 and the harvesting tool 102, in such a way that a vertical translational movement of the harvesting tool 102 causes an identical vertical translational movement of the gripper carriage 134, the transfer carriage 132 and the clamp 128 previously described.

[0121] As shown in the FIGURE 2 , the harvesting system 100 also includes a cleaning shoe 140. As shown in the FIGURE 2 , the cleaning shoe 140 is received in the aforementioned volume 150. According to a particularly advantageous, but not exclusive, embodiment, the cleaning shoe 140 is made up of a set of thin metal sheets folded and connected together, for example by welding.

[0122] In reference to the FIGURE 2 , the cleaning shoe 140 comprises a support 141 attached, for example by a plurality of screws, to the lower plate 121 of the rigid structure 101 of the harvesting system 100. According to the invention, the support 141 of the cleaning shoe 140 is pierced with an orifice 142 configured to be passed through by the endless screw 125 previously described.

[0123] The cleaning shoe 140 further comprises a scraper portion 143 whose shape is substantially that of a hollow inverted pyramid. More precisely, the scraper portion 143 of the cleaning shoe 140 is attached to the aforementioned support 141 by the top of the inverted pyramid that it forms, in such a way that the walls of said hollow pyramid form a receptacle 144 whose opening is oriented towards the upper part of the harvesting system 100 in the vertical direction V of the latter. More precisely still, the scraper portion 143 of the cleaning shoe 140 is arranged in such a way that an edge of the pyramid that it forms is located in the median vertical longitudinal plane 1035 previously mentioned, directed, with reference to the directions and orientations previously defined, towards the front of the harvesting system 100.The invention further provides that, in the vertical direction V of the harvesting system 100, the scraper part 143 of the cleaning shoe 140 is located above the lower part of the harvesting tool 102 and, more precisely, above the claw 1020 of the harvesting tool 102.

[0124] The invention further provides that the scraper portion 143 of the cleaning shoe 140 extends, in the longitudinal direction L of the harvesting system 100, along a dimension slightly smaller than a longitudinal dimension of the lower portion 103b of the arm 103 of the harvesting tool 102.

[0125] According to the embodiment example more precisely described and illustrated here, the harvesting system 100 also comprises a plurality of pads 145 extending transversely on an upper face 1200 of the upper plate 120 previously described. According to the example more particularly illustrated by the FIGURE 2 , the harvesting system 100 comprises four transverse skids 145 substantially symmetrically arranged, with reference to the directions and orientations previously defined, at the front, at the rear, to the right and to the left of the aforementioned upper plate 120.

[0126] There FIGURE 6 illustrates more particularly the upper part of the harvesting system 100 according to the invention, in particular in its connection with the chassis 501 of an agricultural machine 500 such as that illustrated by the FIGURE 1 .

[0127] We find on the FIGURE 6 the rigid structure 101 of the harvesting system 100 and its pillars 122, as well as the claw 1020 of the harvesting tool 102, the endless screw 125, the gripper 127, the clamp 128 and the support 135 of the gripper carriage 134. The FIGURE 6 also shows a transverse skate 145 as previously described, placed on an upper face 1200, not visible on the FIGURE 6 , of the upper plate 120 of the rigid structure 101.

[0128] In reference to the FIGURE 6 , the transverse pads 145 of the harvesting system 100, previously described, are engaged in two transverse rails 146 carried by a transverse beam 514 of the agricultural machine 500. More precisely, the two transverse rails 146, parallel to each other, are arranged, in the vertical direction V of the harvesting system 100 and of the agricultural machine 500, under the aforementioned transverse beam 514.

[0129] As shown in the FIGURE 6 , the harvesting system 100 comprises a transverse extension screw 147, arranged, in the aforementioned vertical direction V, under the aforementioned beam 514 and, in the longitudinal direction L of the harvesting system 100 and of the agricultural machine 500, between the transverse rails 146 previously described, substantially in a median longitudinal position between the latter.

[0130] The harvesting system 100 finally comprises a motor 148 configured to drive the worm screw 147 in rotation about its axis, thus driving the transverse pads 145 in transverse translation along the transverse rails 146 and, therefore, the rigid structure 101 to which said transverse pads are fixed.

[0131] Additionally, the invention provides that the harvesting system 100 comprises a sensor 149, not visible on the FIGURE 6 , configured to determine a transverse position of the rigid structure 101 and, therefore, of the cutting tool 102, along the transverse rails 146. According to the invention, the control unit 550 of the agricultural machine comprises a module configured to record such a transverse position determined by the sensor 149.

