Method and device for the mechanical working of the soil between the plants of a same row

Abstract

The present invention relates to a method and a device for the mechanical working of the soil between the plants of a same row by means of an inter-row hoe (1) comprising at least one tool holder (5) receiving a tool (6) for working the soil which is attached to the free end of a shaft of an electric gear motor (2) in order to pivot the tool (6) about a vertical axis (4) between a working position and a disengaged position, and a sensor (7) arranged to detect the presence of a plant P, which sensor is positioned above ground at the front of the tool (6) in the direction of movement of the inter-row hoe (1), is pivotably mounted on the tool holder (5) so as to pivot about the axis (4) between an initial position and a limit position, and is associated with return means (17) intended to return it to its initial position.

Description

[0001] DESCRIPTION

[0002] TITLE: METHOD AND DEVICE FOR MECHANICALLY WORKING THE SOIL BETWEEN PLANTS IN THE SAME ROW

[0003] Technical field of the invention

[0004] The present invention relates to the general field of row crops such as, for example, vines, orchards or nurseries. It relates more specifically to a method for mechanically working the soil between plants in the same row, but also to a device for working the soil between plants in the same row implementing said method.

[0005] State of the art

[0006] In the field of row crops such as viticulture, many winegrowers have been returning to mechanical tillage in recent years. This practice allows for more environmentally friendly cultivation of vines, avoiding the use of herbicides or other chemicals that can destroy weeds and microorganisms naturally present in the soil and very important for the proper development of plants. Indeed, mechanical tillage improves soil aeration, its physical structure, and water penetration. It promotes biological activity and soil life, which improves the crop's nutrition. By cutting the vine's surface roots, it also forces the plant to take root deeply and seek out different types of nutrients deep within the limestone strata.

[0007] Tillage is all the more relevant today, where ecology and organic farming are at the forefront. However, it represents a much greater investment in time and money for the winegrower, who must also face labor shortages in the vineyard. It is with this in mind that vineyard work is tending to become automated, with the emergence of specifically designed tools.

[0008] Indeed, the presence of plants, such as vine stocks, requires working the soil in two different ways depending on whether one is between the rows of plants or between the plants in the same row. Between the rows, a conventional plow is usually used. On the other hand, between the plants in the same row, that is to say in the space between two adjacent plants belonging to the same row, the use of a conventional plow is prohibited, because it would lead to the destruction of the plants. For work between the plants in the same row, a specific interplant tool is used, generally referred to as "interceps", allowing different types of agricultural work to be carried out such as, for example, hoeing, digging, starting or even loosening.

[0009] Depending on the type of agricultural work, F interceps implements a specific tool pivotally mounted on a tool holder around a vertical axis so that it can retract upon contact with a plant. The retraction of the tool is, in a conventional manner, carried out using a sensor mounted above the ground in front of the tool, in the direction of progression of the tool. Thus, upon contact with a plant, the sensor will pivot and cause the said tool to retract. On the contrary, as soon as the sensor is no longer in contact with said plant, it returns to its initial position and causes the tool to return under the row of plants, between said plant and the adjacent plant. Such interceps are described in particular in patent applications FR 3 093 273, FR 3 124 349, FR 2 964 006 or CN 114 009 161.

[0010] As is known, the tool is retracted via a hydraulic system using, for example, a distributor controlled by the sensor, solenoid valves, single or double-acting cylinders or even pressure switches.

[0011] Although robust, this hydraulic solution has a number of drawbacks. Firstly, adjusting the various elements of the inter-row cultivator is complex and the hydraulic system can lack precision and responsiveness, which can result in a limitation of the worked surface and / or damage to the plants.

[0012] Furthermore, with the current interest in the development of all-electric and the recent appearance of the first electrically powered agricultural robots adapted to vines, hydraulic systems are no longer suitable.

