Method for controlling an agricultural machine and such an agricultural machine

Abstract

Method for controlling an agricultural machine and such an agricultural machine The present invention relates to a method for controlling an agricultural machine, the agricultural machine comprising two folding / unfolding side sections (1a, 1b), at least two main wheels (2a, 2b), namely at least a first wheel (2a) located on the side of one of the side sections (1a) and at least a second wheel (2b) located on the side of the other side section (1b), and a control unit for controlling the unfolding / folding and a device for controlling the unfolding / folding comprising a control block for controlling the control unit and a measuring system connected to the control block and enabling the load (P1, P2) on the first and second transport wheels (2a, 2b) to be measured.It consists, before or during an unfolding / folding command, of measuring the load (P1) on the first wheel (2a) to obtain at least one initial measurement and the load (P2) on the second wheel (2b) to obtain at least one additional measurement, comparing the initial measurement with the additional measurement, and then, based on the result of the comparison, controlling the control unit to allow the unfolding / folding of one or both of the lateral working units (1a, 1b) and / or to block, or limit the speed of, the unfolding / folding of one or both of the lateral working units (1a, 1b) to prevent the risk of the agricultural machine tipping over. It also applies to such an agricultural machine. Figure to be published with the abbreviation: Fig. 3.

Description

Title of the invention: Method for controlling an agricultural machine and such an agricultural machine

[0001] The present invention relates to the field of machinery used in agricultural work, more particularly agricultural machinery intended for tilling the soil, sowing, or haymaking. Its object is a method for controlling an agricultural machine and such an agricultural machine.

[0002] The present invention relates more particularly to agricultural machines having a large working width and which are foldable to meet road transport standards.

[0003] The consolidation of farms, combined with the increased technical specifications of tractors, allows for the use of increasingly wider agricultural machinery. These wide-width agricultural machines, intended for purposes such as tillage or soil treatment, have a multi-section chassis. Such agricultural machines have a central section, part of which forms a chassis that is generally trailed and equipped with an axle consisting of two main wheels that support the machine in its folded position during transport. Such a wide-width agricultural machine typically has several sections connected to each other by joints that ensure it follows the contours of the ground when working in uneven fields. The joints also serve to fold the machine for transport.One such agricultural machine is, for example, a stubble cultivator, such as the one marketed by Kuhn under the name "OPTIMER". In one particular version, specifically a six- or nine-meter-wide version, the cultivator has three sections: a central section and two lateral sections. In another version wider than nine meters, such as a twelve-meter-wide version, the cultivator also has a central section and two lateral sections, but to comply with road transport regulations, each lateral section is made up of several sections, generally two: a middle section and an end section. In this latter twelve-meter version, the cultivator therefore has five sections.

[0004] During operation, the agricultural machine is deployed to work a large width of land. When the machine is deployed, the central section and the side sections are arranged side by side across the working width. To comply with road clearance regulations and travel on roads, the side sections are folded and positioned almost vertically to reduce the overall size. The machine's transverse section is used for transport. During transport, the side sections are brought over the central section. Each side section may comprise several sections, including a midsection and at least one end section hinged to the midsection. The end section folds or unfolds simultaneously with, or at different times from, the midsection.

[0005] Each side section is equipped with one or more types of working tools, for example: shares, discs, rollers, mounted side by side or one behind the other. Each side section generally also includes at least one secondary wheel used to adjust the working depth of the tools and to fully raise them off the ground for headland maneuvers. The central section may be equipped with tools (attached to its frame) or may not have such tools. Depending on the type of tools and the width of the machine, the weight of each side section can vary and may affect the machine's stability during the unfolding and folding phases. To maintain machine stability, one solution is to ensure symmetrical unfolding / folding of the side sections when the machine is resting on relatively flat ground.However, in this case, stability may be affected due to an accumulation of soil or vegetation on one of the side sections, creating a load difference between the side sections and, consequently, a risk of the machine tipping over.

[0006] On sloping ground (transverse slope), symmetrical unfolding is not recommended because of the risk of tipping caused by the wheel located below which then supports more weight than the one located at a higher level due to the inclination of the transverse slope.