[0132] The operation of the harvesting tool 100 is schematically illustrated by the FIGURES 7a , 7b And 7c , there FIGURE 7a showing more precisely the harvesting system 100 in its rest position between the harvesting of two vegetables, for example asparagus, and the FIGURE 7c showing more precisely the harvesting tool 100 in its harvesting position. The FIGURES 7a , 7b , And 7c are schematic side views, along a transverse viewing direction, of the harvesting system. For clarity, a pillar 122 of the rigid structure 101 is not visible in the FIGURE 7a . A cultivation mound 600 is schematically represented on the FIGURES 7b And 7c , in section along a vertical longitudinal plane (T, V) of the trihedron (L, T, V) previously defined.

[0133] In the resting position illustrated by the FIGURE 7a , the vertical translation plate 105, to which the harvesting tool 102 is connected, is in a high stop position in the vertical direction V. The invention provides that in this high stop position of the vertical translation plate 105, the cam rollers 112 previously described are engaged at an upper end of each tilt guide groove 124, previously described, arranged in the pillars 122 previously defined. The invention also provides that, in the rest position of the harvesting system 100, the transfer carriage 132 is in a front stop position in which the combs 1280 of the clamp 128 of the gripper 127 are spaced from each other and in which the clamp 128 is placed outside, in front, of the volume 150 previously defined.

[0134] The operation of the 100 harvesting system is as follows.

[0135] In a first step, the transfer carriage 132 is controlled by the control unit 550 of the agricultural machine 500 to move longitudinally to its rear longitudinal stop, in which, as previously indicated, the combs 1280 of the clamp 128 of the gripper 127 are in a transverse and longitudinal position substantially median between the pillars 122. This movement is illustrated by the arrow F1 on the FIGURE 7a .

[0136] Concomitantly, the invention provides that the worm screw 125, previously defined, is driven in rotation by the motor 126 controlled by the control unit 550 of the agricultural machine 500, in turn driving the vertical translation plate 105 previously described in vertical translation towards the lower plate 121 of the harvesting system 100. The vertical translation movement of the vertical translation plate 105 is illustrated by the arrow F2 on the FIGURE 7a .

[0137] In this vertical translation movement, the harvesting tool 102 is driven in vertical translation downwards of the harvesting tool 102, with reference to the previously defined directions and orientations. In this vertical translation downward movement, the cam rollers 112 of the harvesting tool 102 slide along each previously described tilt guide groove 124, arranged in the pillars 122 of the harvesting system 100. In this vertical translation downward movement, the gripper carriage 134 is also driven, via the previously described magnetic coupling, in vertical translation downwards, at the same time as the claw 1020 of the harvesting tool 102.

[0138] The vertical translation of the gripper carriage 134 continues until the latter reaches a lower stop position in which said translation stops, the vertical translation of the vertical translation plate 105 and the harvesting tool 102 continuing and leading to the magnetic decoupling of said harvesting tool 102 and the gripper carriage 134. The respective positions of the gripper carriage 134, the vertical translation plate 105 and the harvesting tool 102 during the aforementioned magnetic decoupling are illustrated by the FIGURE 7b . It is noted that, in this position, the claw 1020 of the harvesting tool 102 is inserted into the depth of the cultivation mound 600. It should be noted that this insertion is made easier by the presence, on the one hand, of the blades 118, previously defined, of the claw 1020, and of the thinned shape respectively, of the front edge 113 and the lower edge 114 of the lower parts 103b of the arm 103 of the harvesting tool 102, these different elements producing a shape of cutting the earth of the cultivation mound 600 and facilitating the insertion of the claw 1020 into the depth of the latter.

[0139] In a subsequent step of the vertical translation of the vertical translation plate 105 and the harvesting tool 102 downwards, illustrated by the FIGURE 7b , the cam rollers 112 each reach the lower end of a previously described tilt guide groove 124, not visible in the FIGURE 7b . The downward vertical translation movement of the claw 1020 is then stopped, while the downward vertical translation movement of the vertical translation plate 105 continues. The particular configuration of the lower end of each tilt guide groove 124 and, in particular, the longitudinal dimensions thereof, then results in a sliding movement of the cam rollers 112 towards the front of the harvesting system 100, leading to a rotational tilting movement of the arm 103 and the claw 1020 around the pivot axis 104. This tilting movement is illustrated by the arrow F3 on the FIGURE 7b .

[0140] The aforementioned rocking movement continues until the previously mentioned cam rollers 112 are in the rear stop position in the tilt guide grooves 124, that is to say until they are in abutment, in the longitudinal direction L, against the rear vertical edge of said grooves 124. In this position, the invention provides that the arm 103 of the harvesting tool 102 is in a substantially vertical position, as shown in FIGURE 7c .

[0141] In the previously mentioned rocking movement, the cutting blade 115 of the claw 1020 is moved towards the front of the harvesting system 100 and can then slice, in a shearing movement, a vegetable such as, for example, an asparagus buried in the growing mound 600. According to one example, the penetration depth of the claw 1020 into the depth of a growing mound 600 varies from a few centimeters to a few tens of centimeters depending on the nature of the vegetable to be harvested: for information purposes, this depth is substantially between 10 and 50 centimeters for harvesting asparagus, typically of the order of 20 to 30 centimeters depending on the variety of asparagus considered. Once this shearing has been carried out, the harvested vegetable is placed on the grid, previously described, formed by the harvesting claw 1020.