[0013] Summary of the invention

[0014] The aim of the present invention is therefore to propose a method for mechanically working the soil of a row crop field and an inter-row cultivator capable of receiving different types of tool, being adapted to an agricultural robot with electrical motorization and easily adjustable tools, and allowing precise and rapid mechanical working of the soil over an increased surface area between the plants of the same row while respecting the integrity of said plants. In accordance with the invention, a method is therefore proposed for mechanically working the soil of a row crop field, along and between the plants P of the same row, using an inter-row cultivator comprising at least one tool holder receiving a tool intended for working the soil and fixed on the free end of a shaft of an electric geared motor to pivot said tool around a vertical axis between a working position and a cleared position, and a sensor arranged to detect the presence of a plant P,arranged above the ground and in front of the tool in the direction of movement of the interceps, pivotally mounted on said tool holder around said axis between an initial position and a limit position and associated with return means tending to return it to its initial position, remarkable in that it comprises at least the following steps: a) positioning of the tool in the working position and of the feeler in the initial position and movement of the interceps along a row of plants P, b) detection of a pivoting of the feeler at least in the direction of its limit position, c) verification of a pivoting of the feeler at least to a starting position located between its initial and limit positions from which the geared motor is powered, d) triggering of the rotation of the geared motor shaft to pivot the tool in the direction of its released position so that the feeler returns at least to its initial position thanks to the action of the return means,the rotation speed of the shaft varying according to a cycle having an acceleration phase, a stabilization phase and a deceleration phase, e) if during step c) a return of the sensor to a position beyond its initial position is detected, then triggering the rotation of the geared motor shaft to pivot the tool towards its working position in order to return the sensor to its initial position, f) commanding a repetition of steps b) to d) and, where appropriate, e) as the interceps moves along the row of plants until the tool is in its released position, g) detecting the pivoting of the sensor to its initial position thanks to the action of the return means, h) triggering the rotation of the geared motor shaft to pivot the tool to its working position, the rotation speed of the shaft varying according to a cycle having an acceleration phase,a stabilization phase and a deceleration phase before the tool reaches its working position.,

[0015] Step a) is preferably preceded by a step of initializing the interceps consisting of placing the tool in its working position when the interceps is powered up.

[0016] According to an advantageous embodiment, if during step h) a pivoting of the probe at least in the direction of its limit position is detected, then a rotation of the shaft of the geared motor is triggered to pivot the tool in the direction of its released position in order to return the probe to its initial position.

[0017] Said method advantageously comprises, after step h), a clearing step consisting of positioning the tool in its working position and triggering an alternating rotation of the geared motor so that the tool oscillates in order to cause the earth present on said tool to fall.

[0018] For reasons of ease of implementation, said method comprises, after step h), a transport step consisting of positioning the tool in a work-rest position located beyond its released position in which the tool is in a situation allowing the inter-row crop to be moved without risk outside the row crop field.

[0019] The present invention also relates to an interceps implementing the method according to the invention, comprising at least one tool holder receiving a tool intended for working the soil and fixed on the free end of a shaft of an electric geared motor to pivot said tool around a vertical axis between a working position and a cleared position, and a sensor arranged to detect the presence of a plant P, arranged above the ground and at the front of the tool in the direction of movement of the interceps, pivotally mounted on said tool holder around said axis between an initial position and a limit position, and associated with return means, said interceps being remarkable in that the electric geared motor, the shaft of which extends towards the ground, is arranged to be fixed to an agricultural machine, and is associated with a first angular sensor to determine the absolute angular position of said shaft,in that the probe is associated with a second angular sensor to determine the relative angular position of said probe, and in that it comprises a current variator advantageously associated with an electronic control card to modulate the rotation speed of the shaft of the geared motor according to the instructions of said control card determined by the measurements of the first and second angular sensors.,

[0020] According to an advantageous embodiment, the first angular sensor is an incremental encoder integrated into an electric motor of the geared motor.

[0021] Preferably, the electric motor is of the low-voltage, permanent magnet brushless motor type.

[0022] The second angular sensor is advantageously of the Hall effect sensor type based on the magnetic field emitted by a magnet fixed to the probe and inducing an electric current in the winding of a sensor fixed to the tool holder.

[0023] Finally, the interceps includes a rear mechanical stop fixed to the outside of the geared motor and against which the tool holder stops.

