Tilt control device for a tiltable tool attached to a vehicle

Abstract

The invention relates to a device for managing the tilt of a tool (200) pivotally mounted on a vehicle (100) or on a trailer attached to the vehicle, the vehicle being equipped with a power source (101) to supply at least one actuator (202) adapted to modify the tilt (α) of the tool, the device comprising a main housing (300) intended to be disposed on the vehicle and adapted to control a power distributor (307), and an auxiliary housing (301) intended to be disposed on the tool and comprising a first tilt sensor (319) adapted to measure a tilt (α) of the tool with respect to a fixed reference, for example the vertical;The device can operate in several modes, including a manual mode in which the housing is provided with two controls (316, 317) that can be operated by the driver to control the power distributor to cause the tool to tilt in one direction or the other at will, and an automatic mode in which the housing is provided with control means (309, 319) to control the power distributor so as to control the tool tilt (α) measured by the first sensor to a reference tilt (α) acquired at the time when the automatic mode is activated. FIGURE IN ABRIDGED DIAGRAM: Fig. 2;

Description

Title of the invention: Device for managing the inclination of a tilting tool attached to a vehicle

[0001] BACKGROUND OF THE INVENTION

[0002] In various fields of agriculture, such as viticulture or arboriculture, vehicles such as tractors are commonly used, which are equipped with various tools to treat plants. The tool can be carried by the vehicle, or mounted on a trailer attached to the vehicle. Some tools are tiltable to compensate for a local slope of the ground, and thus keep the tool oriented at a determined angle with respect to the plants. In particular, it is useful to be able to keep a sprayer boom vertical to ensure uniform spraying of the plants over their entire height, even if the ground is sloping.

[0003] For this purpose, tools are known which are pivotally mounted on a support mounted on the vehicle or on a trailer coupled to the vehicle, the support comprising an actuator, such as a hydraulic cylinder, for adjusting the angular position of the tool. The cylinder is supplied via a distributor by the tractor's hydraulic unit. The driver operates the distributor to adjust the tool to the desired angular position. However, this adjustment can be difficult to achieve on terrain with variable slopes, and risks monopolizing the driver's attention to the detriment of driving the vehicle.

[0004] SUBJECT OF THE INVENTION

[0005] The object of the invention is to propose a method for managing the inclination of the tool, facilitating the task of the driver of the vehicle. Summary of the invention

[0006] With a view to achieving this aim, a device is proposed for managing the inclination of an implement pivotally mounted on a vehicle or on a trailer coupled to the vehicle, the implement being associated with an actuator for adjusting the inclination of the implement powered by a power source of the vehicle, the device comprising:

[0007] - a main housing intended to be arranged on the vehicle and adapted to control a power distributor connectable to the power source of the vehicle to bring the power to the actuator so that the latter selectively tilts the tool in one direction or the other; - an auxiliary box intended to be placed on the tool and comprising a first inclination sensor adapted to measure an inclination of the tool relative to a fixed reference, for example the vertical;

[0008] the main and auxiliary boxes comprising communication means for at least less transmit the measurement of the inclination from the auxiliary box to the main box, the device being adapted to operate according to various operating modes including:

[0009] - a manual mode for which the main housing is provided with two controls operable by the driver to control the power distributor to cause the tool to tilt in one direction or the other at will; - an automatic mode for which the main housing is provided with control means for controlling the power distributor so as to control the inclination of the tool measured by the first inclination sensor to a reference inclination acquired by means of the first inclination sensor when the automatic mode is activated.

[0010] Thus, the device of the invention allows the tool to be tilted in manual mode as usually practiced by the driver, but also allows a second operating mode in which the adjustment of the tool's tilt is ensured automatically without intervention by the driver. The main box can be left permanently on the vehicle, while it is possible to equip all the tools with their own auxiliary box left permanently on the associated tool.

[0011] Preferably then, the same two controls usable in manual mode can be used in automatic mode to modify the reference inclination.

[0012] According to a particular aspect of the invention, the main housing comprises a second inclination sensor for measuring an inclination of the vehicle.