[0142] When the rocking movement of the harvesting tool 102, illustrated by the arrow F3 on the FIGURE 7b , is completed, that is to say, as indicated previously, when the cam rollers 112 are in abutment in the longitudinal direction L, against the rear vertical edge of the tilt guide grooves 124, the invention provides that the worm screw 125 is controlled in rotation by the control unit 550 of the agricultural machine 500, in the opposite direction to the direction having led to the vertical translation downwards of the vertical translation plate 105 and the claw 1020. Il This is followed by a vertical translation movement of the vertical translation plate 105 and the aforementioned claw 1020, towards the top of the harvesting system 100. This upward vertical translation movement is illustrated by the arrow F4 on the FIGURE 7c In this upward vertical translation movement, the claw 1020, on which the harvested vegetable is placed, is extracted from the harvesting mound 600.

[0143] This upward vertical translation movement continuing, the pivot axis 104 of the harvesting tool 102, not visible on the FIGURE 7c , comes into contact with the hook of the positioning bracket 138, previously defined, of the gripper carriage 134: this results in a reestablishment of the magnetic coupling between the harvesting tool 102 and the gripper carriage 134, not visible on the FIGURE 7c . According to the invention, the vertical dimensions respectively of the claw 1020, of the clamp 128 of the gripper 127, and of the transfer carriage 132, are defined in such a way that, when the magnetic coupling is reestablished between the harvesting tool 102 and the hook of the positioning bracket 138, a vegetable placed on the claw 1020 is placed within the capture volume 131, previously defined, delimited between the combs 1280 of the clamp 128 of the gripper 127. Concomitantly with the reestablishment of the magnetic coupling between the harvesting tool 102 and the gripper carriage 134, the invention provides that the clamp 128 of the gripper 127 is commanded to close to trap the vegetable present within the aforementioned capture volume 131. According to one example, the control of the opening and closing of the clamp 128 is carried out by means of an electromagnet controlled by the control unit 550 of the agricultural machine 500.

[0144] According to the invention, the upward vertical translation movement of the vertical translation plate 105 and the claw 1020 continues, leading, on the one hand by the previously mentioned magnetic coupling, and, on the other hand, by the position of the hook of the positioning bracket 138, to an upward vertical translation movement of the gripper carriage 134. In this upward vertical translation movement, it results from the particular configuration of the tilt guide grooves 124 arranged in the pillars 122 that the cam rollers 112, when they approach the upper part of said grooves, are brought back, in the longitudinal direction L of the harvesting system 100, towards the previously mentioned rear edge of said tilt guide grooves 124, inducing a pivoting movement of the arm 103 and the claw 1020 around the pivot axis 104 in the direction illustrated by the arrow F5 on the FIGURE 7c , and thus causing the arm 103 and the claw 1020 to return to their initial rest position illustrated by the FIGURE 7a .

[0145] The invention further provides that the vertical dimensions, on the one hand, of the different parts of the tilt guide grooves 124 previously mentioned, and, on the other hand, of the different parts of the cleaning shoe 140, are defined in such a way that when, in its upward vertical translation movement, the claw 1020 of the harvesting tool 102 tilts to return to its rest position, before harvesting, the edge of the scraper part 143 of the cleaning shoe 140 located in the median vertical longitudinal plane 1035 previously defined engages in the transverse space delimited between the two plates 1030, 1031 of the arm 103 of the harvesting tool 102.As the movement of the harvesting tool 102 in vertical translation upwards continues, there follows a scraping of the plates 1030, 1031, of the arm 103 leading to the elimination of at least part of the earth from the cultivation mound 600 trapped between the latter during the insertion, then the extraction, of these and of the claw 1020 of said cultivation mound 600. It should be noted that it results from the configuration of the cleaning shoe 140 that this earth is collected in the receptacle 144 which forms the scraping part 143 thereof.

[0146] When the vertical translation plate 105 has returned to its rest position illustrated by the FIGURE 7a , the invention provides that the motor 133 of the transfer carriage 132 is controlled by the control unit 550 of the agricultural machine 500 to move the transfer carriage 132 in a longitudinal translational movement directed towards the front of the harvesting system 100, i.e. outside the volume 150 previously defined, to a stop position in which the clamp 128 of the gripper 127 is controlled to open, thus releasing the harvested vegetable. This longitudinal translational movement of the transfer carriage 132 is illustrated by the arrow F6 on the FIGURE 7c . According to the invention, the different dimensions of the harvesting system 100 including, in particular, a transverse dimension of the transverse rails 146 previously defined, and a longitudinal stroke of the aforementioned transfer carriage 132, are defined in such a way that when the clamp 128 of the gripper 127 is commanded to open to release the harvested vegetable, the latter is released above one of the conveyor belts 512 of the agricultural machine 500, previously defined.