[0024] Brief description of the figures

[0025] Other advantages and characteristics will emerge more clearly from the following description of an embodiment of the invention with reference to the appended figures in which:

[0026] [Fig 1] is a front perspective view of an interceptor according to the invention,

[0027] [Fig 2] is a top view of the interceps of Figure 1,

[0028] [Fig 3 is a vertical sectional view of the interceps of Figure 4,

[0029] [Fig 4] is a partial top view of the interceps of figure 1 implemented in a row of plants, its sensor being at the start of contact with one of said plants,

[0030] [Fig 5] is a top view of the interceptor of Figure 6, its feeler having pivoted through a predetermined angle A,

[0031] [Fig 6] is a top view of the interceps of figure 6, its tool having pivoted by an angle Bi corresponding to the predetermined angle A,

[0032] [Fig 7] is a partial top view of the interceps of figure 1 implemented in a row of plants, its sensor being almost at the end of contact with one of said plants,

[0033] [Fig 8] is a top view of the interceptor of Figure 6, its feeler having pivoted through a predetermined angle A,

[0034] [Fig 9] is a partial top view of the interceps of figure 1 implemented in a row of plants, its sensor no longer being in contact with one of said plants, [Fig 10] is a top view of the interceps of figure 6, its sensor and tool pivoting to return to their initial position,

[0035] [Fig 11] is a top view of the intersection of Figure 6, its feeler and tool having returned to their initial and working positions respectively,

[0036] [Fig 12] is a partial top view of the interceps of figure 1, its feeler and tool being respectively in their initial and working positions,

[0037] Description of the embodiments

[0038] In Figures 1 to 3, there is shown an interplant tool 1 according to the invention, hereinafter referred to conventionally as "interceps", attached to an agricultural machine moving on the ground and being, for example, of the tractor, straddle tractor or even electrically powered robot type, said interceps 1 making it possible to mechanically work the soil between the plants of the same row of a row crop field and to carry out different types of agricultural work such as, for example, hoeing, excavation, starting or even decompaction, the rows of plants and agricultural machine not being shown so as not to overload Figures 1 to 3.

[0039] The interceps 1 is electrically powered advantageously by an electrical energy source on board the agricultural machine. Thus, when the agricultural machine is of the tractor or straddle tractor type, said electrical energy source may be of the generator type operating with gasoline or an agricultural generator coupled to a power take-off of said agricultural machine and converting the mechanical rotational energy into an electric current to advantageously recharge a plurality of batteries. For this, said electrical energy source comprises all or part of the following elements: alternator, rectifier, regulator, converter and transformer. Furthermore, when the agricultural machine is of the robot type with electrical motorization, the electric motorization of the interceps 1 is connected to the energy source already on board said robot.

[0040] The interceps 1 fulfills the following functions: motorization, detection, control and work, and for this purpose comprises at least: - an electric geared motor 2 arranged to be fixed to the agricultural machine and whose shaft 3 extends towards the ground and pivots around a vertical axis 4, said geared motor 2 being associated with a first angular sensor, not shown, to determine the absolute angular position of said shaft 3, - a tool holder 5 fixed on the free end of said shaft 3 of the geared motor 2 receiving at least one tool 6 intended for working the soil,

[0041] - a sensor 7 arranged to detect the presence of a plant, arranged above the ground and in front of the tool 6 in the direction of movement of the inter-row 1, extending substantially perpendicular to the axis 4 of rotation of the shaft 3 of the geared motor 2, and being pivotally mounted on said tool holder 5 around said axis 4 of rotation of the shaft 3, and being associated with a second angular sensor 8 to determine the angular position of said sensor 7, and

[0042] - a current variator advantageously associated with an electronic control card for modulating the rotation speed of the shaft 3 of the geared motor 2 according to the instructions of said control card determined by the measurements of the first and second angular sensors 8.

[0043] Here, "substantially parallel" or "substantially perpendicular" means elements or parts of elements forming an angle between them of between -15 and -15 degrees and between 75 and 105 degrees respectively.