[0013] According to a particular aspect of the invention, the device of the invention is adapted to operate according to a parking mode in which the power distributor is controlled to return an angular position of the tool relative to the vehicle, estimated by the difference between an inclination of the tool measured by the first inclination sensor and an inclination of the vehicle measured by the second inclination sensor, to a predetermined angular parking position.

[0014] Preferably then, the predetermined angular parking position is recorded in a memory of the auxiliary box.

[0015] According to another particular arrangement of the invention, the main housing integrates the power distributor and comprises dedicated hydraulic ports for its hydraulic connection to a hydraulic power source, to a hydraulic reservoir, and to the hydraulic actuator.

[0016] The invention also relates to a method of using a device according to the invention, in which a main housing is fixed to the vehicle, and respective auxiliary housings are fixed to each of the tools capable of being carried by the vehicle or by a trailer coupled to the vehicle, the device being made operational by placing the main housing and the auxiliary housing fixed to the tool carried by the vehicle in communication. vehicle.

[0017] According to a particular embodiment of the invention, the main housing integrates the power distributor. Brief description of the drawings

[0018] The invention will be better understood in light of the following description of a particular embodiment of the invention, with reference to the figures of the appended drawings, among which:

[0019] [Fig-1] [Fig. 1] is a perspective view of a tractor carrying a tilting tool, here a sprayer with a double spray bar, and equipped with a device for managing the tilting of the tool according to the invention;

[0020] [Fig.2] [Fig.2] is a view of the tool tilt management device according to the invention equipping the tractor of [Fig.l];

[0021] [Fig.3] [Fig.3] is a hydraulic block diagram of the management device of the inclination of the tool according to the invention equipping the tractor of [Fig.l];

[0022] [Fig.4] [Fig.4] is an electronic block diagram of the management device the inclination of the tool according to the invention equipping the tractor of [Fig.l];

[0023] [Fig.5] [Fig.5] is a view of the tool tilt management device according to an alternative embodiment of the invention not including any hydraulic equipment. DETAILED DESCRIPTION OF THE INVENTION

[0024] Throughout the text and in the figures, the inclination of the tool is called an angle that the tool makes with respect to a fixed reference, for example the vertical V of the location, and the angular position of the tool is called an angle that the tool makes with respect to a reference linked to the tractor carrying the tool. The invention is described here in relation to an agricultural tractor, but it of course extends to any vehicle capable of carrying a tilting tool, whether the tool is, as here, mounted directly on the vehicle, or on a trailer coupled to the vehicle.

[0025] With reference to [Fig.l], the invention applies here to a tractor 100, used for example in viticulture, adapted to carry a tool, here a sprayer 200 comprising two spraying booms for spraying on either side of the tractor 100 on two rows of plants on either side of the tractor 100. The sprayer 200 is mounted articulated on a support 201 fixed here removably directly on the tractor 100. An actuator, in this case a double-acting hydraulic cylinder 202, is coupled between the sprayer 200 and the support 201 to adjust the inclination of the sprayer 200. We note a the angle or inclination that a reference of the sprayer 200 (here the central mast of the sprayer 200) makes with the vertical V.

[0026] The tractor 100 is capable of moving on sloping terrain, as illustrated in [Fig.l]. Here, the tractor is inclined relative to the vertical V of a angle or inclination [3. In this case, it is important that the sprayer 200 is brought back vertically so that the spraying on the plants is uniform from their base to their top.

[0027] The device of the invention aims to improve the management of the inclination of the sprayer 200 and facilitate its maneuvering. As illustrated in [Fig. 2], the device of the invention comprises a main housing 300 intended to be arranged on the tractor 100, within easy reach of the driver, and an auxiliary housing 301, intended to be arranged on the sprayer 200. The main housing 300 here comprises a hydraulic inlet port 302 for connection to a hydraulic pump 101 (symbolized in [Fig. 3]) of the tractor 100, and a hydraulic outlet port 303 for its connection to a hydraulic tank 102 (symbolized in [Fig. 3]) of the tractor 100. The main housing 300 also comprises two service ports 304, 305 for supplying the two chambers of the cylinder 202, as well as a supply port 306 for the distributor ramp of the tractor (or piano). Thus, the main housing is inserted hydraulically between the pump 101 and the tractor's distributor ramp.