[0007] The present invention aims to overcome these drawbacks by proposing a method for controlling an agricultural machine, and such an agricultural machine enabling its implementation, allowing the agricultural machine to tip over during folding / unfolding, depending on the variations in load supported by the main wheels in contact with the ground.

[0008] The method for controlling, according to the present invention, an agricultural machine comprising, on the one hand, two side sections that fold in a transport position and unfold in a working position, at least two main wheels, namely at least one first main wheel located on the side of one of the side sections and at least one second main wheel located on the side of the other side section, and a control unit for controlling the unfolding / folding of each side section, and, on the other hand, a device for controlling the unfolding / folding comprising a control block for controlling the control unit and a measuring system connected to the control block and enabling the load on the at least two main wheels to be measured, is characterized in that it consists of:

[0009] -before or during an unfolding / folding command, to measure, using the measuring system, the load on the first main wheel to obtain at least a first measurement and the load on the second main wheel to obtain at least a second measurement,

[0010] - to compare, using the control block, the first measurement with the second measurement, then, depending on the result of the comparison, to control the control unit so as to allow the unfolding / folding of one and / or the other of the side sections and / or to block the, or limit the speed of, unfolding / folding of one and / or the other of the side sections to avoid a risk of tipping the agricultural machine.

[0011] The agricultural machine, according to the present invention, which comprises two side sections that fold in a transport position and unfold in a working position, at least two main wheels, namely a first main wheel located on the side of one of the side sections and a second main wheel located on the side of the other side section, and a control unit for controlling the unfolding / folding of each side section, is characterized in that it further comprises an unfolding / folding control device comprising a control block for controlling the control unit and a measuring system connected to the control block and enabling the load on the at least two main wheels to be measured.namely on the first main wheel to obtain at least one first measurement and on the second main wheel to obtain at least one second measurement, and in that the control block is configured to be able to compare the first measurement with the second measurement and, depending on the result of the comparison, to be able to control the control unit so as to allow the unfolding / folding of one and / or the other of the side sections and / or to block, or limit the speed of, unfolding / folding of one and / or the other of the side sections to avoid a risk of tipping of the agricultural machine.

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

[0013] [Fig-1] is a top view of an agricultural machine according to the present invention in a deployed configuration of the side sections,

[0014] [Fig.2] is a front view of the agricultural machine shown in [Fig.1], in a configuration where the agricultural machine rests on sloping ground and the side sections are folded into the transport position.

[0015] [Fig.3] shows the machine shown in [Fig.2] during unfolding / opening from one of the side sections,

[0016] [Fig.4] is a front view of another agricultural machine resting on a ho ground rizontal according to the present invention in a configuration where one of the sections The side panels are being unfolded / folded.

[0017] [Fig. 5] is a front view of a different agricultural machine according to the present invention in a configuration during unfolding / folding of one of the side sections, the end section of which unfolds simultaneously with the middle section,

[0018] [Fig. 6] represents a functional diagram of an agricultural machine according to the present invention related to a tractor,

[0019] [Fig.7] represents in particular the control and command circuit of a machine agricultural according to the present invention.

[0020] The figures show an agricultural machine according to the present invention comprising at least two lateral sections la, 1b articulated together. The lateral sections la, 1b can occupy two main positions: a working position and a transport position, particularly for road transport. In the working position, the lateral sections la, 1b are substantially aligned, and in the transport position, the lateral sections la, 1b extend vertically. The relative movements between the sections are achieved by means of hydraulic cylinders. Each section is designed to receive tools that may consist of tines, discs, shares, seeding elements, or other types. Depending on the tools it carries, such an agricultural machine can be used for tillage, sowing, or haymaking.The chassis of such a multi-section machine is generally towed and is equipped with an axle consisting of two main wheels that support the machine in its folded position during transport. The two main wheels are positioned so as to advantageously extend within the limits of the road transport dimensions. The structure of the agricultural machine according to the invention is advantageously symmetrical so that the tractive effort is distributed evenly.

[0021] Preferably, the agricultural machine may include at least one axle having a transverse axle 20 and at least two main wheels 2a, 2b, namely the first main wheel 2a and the second main wheel 2b, each having a hub 21.