[0044] According to an advantageous embodiment, the geared motor 2 is formed by an electric motor 9 coupled to a reducer 10, the latter being chosen to be able to provide sufficient torque (greater than 220 Nm) and contain high radial loads (greater than 1000 kg) and this in order to ensure the continuous operation of the interceps 1 throughout a working day. Thus, the electric motor 9 is advantageously of the brushless motor type, conventionally called "brushless motor", with low voltage and permanent magnets, this type of motor being recognized for its robustness, its compactness and its low maintenance requirements. Furthermore, the reducer 10 is advantageously of the wheel reducer type whose reduction ratio is between 1 / 35 and 1 / 50 in order to be able to obtain the desired torque at the shaft 3 of the geared motor 2.The skilled person will have no difficulty in choosing the electric motor 9 and reducer 10 from among the models on the market, in particular to obtain the desired torque.

[0045] According to an advantageous embodiment, the first angular sensor is an incremental encoder placed on the rear of the electric motor 9, that is to say on the side opposite the reducer 10, and makes it possible to obtain an incremental position of the position of its rotor relative to its stator and thus to obtain the positioning of the tool 6 in space regardless of when the electric motor 9 is powered up. Conventionally, the first angular sensor is integrated into the electric motor 9.

[0046] The tool holder 5 comprises a plate 11 fixed to the free end of the shaft 3 of the geared motor 2 and comprising a housing 12 located on the side opposite said shaft 3 and receiving at least in part the probe 7. Said plate 11 is also provided with a support 13 extending vertically along the geared motor 2 and having a T-shaped cross-section, said support 13 being associated with a plurality of screws, not shown, for fixing the tool 6 to the tool holder 5.

[0047] In the example shown in the figures, the tool 6 is of the hoe type and comprises a substantially vertical prop 14 fixed by its upper end to the support 13 of the plate 11 of the tool holder 5 and receiving at its lower end a substantially horizontal blade 15, the latter being designed to work a few centimeters deep in the ground, so as to cut the roots of the weeds in place, which will then dry out.

[0048] It goes without saying that the tool 6 could be of a completely different type such as, for example, a digger, a starter or even a subsoiler, without departing from the scope of the present invention.

[0049] Furthermore, the tool holder 5 (and therefore the tool 6) pivots thanks to the geared motor 2 between a "working" position in which the tool 6 is in a position to work the soil between two adjacent plants in the same row, and a "disengaged" position in which the tool 6 is no longer between two adjacent plants in the same row. More precisely, in the case of a tool 6 of the hoe type, said tool 6 in the working position extends substantially perpendicular to the direction of progression of the inter-row cultivator 1 according to the invention, said direction of progression, represented by an arrow F in Figures 4 to 12, corresponding to a direction substantially parallel to said row. More precisely in the disengaged position, the tool 6 extends almost parallel to the direction of progression of the inter-row cultivator 1 according to the invention and no longer threatens the plants with damage or destruction.

[0050] However, according to an advantageous embodiment, beyond the released position, there is also a "rest" position in which the tool 6 is in a situation allowing the safe movement of the interceps 1 outside the row crop field. More precisely, in the case of a tool 6 of the hoe type, said tool 6 in the rest position extends substantially parallel to the direction of progression of the interceps 1.

[0051] As described above, the disengaged position is located between the work and rest positions and generally close to said rest position. Thus, these different positions being measured by the first angular sensor, if we define that the value 0 degrees corresponds to the work position, then the value 90 degrees will correspond to the rest position and the value corresponding to the disengaged position will be between 65 and 80 degrees. However, the rest and disengaged positions may be confused, without departing from the scope of the present invention.

[0052] For implementation reasons described below, the rest position is advantageously materialized by a rear mechanical stop fixed to the outside of the geared motor 2 and against which the tool holder 5 and, where appropriate, its plate 11 abuts. Here, the term "rear" refers to elements or parts of elements of the interceps 1 arranged at the rear of said interceps 1 according to the direction of movement of the latter.

[0053] For safety reasons, the interceps 1 also advantageously comprises a lateral mechanical stop 16 fixed to the outside of the geared motor 2 and preventing the tool holder 5 and, where appropriate, its plate 11 from going beyond its working position on the side opposite its rest position in order to avoid any risk of damage or destruction of the plants.