[0147] There FIGURE 8 is a schematic perspective view of the agricultural machine 500, illustrating more particularly the operations of recovering a vegetable harvested by the harvesting system 100 according to the operations previously described.

[0148] We find on the FIGURE 8 the harvesting system 100, its rigid structure 101 and its gripper 127, as well as a conveyor belt, previously described, 512, and a plurality of storage boxes 700 placed in the reception housings 513 previously defined. As shown in FIG. 8, the housings 513 for receiving the storage boxes 700 extend, in the longitudinal direction L of the agricultural machine 500, over a length slightly less than that of the conveyor belt 512. More precisely, according to the example more particularly illustrated by the FIGURE 8 , the receiving housings 513 are substantially centered, in the longitudinal direction L, relative to the conveyor belt 512.

[0149] As shown in the FIGURE 8 , each receiving housing 513 extends transversely from the conveyor belt 512, such that the latter is, in the transverse direction T of the agricultural machine 500, located between the aforementioned housings 513 and the harvesting system 100.

[0150] According to the example more particularly illustrated by the FIGURE 8 , the agricultural machine 500 comprises a separation plate 515 between the conveyor belt 512 and the receiving housings 513. The separation plate 515, for example made of a thin sheet metal, extends along a substantially vertical longitudinal plane (L, V), over a longitudinal dimension greater than that along which the receiving housings 513 extend. As shown in FIGURE 8 , the separation plate 515 is pierced, opposite, in the longitudinal direction L, each receiving housing 513, with a substantially rectangular distribution opening 516, substantially centered, in the aforementioned longitudinal direction L, with respect to the receiving housing 513 considered.

[0151] Complementarily, as shown by the FIGURE 8 , each distribution opening 516 formed in the separation plate 515 comprises a distribution neck 517 configured to guide a vegetable placed on the conveyor belt 512 towards a storage box 700 placed in the aforementioned receiving housing 513.

[0152] According to the invention, each distribution neck 517 comprises, on the one hand, a first fixed part 518, which extends transversely towards a receiving housing 513, configured to guide a vegetable conveyed on the conveyor belt 512 towards the inside of a storage box 700, and, on the other hand, a movable flap 519, configured to distribute a vegetable as mentioned above towards one or other of the storage boxes 700 placed along the conveyor belt 512.More precisely, the movable flap 519 of each distribution neck 517 is advantageously movable in rotation around a substantially vertical axis, between a first, open position, in which said movable flap 519 extends above the conveyor belt 512 by forming a substantially transverse barrier on the latter, and a second, closed position, in which said movable flap 519 extends substantially parallel to the separation plate 515 previously defined by obstructing the corresponding opening 516.

[0153] According to the example more particularly illustrated by the FIGURE 8 , non-exclusive, the first part 518 of the distribution neck 517 has substantially the shape of a U whose branches extend along a substantially vertical transverse plane (T, V) of the agricultural machine 500 and whose base extends substantially parallel to the conveyor belt 512, that is to say along a substantially longitudinal transverse plane (L, T) of the agricultural machine 500. According to this example, the movable flap 519 of each distribution neck 517 has a substantially rectangular shape whose dimension, measured along the vertical direction V of the agricultural machine 500, is substantially equal to or slightly less than a vertical dimension of the openings 516, these all being identical to each other.

[0154] It follows from the above that, when the aforementioned movable flap 519 is in its open position in which it forms a transverse barrier on the conveyor belt 512, a vegetable harvested by the harvesting system 100 and conveyed on said conveyor belt 51 is directed towards the storage box 700 located opposite the corresponding distribution neck 517 and, therefore, towards the corresponding storage box 700. When the aforementioned movable flap 519 is in its previously described closed position, a vegetable harvested by the harvesting system 100 and conveyed on the conveyor belt 512 is directed without obstacle to the storage box 700 placed opposite the first opening 516 equipped with a distribution neck 517 whose movable flap 519 is in its previously described open position. The invention thus makes it possible to successively fill the different storage boxes 700 placed along the conveyor belt 512.

[0155] Advantageously, the agricultural machine 500 is equipped with a device for controlling the filling of the storage boxes 700, controlled, for example, by the control unit 550 previously mentioned, and configured to control the opening and / or closing of the movable flaps 519 of the different distribution necks 517. According to one example, each receiving housing 513 comprises a system for weighing the storage box 700 placed therein, and the control unit 550 of the agricultural machine 500 is configured, on the one hand, to compare a mass of the storage box 700 placed in the receiving housing 513 with a reference mass and, on the other hand, to control the closing of the corresponding movable flap 519 as soon as the mass of the storage box 700 considered is greater than the aforementioned reference mass.