[0022] Figures 1 to 3 and 5 represent an agricultural machine, according to the present invention, for tillage S or soil treatment S, with a large working width. It can be seen in these figures that the agricultural machine can comprise five sections, namely a central section 1 and two lateral sections 1a, 1b. Each lateral section 1a, 1b can comprise several sections, in particular a median section 10a, 10b and an end section 1a, 11b. Figure 1 shows the agricultural machine in a top view in its unfolded working position. The median sections 10a, 10b are articulated on either side of the central section 1 and on a chassis-forming portion thereof, respectively, by joints R. The end sections 1a, 11b are articulated on the median sections 10a, 10b, on their outer edges, respectively. by RI joints. The central section of the agricultural machine is the section that is directly connected, by its chassis-forming part, to the tractor-type vehicle (not shown). The chassis-forming part of the central section carries the main wheels 2a, 2b. "Main wheels 2a, 2b" are understood to be wheels that serve for the movement of the agricultural machine both during road transport and during machine operation. They advantageously extend between the rows of discs and the roller. At least one main wheel 2a extends on one side of the longitudinal axis X or the longitudinal median plane of the agricultural machine, and at least one main wheel 2b extends on the other side. The longitudinal median plane of the agricultural machine advantageously passes through the longitudinal axis X. In the example shown in [Fig.[l] The agricultural machine is equipped, along the direction of travel A and across its entire width, with two rows of discs and a roller. The two independent rows of discs provide stubble cultivation, and the double roller levels the soil. Each side section la, 1b can be equipped with one or more secondary wheels 2c used to adjust the working depth of the implements and to fully raise them off the ground S for headland turns. Unlike the main wheels 2a, 2b, these secondary wheels 2c are not used during transport; that is, they do not remain in contact with the ground during transport. During transport, these secondary wheels 2c are either folded with the side sections la, 1b, or retracted. In the example of the agricultural machine shown in [Fig. 1], the secondary wheels 2c equipping the side sections la, 1b extend in front of the disc rows.Alternatively, the secondary wheels 2c can extend between the implements or to the rear. Preferably, each side section 1a, 1b carries a secondary wheel 2c. Preferably, each secondary wheel 2c is height-adjustable, for example, by means of a hydraulic cylinder. The joints R, and where applicable RI, allow the agricultural machine to be folded into transport mode and unfolded (or deployed) into working mode, and also allow for ground following when the agricultural machine is working in uneven fields. Depending on the implements fitted to the agricultural machine, it is possible for the main wheels 2a, 2b to be raised during operation.

[0023] According to the invention, the agricultural machine comprises at least two side sections la, 1b foldable in a transport position and unfoldable in a working position, at least two main wheels 2a, 2b, namely a first main wheel 2a located on the side of one of the side sections la and a second main wheel 2b located on the side of the other side section 1b and a control unit (or block) 3 for controlling the unfolding / folding of each side section la, 1b. In a specific embodiment, the central section le of the agricultural machine may be without tools.

[0024] Figure 2 shows a front view of the agricultural machine in a more The compact design corresponds to the road transport position. During transport, the side sections 1a, 1b are brought over the central section 1e. The end sections 1a, 11b pivot approximately 180° relative to the midsections 10a, 10b, and then the midsections 10a, 10b pivot approximately 90° relative to the central section 1e. Thus, the tools of the end side sections 1a, 11b are positioned in the space between the midsections 10a, 10b. The two main wheels 2a, 2b belonging to the central section 1e rest on the ground S in this transport position and extend over the central section 1e such that at least one of the main wheels 2a, 2b is positioned at least partially below the respective midsection 10a, 10b. In transport position, the side sections la, 1b are folded almost vertically.At least one main wheel 2a, 2b is positioned on each side of the vertical median plane of the agricultural machine. Note that the agricultural machine shown in [Fig. 2] rests on a sloping ground S. [Fig. 3] shows the agricultural machine in a position intermediate to that of Figures 1 and 2; one of the lateral sections 1a, 1b is being folded or unfolded. [Fig. 2] shows the agricultural machine resting on a sloping ground S.