[0054] The interceps 1 according to the invention also comprises a sensor 7 for detecting the presence of a plant and being associated with a second angular sensor 8 for determining the angular position of said sensor 7. Indeed, the sensor 7 pivots between an "initial" position in which it is located when no pressure is exerted on it, and a "limit" position corresponding to the maximum position of the sensor 7 beyond which the latter cannot avoid contact of the tool 6 with the plants and therefore a risk of damage or destruction of the latter. The angular measurement between the initial and limit positions of the sensor 7 measured by the second angular sensor 8 corresponds to a threshold value conventionally between 2 and 7 degrees for reasons of compactness of the interceps 1. The person skilled in the art will have no difficulty in determining said threshold value as a function of the shapes and dimensions of the tool 6 and sensor 7, but also of their relative position.However, according to an advantageous embodiment, between the initial and limit positions, there is also a "start" position in which the probe 7 will trigger the operation of the geared motor 2 and therefore the pivoting of the tool holder 5 and the tool 6. This start position is important because it makes it possible not to trigger the operation of the geared motor 2 in an untimely manner when the probe 7 comes into contact with obstacles of low mechanical resistance such as, for example, grass or flowers. The angular measurement between the initial and start positions of the probe 7 corresponds to a value between 0 and 2 degrees.

[0055] Furthermore, the feeler 7 is associated with return means 17, advantageously of the helical traction spring type, to return it to its initial position, either when there is no longer any pressure exerted on said feeler 7 by a plant, or when there is pressure exerted on said feeler 7 by a plant and the tool holder 7 and the tool 9 pivot to release said plant. It is understood that the stiffness of the return means 17 has an impact on the reactivity of the interceps 1, but also on the maximum value of the mechanical resistance necessary for pivoting the feeler 7 to its starting position and therefore for triggering the operation of the geared motor 2.

[0056] Since the probe 7 is pivotally mounted on said tool holder 5 around said axis 4 of rotation of the shaft 3 of the geared motor 3, it is understood that the second angular sensor 8 therefore measures a relative angular value, that is to say the angle traveled by said probe 7 relative to said tool holder 5. For this, for economic and precision reasons, the second angular sensor 8 is advantageously of the Hall effect sensor type based on the magnetic field emitted by a magnet 18 fixed to the probe 7. Indeed, the magnet 18 will make it possible to induce an electric current in the winding of a sensor 19 fixed to the tool holder 5, the value of said current being a function of the angular position with said magnet 18. For small measurement ranges, of the order of 0 to 15°, the Hall effect sensors make it possible to guarantee significant precision (of the order of a tenth of a degree) particularly suited to the use provided by the present invention.

[0057] However, the second angular sensor 8 may be of a completely different type such as, for example, a potentiometric sensor, an incremental encoder or even an absolute encoder, without departing from the scope of the present invention.

[0058] Furthermore, even if the implementation of an angular sensor is well adapted, it will be possible, instead of the second angular sensor 8, to implement a torque sensor indicating the torque caused on the sensor 7 and making it possible to identify a plant in relation to less dense objects such as, for example, grass, a force sensor, a strain gauge, or even an accelerometer to detect any movement of the sensor 7, without departing from the scope of the present invention.

[0059] Finally, the interceps 1 according to the invention comprises a current variator advantageously associated with an electronic control card to modulate the rotation speed of the shaft 3 of the geared motor 2. The current variator has an important function because it modulates the voltage of the supply current according to the response of the geared motor 2 and the setpoint given to it by the electronic control card. The sizing of the current variator associated with the interceps 1 depends on numerous parameters such as, for example, the maximum voltage and intensity, or the time of use of the geared motor 2, but the person skilled in the art will be able to easily size the current variator to be implemented on the interceps 1 according to the invention.

[0060] The electronic control board is configured to operate the interceps 1 according to the method for mechanical soil cultivation described below.

[0061] Without departing from the scope of the present invention, it will also be possible to program the current variator directly, without using an electronic control card. However, programming a current variator is complex and dangerous, because it is then necessary to adapt the currents at the level of the windings of the electric motor 9 of the geared motor 2 according to instructions. Safety is then reduced and the risk of damaging said electric motor 9 is high, the use of an electronic control card being therefore preferable.