[0156] The invention also provides that the control unit 550 of the agricultural machine 500 is configured to direct the gripper 127 of the harvesting system 100 alternately towards one or other of the conveyor belts 512 to release therein a vegetable harvested by said harvesting system 100. More precisely, the aforementioned control unit 550 is advantageously configured to control a transverse movement of the rigid structure 101 of the harvesting system 100 towards the "right" conveyor belt 512 or towards the "left" conveyor belt 512 alternately, in order to release therein a harvested vegetable. In other words, the control unit 550 is configured to alternately select one or the other of the sets of storage boxes 700 placed on the right side or on the left side of the agricultural machine 500 to direct a vegetable harvested by the harvesting system 100 there.

[0157] According to a first example of implementation, this alternative selection operation is carried out for each harvested vegetable, that is to say that two consecutively harvested vegetables are, for one, directed towards the storage boxes 700 located on the right side of the agricultural machine 700 and, for the other, directed towards the storage boxes located on the left side of the agricultural machine 500. According to a second example of implementation, the vegetables harvested by the harvesting system 100 are directed towards a storage box 700 located, for example, on the right side of the agricultural machine 500 until this box is full, after which the harvested vegetables are directed towards a storage box 700 located on the left side of the agricultural machine 500. In other words, according to this second example of implementation, the alternation of the storage boxes 700 is carried out only after one of them is filled.

[0158] There FIGURE 9 illustrates more particularly a detection tool 200 of the agricultural machine 500, configured to detect a vegetable ready to harvest in a cultivation mound 600. Such a detection tool 200 is also visible on the FIGURE 1 , placed within the 500 agricultural machine.

[0159] In reference to the FIGURE 9 , the detection tool 200 comprises a support 201 as well as a plurality of torque detection devices 202 distributed along the support 201. According to the example more particularly illustrated by the FIGURE 9 , the torque detection devices 202 are all identical and they are regularly distributed along the support 201. In the following, the detection tool 200 will be described with reference to the trihedron (L, T, V) of the agricultural machine 500 previously defined, that is to say with reference to its position, illustrated by the FIGURE 1 , within the latter.

[0160] With reference to the aforementioned trihedron, and as shown in the FIGURE 9 , the support 201 of the detection tool is in the form of a beam which extends mainly in the transverse direction T of the agricultural machine 500, the torque detection devices 202 extending from the support 201 substantially in the longitudinal direction L of the agricultural machine 500.

[0161] Advantageously, in the agricultural machine 500 as previously described and illustrated by the FIGURES, a transverse dimension of the support 201 of the detection tool 200 is less than or equal to a distance, measured transversely, between the posts 505 of the gantries 504 previously defined, and the detection tool 200 is placed between the aforementioned posts 505. More precisely, in the agricultural machine 500 as previously described and illustrated, and with reference to the directions, orientations and senses previously defined, the detection tool is placed between the posts 505 of the "front" gantry, in the vicinity of the latter, such that the detection tool 200 is, in the agricultural machine 500, located "in front" of the harvesting system 100 in the longitudinal direction L previously described. It follows that, during a longitudinal movement of the agricultural machine 500 forward along a cultivation mound 600 as illustrated by the FIGURE 1 , the detection tool 200 moves over a given region of said crop mound 600 before the harvesting system 100.

[0162] There FIGURE 10 illustrates more precisely a torque detection device 202 of the detection tool 200. This FIGURE shows a part of the support 201 of the detection tool 200.

[0163] In reference to the FIGURE 10 , the torque detection device 202 comprises a pivoting plate 203, movable in rotation about an axis 204 substantially parallel to the aforementioned transverse direction T, and a detection assembly 205 configured to detect a torque applied to the pivoting plate 203. The torque detection device 202 also comprises a plate 206 by which the torque detection device 202 is fixed on the support 201.

[0164] More precisely, the aforementioned plate 206 is pierced, in its vertical direction V, with a through opening 207 configured to receive the pivoting plate 203. The through opening 207 is also configured to be crossed, in its transverse direction T, by the axis of rotation 204 previously defined, around which the pivoting plate 203 is movable in rotation.

[0165] More precisely, the pivoting plate 203 comprises a first part 2030 which extends on one side of the plate 206 in the vertical direction V thereof, and a second part 2031 which extends on the opposite side of the plate 206 in the aforementioned vertical direction, the first part 2030 and the second part 2031 of the pivoting plate 203 extending in the same plane containing the axis of rotation 204 previously mentioned. According to the example more particularly illustrated here, the second part 2031 of the pivoting plate 203 is fixed on the first part 2030 of the latter.