[0025] The agricultural machine shown in [Fig. 4] is a folding agricultural machine with three sections: a central section 1a and two lateral sections 1a, 1b. Each lateral section 1a, 1b forms a single section. The central section 1a may be without tools, as can be seen in [Fig. 4], or, in a form not shown, equipped with tools. Such an agricultural machine has a working width of four to nine meters, for example, approximately five meters. It complies with road transport regulations. Figures 1 to 3 and 5 illustrate a version of the folding agricultural machine with five sections: a central section 1a, two middle sections 10a, 10b, and two end sections 11a, 11b.Each middle section 10a, 10b and each end section 11a, 11b together form a side section 1a, 1b and can be folded relative to each other to allow the agricultural machine to comply with road transport regulations (in transport mode). Such an agricultural machine with five sections provides a working width of over nine meters, specifically approximately twelve meters. It is a very wide agricultural machine. If we compare these two versions of the folding agricultural machine, the side sections 1a, 1b of the three-section version ([Fig. 4]) are therefore, in a way, lacking the end sections of the five-section version (Figures 1 to 3, 5).

[0026] Whether in the three-section or five-section version, when the central section is without tools ([Fig. 4]), the joints R allowing the lateral extensions to pivot can be closer to the longitudinal axis X of the agricultural machine than when the central section is equipped with tools (Figures 1 to 3 and 5). In addition, when the central section is equipped with tools (Figures 1 to 3 and 5), the joints R can each be closer to / located on an axis parallel to the longitudinal axis X and passing through the main wheel 2a, 2b (located on the same side) than in the case where the central section is without tools ([Fig.4]).

[0027] The multi-section agricultural machine shown in Figures 1 to 3 is configured to be towed by a tractor-type vehicle (not shown). For this purpose, it includes a hitch element AT. The hitch element AT is connected to the central section le of the agricultural machine. The central section le extends transversely on either side of the longitudinal axis X and is centered with respect to the vertical median plane of the agricultural machine. The hitch element AT shown in [Fig. 1] is in the form of a drawbar equipped at the front with a towing ring adapted for a ball hitch. According to the figures, the chassis has a transverse axle 20 with two main wheels 2a, 2b which provide ground support S during transport of the machine and are used to adjust the working depth of the implements during operation.The first main wheel 2a and the second main wheel 2b correspond respectively to the right wheel and the left wheel, viewed in the direction of travel A of the agricultural machine shown in [Fig. 1]. If we consider the front view of the agricultural machine as shown in Figures 2 to 4, the right wheel, viewed in the direction of travel A, is the first main wheel 2a and the left wheel corresponds to the second main wheel 2b.

[0028] In the embodiment shown in [Fig. 4], the agricultural machine rests on a horizontal ground S and comprises two side sections 1a, 1b hinged to a central section 1a without tools. The front part of the hitch element AT is adapted to be hitched to the two lower arms of the tractor vehicle. One of the side sections 1b is being folded while the other side section 1a is folded, substantially vertically. For convenience, the hub 21, the tire, and the rim of the left wheel are not shown in [Fig. 4], only the circumference of the left wheel is shown. It can be seen that the side section 1a extends substantially above the left wheel in its folded position. In the transport position, the side sections 1a, 1b with the tools extend within the width of the main wheels 2a, 2b. As seen in [Fig.4], the side sections a, 1b do not support secondary wheels 2c.

[0029] It is understood that each lateral section la, 1b can consist of a single section ([Fig.4]) or of several section(s), for example two sections (figures 1 to 3) and that, in the case where the lateral section la, 1b consists of several sections, it includes a median section 10a, 10b and at least one end section lia, 11b. The end section 11a, 11b can be moved relative to the midsection 10a, 10b between a folded and an unfolded position, for example by being pivotally mounted on the midsection 10a, 10b or, if necessary (more than two end sections 11a, 11b) on another end section 11a, 11b. In the folded position, the end section 11a, 11b folds down against the midsection 10a, 10b (Figures 2, 3, 5), and the end section 11a, 11b can preferably pivot 180°. In the unfolded position ([Fig. 1]), the end section 11a, 11b is positioned in line with the midsection 10a, 10b. The central section and the lateral sections are then aligned and in a working configuration.In the case of a lateral section 1a, 1b in several sections, the folding / unfolding of the lateral section 1a, 1b includes the folding / unfolding operation of the midsection 10a, 10b and, where applicable, the folding / unfolding operation of the end section(s) 1a, 11b. The unfolding or folding of the midsection 10a, 10b and the end section 1a, 11b can be arranged randomly or in a coordinated manner. Preferably, the end section 1a, 11b is unfolded or folded at the same time as the midsection 10a, 10b (Figures 5, 7) so as to allow for faster unfolding / folding of the lateral section 1a, 1b.