[0028] As seen in [Fig.2], the service ports 304, 305 of the main housing 300 are connected to the full and annular chambers of the cylinder 202. The main housing 300 comprises a main distributor 307, here a distributor with three positions and four inputs which, in the stable position, closes the inlet ports 302, outlet ports 303, and the service ports 304, 305, so that the cylinder 202 is locked in position. In a first controlled position, the main distributor 307 puts the full chamber of the cylinder 202 in communication with the hydraulic pump 101 and the annular chamber with the tank 102, and in the other controlled position, the main distributor 307 puts the annular chamber of the cylinder 202 in communication with the hydraulic pump 101 and the full chamber with the tank 102. To control the main distributor 307, and as shown in [Fig.4], the main housing 300 is provided with an electronic card 308 provided with a processor 309 to generate electrical commands G and D to selectively place the main distributor 307 in one or other of its controlled positions, and thus control the latter. The processor 309 is in relation with a console 310, here placed directly on the main housing 300, but which could be remote.

[0029] The auxiliary box 301 comprises an electronic card 311 which is connected to the electronic card 308 of the main box 300 by a communication cable 312, for example a CAN bus. However, this communication could be carried out wirelessly, by radio signal for example. The main box 300 finally comprises a power cord 313 for its electrical power supply by an electrical power source of the tractor 100.

[0030] The console 310 here includes a general switch 314 for activating the device of the invention and a diode 315 which lights up when the device is activated. The console 310 comprises two buttons BG, BD referenced 316, 317, associated with a manual / automatic mode selector 318.

[0031] The auxiliary housing 301 comprises a first inclination sensor, in this case an inclinometer 319 (for example, an accelerometer) capable of measuring the inclination a of the sprayer 200 relative to the vertical V, while the main housing 300 comprises a second inclination sensor, in this case an inclinometer 320 (for example, an accelerometer) capable of measuring the inclination a of the tractor 100 relative to the vertical V.

[0032] The operation of the device of the invention is as follows. After activating the device using the main switch 314, the device operates by default in the manual or automatic mode in which it was when it was deactivated. In the manual mode, the main distributor 307 is maintained by default in its central position, which has the effect of locking the cylinder 202 in position, and therefore of locking the angular position of the sprayer 200 relative to the tractor 100. The driver presses the buttons BG / BD referenced 316, 317 to respectively generate electrical orders G and D which move the main distributor 307 to one of its controlled positions to cause the extension or retraction of the cylinder 202, and, therefore, a modification of the inclination of the sprayer 200.If the driver presses the mode selector 318 to select the automatic mode, control means are then mobilized, in this case the processor 309 implementing a program by which the value of the inclination a of the sprayer 200 as measured by the inclinometer 319 of the auxiliary box 301 at the time of activation of the automatic mode is stored, and by which this value thus stored is used as reference setpoint a to control the inclination a of the sprayer 200 to the reference setpoint a, by generating electrical orders L / R to the main distributor 307 as required. While the automatic mode is activated, the driver has the ability to modify the reference setpoint a by pressing the buttons BG / BD referenced 316, 317 to move it in one direction or the other. Thus, the buttons BG / BD have a dual function.

[0033] According to a particular aspect of the invention, the main housing is here equipped with a normally open shut-off valve 321, interposed between the inlet port 302 and the outlet port 306. When electrical orders G or D are generated, the valve 321 is commanded to close in order to prohibit any flow of fluid to the tractor piano and thus reserve all the flow for the actuation of the cylinder 202, so that the latter is served as a priority before the other accessories possibly supplied via the distributor ramp or tractor piano 100. This shut-off valve 321 is optional and can be omitted, if no other tool is provided to be used during the use of the device of the invention. In this case, the port 306 for supplying the vehicle's distributor ramp will also be omitted.

[0034] According to another particular aspect of the invention, the console 310 comprises a parking mode selector 322 by which the processor 309 implements a program to return the sprayer 200 to a predetermined angular parking position y, preferably stored in a memory 323 carried by the electronic card 311 of the auxiliary box 301, for example an angular position in which the mast of the sprayer 200 extends along a plane of symmetry of the tractor 100. To do this, the processor 309 calculates the difference y=a-[3 between the inclination a of the sprayer 200 measured by the accelerometer 319 of the auxiliary box 301 and the inclination [3 of the tractor 100 measured by the accelerometer 320 of the main box 300. This difference y is an estimate of the angular position of the sprayer 200 relative to the tractor 100.The processor 309 generates electrical L / R commands as needed to return the angular position y of the sprayer 200 to the predetermined parking angular position y. This action is performed when the driver presses the parking mode selector 322, after switching to manual mode.