[0166] In reference to the FIGURE 10 and in the directions and orientations previously defined, the second part 2031 of the pivoting plate 203 extends mainly vertically above the plate 206 by crossing the through opening 207 previously described, and the first part 2030 of the pivoting plate 203 extends vertically below the aforementioned plate 206, in the extension of the portion of the second part 2031 which crosses the aforementioned through opening 207.

[0167] According to the example more particularly illustrated by the FIGURE 10 , the first portion 2030 of the pivoting plate 203 has a substantially rectangular shape and the second portion 2031 of the pivoting plate 203 is of complex shape and extends from a short side of the rectangle formed by the first portion 2030 of the pivoting plate 203.

[0168] The detection assembly 205 of the torque detection device 202 comprises, for its part, a stirrup 208 which extends from one side of the plate 206, substantially perpendicular to the latter. More precisely, with reference to the directions, senses and orientations previously defined, the stirrup 208 extends substantially vertically above the plate 206, and it comprises, extending from its face directed towards the pivoting plate 203 and in the direction of the latter, a torque detection sensor 209.

[0169] It follows from the above that the torque detection sensor 209 is directed, in the transverse direction T of the detection tool 200, towards a free end of the second part 2031 of the pivoting plate 203. According to the invention, this free end of the second part of the pivoting plate 203 is equipped with a target 210 configured to cooperate with the aforementioned sensor 209. According to the example more particularly illustrated by the FIGURE 10 , target 210 is a magnet, and sensor 209 is a Hall effect sensor.

[0170] The operation of the torque detection device 202 is as follows: in a rest position of the torque detection device 202 in which no detection is carried out, the target 210 and the sensor 209 are located face to face in the main direction of elongation of the support 201, that is to say, here, in the transverse direction T of the agricultural machine 500. In this position, it results from the above that the first part 2030 of the pivoting blade 203 extends in a substantially vertical transverse plane (T, V) with reference to the directions and orientations previously defined. when the pivoting plate 203 is rotated about its pivot axis 204, the target 210 moves away from the sensor 209: the magnetic field detected by the latter then decreases substantially proportionally to the distance of the target 210 from the sensor 209, that is to say, in other words, proportionally to the angle formed by the first part 2030 of the pivoting plate with its rest position.

[0171] The torque detection device 202 also comprises a set of cables and connectors 211 configured, on the one hand, to electrically power the detection assembly 205 and, on the other hand, to transmit, for example to the control unit 550 of an agricultural machine 500 as previously described, one or more pieces of information relating to the detection carried out by the torque detection device 202.

[0172] In an agricultural machine 500 as previously described and illustrated, the detection tool 200 is placed in such a way that a distance, measured vertically, between the lower end of the first part 2030 of the pivoting blade 203 in its rest position, and a cultivation mound 600 on which the agricultural machine 500 is placed, is slightly less than an emergence height of a vegetable such as, for example, asparagus, from said cultivation mound 600, corresponding to a degree of maturity of the vegetable allowing its harvesting.

[0173] It follows that, during a longitudinal "forward" movement of the agricultural machine 500 along the cultivation mound 600, the pivoting plates 203 of the detection devices 202 placed above vegetables whose emergence height from the cultivation mound 600 is deemed compatible with their harvesting are rotated around their pivot axis 204, thus triggering, from the detection tool 200, information detecting the presence of a vegetable ready to be harvested by the harvesting system 100.

[0174] Advantageously, the invention provides that the cable and connector assembly 211 of each torque detection device 202 is configured to transmit to the control unit 550: information representative of the position, along the main direction of elongation of the support 201 of the detection tool 200, i.e. along the transverse direction T of the agricultural machine 500, of a vegetable ready to harvest as previously defined. With reference to the above, this transverse position information corresponds to identification information of the torque detection device 202 whose pivoting plate 203 has been rotated around its pivot axis 204 by the vegetable ready to harvest, and it corresponds to a position of such a vegetable ready to harvest measured along the transverse direction T of the cultivation mound, i.e. along the width thereof. and information on the position, in the longitudinal direction L, of the agricultural machine 500 along the cultivation mound 600 when the torque detection device 202 has detected the presence of a vegetable ready to harvest as previously mentioned.

[0175] In other words, the invention provides that the control unit 550 of the agricultural machine 500 is configured to record, for each vegetable ready to harvest in the sense previously defined, a pair of information representative of a transverse position and a longitudinal position of this vegetable ready to harvest on the cultivation mound 600. In other words again, the detection tool 200 makes it possible to carry out a form of mapping of vegetables ready to harvest in a cultivation mound 600.