[0062] The invention also relates to a method for mechanically working the soil along and between the plants P of the same row using an inter-row cultivator 1 comprising at least one tool holder 5 receiving a tool 6 intended for working the soil and fixed on the free end of a shaft 3 of an electric geared motor 2 to pivot said tool 6 around a vertical axis 4 between a working position and a cleared position, and a sensor 7 arranged to detect the presence of a plant P, arranged above the ground and in front of the tool 6 in the direction of movement of the inter-row cultivator 1, pivotally mounted on said tool holder 5 around said axis 4 between an initial position and a limit position and associated with return means 17 tending to return it to its initial position. Said method, shown at least in part in Figures 4 to 12,comprises at least the following steps: a) positioning the tool 6 in the working position and the feeler 7 in the initial position and moving the interceps 1 along a row of plants P, b) detecting a pivoting of the feeler 7 at least in the direction of its limit position (following contact with a plant P), c) verifying a pivoting of the feeler 7 at least to a starting position located between its initial and limit positions from which the geared motor 2 is powered, d) triggering the rotation of the shaft 3 of the geared motor 2 to pivot the tool 6 in the direction of its released position so that the feeler 7 returns at least to its initial position thanks to the action of the return means 17, the rotation speed of the shaft 3 varying according to a cycle having an acceleration phase, a stabilization phase and a deceleration phase,e) if during step c) a return of the feeler 7 to a position beyond its initial position is detected, then triggering of the rotation of the shaft 3 of the geared motor 2 to pivot the tool 6 towards its working position in order to return the feeler 7 to its initial position, f) commanding a repetition of steps b) to d) and, if applicable, e) as the inter-row 1 moves along the row of plants until the tool 6 is in its released position, g) detecting the pivoting of the feeler 7 to its initial position thanks to the action of the return means 17 (signifying the absence of contact with a plant P), h) triggering of the rotation of the shaft 3 of the geared motor 2 to pivot the tool 6 to its working position, the rotation speed of the shaft 3 varying according to a cycle having an acceleration phase, a stabilization phase and a deceleration phase deceleration before the tool reaches its working position.,

[0063] Step b) preferably consists of measuring the angular displacement of the probe 7 from its initial position.

[0064] Here, "at least in the direction of its limit position" means that the probe 7 pivots in the direction of its limit position and that it can possibly but not necessarily go to its limit position, and "at least towards its initial position" means that the probe 7 pivots in the direction of its initial position and that it can possibly but not necessarily go to its limit position or even beyond.

[0065] Furthermore, here we refer to "a position beyond its initial position" as an angular position of the probe 7, represented by a broken line and marked A in figure 12, located after its initial position, represented by a continuous line and marked I in figure 12, on the side opposite its limit position, represented by a mixed line and marked L in figure 12.

[0066] Thus, figure 4 represents the state of the interceptor 1 described in step a), that is to say with the tool 6 in the working position and the probe 7 in the initial position.

[0067] Figure 5 represents steps b) and c) with the probe 7 pivoted towards its limit position following contact with a plant, this figure shows the probe 7 in its limit position determined by the angle A between its initial position and its limit position.

[0068] Figure 6 represents step d) with the tool 6 pivoted towards its released position so that the probe 7 returns at least to its initial position, this figure shows the probe 7 returned to its initial position and the pivoting of the tool 6 determined by the angle Bi.

[0069] Figure 7 shows the start of step f) with the tool 6 in its released position and the probe 7 in its initial position.

[0070] Figure 8 represents the end of step f) with the tool 6 in its released position and the probe 7 pivoting at least in the direction of its limit position, this figure shows the probe 7 in its limit position determined by the angle A between its initial position and its limit position.

[0071] Figure 9 shows step g) with the probe 7 pivoting to its initial position in the absence of a plant.

[0072] Figure 10 represents the start of step h) with the tool 6 returning towards its working position to work the soil between the plants P, and the sensor 7 in its initial position.

[0073] Figure 11 represents the end of step h) with the tool 6 in its clear working position and the sensor 7 in its initial position, the working of the soil between the plants P continuing until the detection of a next plant P.