[0035] According to another particular aspect of the invention, the parking mode selector 322 can be actuated by the user while the main box 300 operates in automatic mode to reverse the sign of the reference setpoint a, after the driver has made a half-turn at the end of the trellising, to automatically adjust the tool to an inclination of opposite sign taking into account the fact that the slope seen by the tractor on its trajectory has changed direction at the end of the half-turn.

[0036] According to yet another particular aspect of the invention, the console 310 comprises two additional buttons FG and FD referenced 324, 325, operable for the acquisition and storage of extreme angular positions of the sprayer 200. To do this, with the tractor immobilized, the driver brings the sprayer 200 in manual mode using the button BG 316 to an extreme angular position corresponding to a position very close to an end of travel of the cylinder 202. Then pressing the corresponding button FG 324, the processor 309 calculates the difference y=a-[3 between the inclination a of the sprayer 200 and the inclination [3 of the tractor 100 at the time of pressing the button FG and stores this difference in the memory 323 of the auxiliary box.In the same way, the driver brings the sprayer 200 in manual mode to an extreme angular position close to the other end of travel of the cylinder 202 by using the button BD 317, position in which the cylinder 202 is brought almost to the stop, without however reaching it. Then pressing the corresponding button FD 325, the processor 309 calculates the difference y=a-[3 between the inclination a of the sprayer 200 and the inclination [3 of the tractor 100 at the time of pressing the button FD and stores this difference in the memory 323 of the auxiliary box. The acquisition . of the end-of-travel angular positions allows the processor 309 to check at any time whether the angular position taken by the sprayer 200 during its various movements remains between the two angular positions thus memorized, and cuts off any electrical L / R order causing the sprayer 200 to exceed one or other of the end-of-travel angular positions thus acquired.

[0037] According to another particular aspect of the invention, the main housing 300 is equipped with a geolocation module 326, for example of the GPS type, so that the processor 309 can associate inclinations a,[3 and angular positions y of the tool with a position of the tractor 100 on the ground, and store this data in a memory 327. This data makes it possible in particular to reconstruct a map of the slopes and overhangs of the ground, but also a map of the orientation of the plants relative to the ground, if the driver has taken the precaution of keeping the tool parallel to the plants during the movement of the tractor 100.

[0038] Of course, the main box 300 may be provided with all conventional means of remote communication (Bluetooth, Wifi, etc.) for its connection to a computer or tablet or for its communication with the auxiliary box.

[0039] The main box 300 may remain permanently on the tractor, while each tool that the tractor is likely to carry may be equipped with its own permanently mounted auxiliary box. It will then be sufficient to connect the two boxes (by cable 312, or by any other means of remote communication) for the device of the invention to be operational. Preferably, the memory 323 of the auxiliary box 301 is a permanent memory, so that the end-of-travel angular positions are established once and for all and remain stored in the auxiliary box permanently mounted on the tool. The same applies to the predetermined angular parking position y.

[0040] It should be noted that some tractors are already equipped with a main hydraulic power distributor and an associated valve. For these vehicles, and according to an alternative embodiment of the invention illustrated in [Fig. 5], the main box 300' no longer includes any of the hydraulic equipment illustrated in [Fig. 3], and therefore no longer includes any hydraulic ports. It retains the console 310 and all the electronic equipment as illustrated in [Fig. 4]. It is however provided with two electrical outputs 328', 329' adapted to deliver the electrical signals G and D to the main power distributor equipping the vehicle. Optionally, the main box 310' includes an auxiliary electrical output 330' carrying an electrical signal producing the logical combination G OR D, to control a shut-off valve equipping the vehicle.The 310' main box works exactly like the 310 main box, except that it now controls external hydraulic equipment.

[0041] The invention is not limited to what has just been described, but on the contrary encompasses any variant falling within the scope defined by the claims.