[0176] In order to have the most precise mapping possible, the invention provides that the free ends of the first parts 2030 of the pivoting plates 203 of the different torque detection devices 202 collectively form a detection profile complementary to a transverse profile of the cultivation mound 600. According to the example more particularly illustrated by the FIGURES 9 And 10, the pivoting plates 203 are all identical, their free ends therefore together form a substantially rectilinear profile corresponding to a growing mound 600 whose top, from which the vegetables to be harvested, such as asparagus, emerge, is substantially flat. According to other exemplary embodiments, the first parts 2030 of the pivoting plates 203 may have different shapes and dimensions, such that their free ends together define, for example, a concave, circular or elliptical profile, or a trapezoidal profile. In the latter case, the pivoting plates 203 may be arranged to detect vegetables ready to be harvested in at least a portion of the side walls of the growing mound 600.

[0177] The invention also provides that the aforementioned control unit 550 is configured to control, on the basis of the aforementioned pair of information, respectively a longitudinal movement of the agricultural machine 500 and a transverse movement of the rigid structure 101 of the harvesting system 100 so as to bring the harvesting tool 102 as previously described above the vegetable ready to be harvested.

[0178] According to a first mode of operation of the agricultural machine 500 according to the invention, the detection and harvesting of a vegetable ready to harvest in the sense previously defined are carried out during the same cycle of movement of the agricultural machine 500 along a cultivation mound 600. More precisely, according to this first mode of operation, the vegetables ready to harvest are harvested as and when they are detected by the detection tool 200 during the movement of the agricultural machine 500 along the cultivation mound 600. In this case, the aforementioned control unit 550 is advantageously configured to control, as soon as a vegetable ready to harvest is detected, a longitudinal movement of the agricultural machine 500 by a distance substantially equal to the distance separating, on the latter, the detection tool 200 from the harvesting tool 102, in order to bring the harvesting tool 102 above the longitudinal position at which the vegetable ready to harvest has been detected.

[0179] According to another mode of operation of the agricultural machine 500 according to the invention, the detection and harvesting of a vegetable ready to harvest in the sense previously defined are carried out during different cycles of movement of the agricultural machine 500 along a cultivation mound 600. More precisely, according to this second mode of operation, a first cycle of movement of the agricultural machine 500 can be carried out along the cultivation mound 600 to detect all the vegetables ready to harvest, and a second cycle of movement of the agricultural machine 500 can be carried out along the cultivation mound 600 to proceed with the harvesting of these vegetables. In this case, the invention advantageously provides that the control unit 550 of the agricultural machine 500 is configured to store all of the pairs of information previously mentioned, representative of the longitudinal and transverse positions of the vegetables ready to harvest.Such an operating mode makes it possible, for example, to determine whether a quantity of vegetables ready to harvest is sufficient to trigger a harvesting operation on a given 600 cultivation mound.

[0180] Of course, the invention is not limited to the examples which have just been described and numerous adjustments can be made to these examples without departing from the scope of the invention. In particular, the different characteristics, forms, variants and embodiments of the invention can be associated with each other in various combinations insofar as they are not incompatible or exclusive of each other. Likewise, all the variants and embodiments described above can be combined with each other. In particular, the shapes of the pivoting plates 203 of the torque detection devices 202 of the detection tool may be different from the shapes described in this document. Similarly, the shapes and dimensions of the arm 103 and the claw 1020 of the harvesting tool 100 may differ from the shapes described in this document, insofar as they have the characteristics presented in the scope of the invention.In particular, these shapes and dimensions can be adjusted for harvesting various vegetables grown in growing mounds and having a harvesting method similar to that of asparagus.

Claims

1. A harvesting system (100) of a vegetable grown in a culture mound (600), wherein the harvesting system (100) comprises: - a rigid structure (101), - a harvesting tool (102) comprising a claw (1020) designed to be driven into the culture mound (600), the claw (1020) being located at a free end of an arm (103) of the harvesting tool (102), the claw (1020) comprising a sharp blade (115) located at a front side (113) of said claw (1020), - a stage (105, 125, 126) of vertical translation united with the rigid structure (101) and configured to move vertically the harvesting tool (102) relatively to the rigid structure (101), the harvesting tool (102) being linked to the vertical translation stage (105) at an upper end of the arm (103) of the harvesting tool (102) opposite to its free end, the vertical translation stage (105, 125, 126) comprising an actuator (126) configured to drive a vertical movement of the harvesting tool (102), the vertical translation stage (105, 125, 126) comprising a worn screw (125) connected by a sliding connection with a vertical translation plate (105), which holds up the harvesting tool (102), the actuator (126) being configured to drive a rotation of the worn screw (125) in order to control a vertical movement of the vertical translation plate (105) along said worn screw (125); - a swiveling item (104, 110, 112) of the harvesting tool (102), wherein the swiveling item (104, 110, 112) is configured to make the harvesting tool (102) swivel relatively to the vertical translation stage (105, 125, 126) around a rotation axis (104) located at the upper end of the arm (103) of the harvesting tool (102); characterized in that the rotation axis of the swiveling item is in connection with the translation plate.