[0074] It is clear that this process for mechanically working the soil along and between the plants P of the same row using an interceps 1 is an iterative process. However, in reality when the interceps 1 is moved along a row of plants P, the feeler 7 does not really return to its initial position since it is always under pressure from the plant P until it passes it, and is therefore always between its starting position and its limit position. But, the objective of this process is to make the tool 6 of the interceps 1 pass as close as possible to the plant P without touching it in order to work a maximum surface of soil between two adjacent plants P. Thus, since the feeler 7 has by default the optimal movement relative to the plants, it is therefore necessary to keep, in the case of a hoe type tool 6, the blade 15 of the tool 6 always substantially parallel to the feeler 7, that is to say to keep the feeler 7 always between its initial position and limit of said feeler 7.

[0075] In this regard, to increase the efficiency of the method, following the detection of a pivoting of the probe 7 (step b)), the rotation of the shaft 3 of the geared motor 2 to pivot the tool 6 towards its released position will be all the faster as the value of the pivoting of said probe 7 is important, that is to say that the acceleration will be important and consequently the deceleration will also be important, conversely, the rotation of the shaft 3 of the geared motor 2 to pivot the tool 6 towards its released position will be all the slower as the value of the pivoting of said probe 7 is small, that is to say that the acceleration will then be less important and consequently the deceleration will also be less important. Thus, the rotation speed of the shaft 3 therefore varies according to a cycle whose different phases of acceleration, stabilization and deceleration are a function of the value of the pivoting of the probe 7.

[0076] It is understood that the value of the pivoting of the probe 7 is here determined by the angle measured between its initial position and the position of said probe 7 once pivoted.

[0077] According to one embodiment, step a) is preceded by a step of initializing the interceps 1 consisting of placing the tool 6 in its working position when the geared motor 2 is powered up. For this, with the interceps 1 previously described, the geared motor 2 will slowly pivot the tool holder 5 and tool 6 assembly until said tool holder 5 comes into contact with the rear mechanical stop fixed to the outside of the geared motor 2 and determining the rest position of the tool holder 5 and tool 6 assembly, then the geared motor 2 will slowly pivot the tool holder 5 and tool 6 assembly in the opposite direction to bring it to its working position using the first angular sensor and the electronic control card.According to an advantageous embodiment, if during step h) a pivoting of the probe 7 at least in the direction of its limit position is detected, then a rotation of the shaft 3 of the geared motor 2 is triggered to pivot the tool 6 in the direction of its released position in order to return the probe 7 to its initial position.

[0078] According to an advantageous embodiment, the method comprises, after step h), a clearing step consisting of positioning the tool 6 in its working position and triggering an alternating rotation of the geared motor 2 so that the tool 6 oscillates in order to cause the earth present on said tool 6 to fall.

[0079] Finally, according to an advantageous embodiment, the method comprises, after step h), a transport step consisting of positioning the tool 6 in a work-rest position located beyond its released position in which the tool 6 is in a situation allowing the inter-row cultivator 1 to be moved without risk outside the row cultivation field. More precisely, in the case of a tool 6 of the hoe type, said tool 6 in the rest position extends substantially parallel to the direction of progression of the inter-row cultivator 1.

[0080] The method and the inter-vine 1 according to the invention find a particular application for working the soil between the vines of a vineyard.

[0081] Finally, it goes without saying that the examples of method and interceptors 1 in accordance with the invention which have just been described are only particular illustrations, in no way limiting of the invention.