[0030] As can be seen in Figures 1 to 3, each section of the agricultural machine constitutes a load-bearing structure for the various tools that will perform a task. In [Fig. 5], only the side sections 1a and 1b constitute such a tool-bearing structure, the central section 1a being tool-free. It is understood that, depending on the type of agricultural machine according to the present invention, the central section 1a may include tools (Figures 1 to 3, 5) or be tool-free ([Fig. 4]). The central section 1a rests on the ground S by means of the main wheels 2a and 2b. Each side section 1a and 1b can then be moved relative to the central section 1a, in particular by being pivotally mounted, at least between the transport position and the working position.Each side section la, 1b is folded (or folded, closed, or raised) when moved from the working position to the transport position and unfolded (or deployed or opened) when moved from the transport position to the working position. Each side section la, 1b pivots about the central section le. The transverse axis 20 of the axle (or each axle) is supported by the central section le, i.e., by the chassis-forming part of the central section le. Each side section la, 1b can be mounted to pivot by being articulated about a pivot of the joint R parallel (the pivot) to the longitudinal axis X of the agricultural machine or to the direction of travel A of the agricultural machine. The pivoting, preferably by about 90°, of each side section la, 1b is thus achieved about the pivot of the respective joint R.

[0031] The agricultural machine can rest by its main wheels 2a, 2b on a ground S ho vertical (figures 1 and 4) or sloping (figures 2, 3, 5), i.e., inclined transversely. In the folded position for transport or while waiting to be unfolded, the lateral section la, 1b, where applicable its median section 10a, 10b, extends substantially vertically (horizontal ground S), or substantially perpendicularly (horizontal or sloping ground S), with respect to ground S. In the unfolded position for work, the lateral section la, 1b extends substantially horizontally (horizontal ground S) or substantially parallel (horizontal or sloping ground S) with respect to ground S.

[0032] Referring again to Figures 1 to 4, it can be seen that the agricultural machine includes at least one main actuator 7a, 7b to drive / actuate the movement of each lateral section la, 1b (Figures 1 to 7). At least one main actuator 7a can then drive the pivoting of the first lateral section la, and at least one main actuator 7b can then drive the movement of the second lateral section 1b. In the case of a lateral section la, 1b with several sections 10a, 10b, 1a1a, 11b, the agricultural machine further includes at least one secondary actuator 8a, 8b to drive the pivoting of the end section 1la, 1la relative to the middle section 10a, 10b. Preferably, each actuator 7a, 7b, 8a, 8b (main or secondary) is a double-acting cylinder. Such a double-acting cylinder classically comprises a rod having at one of its ends a piston movable in the body of the cylinder.The piston delimits two chambers of variable volume, namely a small chamber and a large chamber (see in particular [Fig. 7]). Advantageously, two actuators 7a, 7b can be used to control the folding or unfolding of the side sections when they support several types of tools one after the other. Thus, depending on the weight of the side section la, 1b, one or two actuators 7a, 7b will be used for the folding / unfolding operation. The hydraulic diagram in [Fig. 7] shows, for example, the use of two actuators 7a, 7b per side allowing the folding of the respective side sections la, 1b.

[0033] In a preferred configuration, each main actuator 7a, 7b of the double-acting cylinder type can be articulated on one side to the lateral section la, 1b and on the other side to the central section le of the agricultural machine. Each secondary actuator 8a, 8b of the double-acting cylinder type can be articulated on one side to the end section lia, 11b and on the other side to the middle section of the lateral section la, 1b. The arrangement and operation of the main actuators 7a, 7b can be defined such that the retraction of the rod of the main cylinder 7a, 7b can actuate the folding of the lateral section la, 1b and the extension of the rod of the main cylinder 7a, 7b can actuate the unfolding of the lateral section la, 1b. If necessary, the arrangement and operation of the secondary actuators 8a, 8b can be defined so that the retraction of the rod of the secondary cylinder 8a, 8b can actuate the folding of the end section lia, 11b and that the output of the rod of the secondary cylinder 8a, 8b can actuate the unfolding of the end section 1 la, 11b.