2. A harvesting system (100) according to any one of the previous claims, wherein the rotation axis (104) of the swiveling item (104, 110, 112) extends along a transversal direction (T) of the harvesting system (100) perpendicular to a vertical direction (V) of the harvesting system (100) in order to generate a swiveling movement of the harvesting tool (102) that leads to a movement of the claw (1020) along a longitudinal direction (L).

3. A harvesting system (100) according to any one of the previous claims, wherein the swiveling item (104, 110, 112) comprises at least a support item (112) located at the upper end of the arm (103) of the harvesting tool (102) and configured to cooperate with a tilting guide groove (124) in connection with the rigid structure (101).

4. A harvesting system (100) according to any one of the previous claims, characterized in that it comprises a vertical translation guide stage (123) for the vertical translation plate (105) relatively to the rigid structure (101).

5. A harvesting system (100) according to any one of the previous claims, characterized in that it comprises a gripping tool (127) in connection with the vertical translation plate (105), wherein the gripping tool (127) is configured to seize and drop a vegetable collected by the harvesting tool (102).

6. A harvesting system (100) according to any one of the previous claims, characterized in that it comprises a transversal translation guide stage (145, 146, 147, 148), the transversal translation guide stage (145, 146, 147, 148) being configured to move the rigid structure (101) along a direction perpendicular to the vertical direction (V).

7. A harvesting system (100) according to the previous claim, wherein the transversal translation guide stage (145, 146, 147, 148) comprises a sensor (149) configured to determine a transversal position of the rigid structure (101) along a worn screw (147).

8. An agricultural machine (500) designed for the harvest of vegetables grown in culture mounds (600) in a field, wherein the agricultural machine (500) comprises: - a frame (501), - at least two wheels (502) in connection with a movable shaft relatively to the frame (501), the wheels (502) being designed to be located on both sides of the culture mound (600) when the agricultural machine (500) is implemented in the field, - a harvesting system (100) according to any one of the previous claims, the harvesting system (100) being in connection with the frame (501).

9. An agricultural machine (500) according to the previous claim, comprising: - a proximity sensor located between each directional wheel (502) and the culture mound (600), - a control unit (550) configured to control the drive wheels (502) so that a transversal distance between each directional wheel (502) and the culture mound (600) is constant and / or invariable and / or equal on both sides of the culture mound (600).

10. An agricultural machine (500) according to the previous claim, comprising a vertical adjustment system for the frame (501) relatively to the drive wheels (502), wherein the control unit (550) is configured to monitor the vertical adjustment system for the frame (501) so that a vertical distance between the frame (501) and the culture mound (600) is constant and / or invariable.

11. An agricultural machine (500) according to the previous claim, wherein the vertical adjustment system comprises a tilting adjustment system of the frame (501) relatively to a transversal axis (T) of the agricultural machine (500) and / or relatively to a longitudinal axis (L) of said agricultural machine (500).

12. An agricultural machine (500) according to any one of claims 8 to 11, characterized in that it comprises a tool (200) to detect at least a vegetable grown in a culture mound (600), wherein the detection tool (200) comprises: - a support (201) that extends along a main elongation direction (T), and - a plurality of torque detection devices (202) located along the main elongation direction (T) of the support (201), each torque detection device (202) comprises, on one hand, a swiveling plate (203) that extends perpendicular to the main elongation direction (T) of the support (201) and that is movable around a pivot axis (204) and relatively to the support (201) and, on the other hand, a sensor (209) configured to detect a torque on the swiveling plate (203).

13. A process to harvest vegetables grown in a culture mound (600) thanks to an agricultural machine (500) according to any one of claims 8 to 12, the harvesting process comprising: - a step of positioning the agricultural machine (500) above one of the grown vegetables, called vegetable to harvest, so that the harvesting system (100) of the agricultural machine (500) is located in immediate proximity of the vegetable to harvest, - a step of plunging the harvesting tool (102) of the agricultural machine (500) into the culture mound (600), - a step of cutting the vegetable to harvest in the culture mound (600), the cutting step being implemented by the harvesting tool (102), - a step of harvesting the vegetable to harvest, the harvesting step comprising an upward movement of the vegetable to harvest by the harvesting tool (102), - a step of storing the vegetable to harvest in a plurality of conservation boxes (700) aboard the agricultural machine (500).

14. A process to harvest according to the previous claim, comprising at least one step of detection of at least a vegetable grown in the culture mound (600), called detected vegetable, each at least one step of detection being implemented by a detection tool (200) of the agricultural machine (500) according to claim 13 and leads to define a longitudinal position of the agricultural machine (500) relatively to the culture mound (600), called longitudinal harvesting position, so that the harvesting tool (102) at the end of the positioning step, is located at one of the at least one harvesting longitudinal position, the detected vegetable becoming then the vegetable to harvest.