[0042] In particular, although here the tool illustrated is a sprayer with a double spray bar, the invention applies to any tilting tool adaptable to the tractor, such as a brush cutter, a hedge trimmer, a trimmer, a pre-pruner, etc.

[0043] Although here the power source is a hydraulic source and the distributors illustrated are hydraulic distributors, another type of power could naturally be used, such as electrical power. The distributors will then be electrical equivalents responsible for operating the electric actuator in one direction or the other, and the stop valves will be replaced by controlled switches. The main box of the invention is then adapted to generate L / R orders to control these electrical power distributors.

[0044] Although here the console is a set of buttons and selectors grouped on the back of the main housing, the console can be replaced by a touch screen carried by the housing. It can also be remote from the main housing with a wired or remote type connection, for example taking the form of a touch console on the screen of a telephone or a tablet.

Claims

Claims

1.

2.

3. Device for managing the inclination of a tool (200) pivotally mounted on a vehicle (100) or on a trailer coupled to the vehicle, the vehicle being provided with a power source (101) for supplying at least one actuator (202) adapted to adjust the inclination (a) of the tool, characterized in that it comprises: a main housing (300; 300') intended to be arranged on the vehicle and adapted to control a power distributor (307) connectable to the power source of the vehicle to bring the power to the actuator so that the latter selectively tilts the tool in one direction or the other; an auxiliary housing (301) intended to be arranged on the tool and comprising a first inclination sensor (319) adapted to measure an inclination (a) of the tool relative to a fixed reference, for example the vertical; the main and auxiliary boxes comprising communication means (312) for at least transmitting the measurement of the inclination (a) from the auxiliary box to the main box, the device being adapted to operate according to various operating modes including: a manual mode for which the main housing is provided with two controls (316, 317) operable by the driver to control the power distributor to cause the tool to tilt in one direction or the other at will; an automatic mode for which the main housing is provided with servo means (309, 319) to control the power distributor so as to control the tool tilt (a) measured by the first sensor to a reference tilt (a) acquired when the automatic mode is activated. Device according to claim 1, wherein the same controls (316,317) operable by the driver to control the power distributor (307) in manual mode are operable in automatic mode to modify the reference inclination (a) of the tool. Device according to claim 1, wherein the main housing (300;300') is provided with a second adapted tilt sensor (320) to measure an inclination (|3) of the vehicle (100) relative to a fixed reference, for example the vertical.

4. Device according to claim 3, adapted to operate according to a parking mode in which the power distributor (307) is controlled to return an angular position (y) of the tool relative to the vehicle, estimated by difference between an inclination of the tool (a) measured by the first inclination sensor and an inclination of the vehicle (|3) measured by the second inclination sensor, to a predetermined angular parking position (y).

5. Device according to claim 4, wherein the predetermined angular parking position (y) is recorded in a memory (323) of the auxiliary housing (301).

6. Device according to claim 3, comprising means for acquiring (324,325) extreme angular positions of the tool (200) comprising two additional buttons (324,325), each actuable to record an angular position of the tool once the latter has been brought into an angular position in which the actuator (202) is close to an end-of-travel position.

7. Device according to claim 6, in which the extreme angular positions of the tool (200) are recorded in a memory (323) of the auxiliary housing (301).

8. Device according to claim 1, in which the main housing (300') comprises L / R electrical outputs (328', 329') for controlling the power distributor (307) and, where appropriate, a L OR R electrical output (330') for controlling a stop valve (321) blocking transmission of power to hydraulic members other than the distributor when the latter is controlled.

9. Device according to claim 1, wherein the main housing integrates the power distributor (307) and comprises dedicated hydraulic ports (302,303,304,305) for its hydraulic connection to a hydraulic power source (101), to a hydraulic reservoir (102), and to the hydraulic actuator (202).

10. A method of using a device according to any one of the preceding claims, in which a main housing (300; 300') is fixed to the vehicle, and respective auxiliary housings (301) are fixed to each of the tools capable of being carried by the vehicle or by a trailer coupled to the vehicle, the device being made operational by placing the main housing and the auxiliary housing fixed to the vehicle in communication with each other. the tool carried by the vehicle.

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