Claims

CLAIMS 1. Method for mechanically working the soil of a field of crops in rows, along and between the plants P of the same row, using an inter-row cultivator (1) comprising at least one tool holder (5) receiving a tool (6) intended for working the soil and fixed on the free end of a shaft (3) of an electric geared motor (2) to pivot said tool (6) around a vertical axis (4) between a working position and a cleared position, and a sensor (7) arranged to detect the presence of a plant P, arranged above the ground and at the front of the tool (6) in the direction of movement of the inter-row cultivator (1), pivotally mounted on said tool holder (5) around said axis (4) between an initial position and a limit position and associated with return means (17) tending to return it to its initial position,characterized in that it comprises at least the following steps: a) positioning the tool (6) in the working position and the feeler (7) in the initial position and moving the interceps (1) along a row of plants P, b) detecting a pivoting of the feeler (7) at least in the direction of its limit position, c) verifying a pivoting of the feeler (7) at least to a starting position located between its initial and limit positions from which the geared motor (2) is energized, d) triggering the rotation of the shaft (3) of the geared motor (2) to pivot the tool (6) in the direction of its released position so that the feeler (7) returns at least to its initial position thanks to the action of the return means (17), the rotation speed of the shaft (3) varying according to a cycle having an acceleration phase, a stabilization phase and a deceleration phase,e) if during step c) a return of the sensor (7) to a position beyond its initial position is detected, then triggering of the rotation of the shaft (3) of the geared motor (2) to pivot the tool (6) towards its working position in order to return the sensor (7) to its initial position, f) commanding a repetition of steps b) to d) and, where appropriate, e) as the inter-row (1) moves along the row of plants until the tool (6) is in its released position, g) detecting the pivoting of the sensor (7) to its initial position using, the action of the return means (17), h) triggering the rotation of the shaft (3) of the geared motor (2) to pivot the tool (6) to its working position, the rotation speed of the shaft (3) varying according to a cycle having an acceleration phase, a stabilization phase and a deceleration phase before the tool reaches its working position.

2. Method according to claim 1 characterized in that step a) is preceded by a step of initializing the interceps (1) consisting of placing the tool (6) in its working position when the interceps (1) is powered up.

3. Method according to any one of claims 1 or 2, characterized in that, if during step h) a pivoting of the probe (7) at least in the direction of its limit position is detected, then a rotation of the shaft (3) of the geared motor (2) is triggered to pivot the tool (6) in the direction of its released position in order to return the probe (7) to its initial position.

4. Method according to any one of claims 1 to 3, characterized in that it comprises, after step h), a clearing step consisting of positioning the tool (6) in its working position and triggering an alternating rotation of the geared motor (2) so that the tool (6) oscillates in order to cause the earth present on said tool (6) to fall.

5. Method according to any one of claims 1 to 4 characterized in that it comprises, after step h), a transport step consisting of positioning the tool (6) in a work-rest position located beyond its released position in which the tool (6) is in a situation allowing the safe movement of the interceps (1) outside the row crop field.

6. Interceps (1) implementing the method according to any one of claims 1 to 5, comprising at least one tool holder (5) receiving a tool (6) intended for working the soil and fixed on the free end of a shaft (3) of an electric geared motor (2) to pivot said tool (6) around a vertical axis (4) between a working position and a released position, and a sensor (7) arranged to detect the presence of a plant P, arranged above the ground and in front of the tool (6) in the direction of movement of the interceps (1), pivotally mounted on said tool holder (5) around said axis (4) between an initial position and a limit position, and associated with return means (17), characterized in that that the electric geared motor (2), the shaft (3) of which extends towards the ground, is arranged to be fixed to an agricultural machine, and is associated with a first angular sensor to determine the absolute angular position of said shaft (3), in that the sensor (7) is associated with a second angular sensor (8) to determine the relative angular position of said sensor (7), and in that it comprises a current variator advantageously associated with an electronic control card to modulate the speed of rotation of the shaft (3) of the geared motor (2) according to the instructions of said control card determined by the measurements of the first and second angular sensors (8).

7. Interceps (1) according to claim 6 characterized in that the first angular sensor is an incremental encoder integrated into an electric motor (9) of the geared motor (2).

8. Interceps (1) according to claim 7 characterized in that the electric motor (9) is of the low-voltage brushless motor type with permanent magnets.

9. Interceps (1) according to any one of claims 6 or 8 characterized in that the second angular sensor (8) is of the Hall effect sensor type based on the magnetic field emitted by a magnet (18) fixed on the probe (7) and inducing an electric current in the winding of a sensor (19) fixed on the tool holder (5).

10. Interceps (1) according to any one of claims 1 to 9, characterized in that it comprises a rear mechanical stop fixed to the outside of the geared motor (2) and on which the tool holder (5) comes to abut.

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