[0034] Furthermore, it is understood that a load PI, P2 is exerted on each main wheel 2a, 2b of the agricultural machine and that this load PI, P2 can vary depending on different factors and / or situations. The load PI, P2 is the weight supported by the main wheel 2a, 2b (or, in other words, the force on the main wheel 2a, 2b). Thus, the load PI exerted on the first main wheel 2a can be identical (or substantially identical) ([Fig. 1]) or different (Figures 2 to 5) from the load P2 exerted on the second main wheel 2b. The load PI, P2 is represented in the relevant attached figures in vector form by a downward-pointing arrow, the length of the vector depending on the value of the load (the weight) PI, P2. This difference or equivalence can be due to different factors and / or situations:

[0035] -case 1 (not shown in the figures): the agricultural machine is on a horizontal ground S with an equivalent load PI, P2 on the first and second main wheels 2a, 2b,

[0036] -case 2 (figures 2, 3 and 5): the agricultural machine is on sloping ground, i.e. with a transverse slope (transversely to its longitudinal axis X), with a non-equivalent load PI, P2 on the first and second main wheels 2a, 2b, the load PI exerted on the first main wheel 2a (below) being greater than the load P2 exerted on the second main wheel 2b (wheel located at a higher level),

[0037] - Case 3 ([Fig. 4]): The agricultural machine is on a horizontal ground S, with a non-equivalent load PI, P2 on the first and second main wheels 2a, 2b, for example because, as can be seen in [Fig. 4], one of the lateral sections 1, for example the first lateral section 1a, has or is clogged with soil T. In this case, the load PI acting on the first main wheel 2a is greater than the load P2 acting on the second main wheel 2b.

[0038] - Case 4: The agricultural machine is on a sloping ground S, with a load PI, P2 on the first and second main wheels 2a, 2b inverse to the slope of the ground S (position of the loads PI, P2 inverse of case 2), that is to say, the load PI acting on the first main wheel 2a (below) is less than the load P2 acting on the second main wheel 2b (wheel located at a higher level). This situation may be due, for example, to a significant amount of soil considerably weighing down the second lateral section 1b.

[0039] These load differences on the main wheels 2a, 2b can lead to a risk of tipping of the agricultural machine during a phase of unfolding or folding of the side sections la, 1b.

[0040] To remedy this problem in particular, in accordance with the present invention, the agricultural machine further includes a folding / unfolding control device comprising a control block 4 for controlling the control unit 3 and a measuring system connected to the control block 4 and enabling the measurement of the load PI, P2 on at least two main wheels 2a, 2b, namely the load PI on the first main wheel 2a (or where appropriate on at least one of the first main wheels 2a) to obtain at least a first measurement and the load P2 at least on the second main wheel 2b (or where appropriate on at least one of the second main wheels 2a) to obtain at least a second measurement.In addition, the control block 4 is configured to be able to compare the first measurement with the second measurement and, depending on the result of the comparison, to be able to control the control unit 3 so as to allow the unfolding / folding of one and / or the other of the side sections la, 1b and / or to block the, or limit the speed of, unfolding / folding of one and / or the other of the side sections la, 1b to avoid a risk of tipping of the agricultural machine.

[0041] The control unit 3 therefore receives instructions from the control block 4 which is configured to be able to compare the load PI, P2 measured on the first and second main wheel(s) 2a, 2b and to be able to control at least one and / or the other of the main actuators 7a, 7b, and where applicable secondary 8a, 8b, depending on the result of the comparison.

[0042] Preferably, the control block 4 performs the comparison at least before the unfolding / folding operation, and possibly during the unfolding / folding operation. For maximum safety, it is important to measure the loads on the main wheels 2a and 2b and to perform a comparison beforehand of the unfolding / folding phase of the agricultural machine in several sections. Preferably, the measurements taken via sensors 5a and 5b are performed when the agricultural machine is stationary. The reliability of the measurements is higher when the agricultural machine is static. However, the unfolding / folding control device is also functional when the agricultural machine is moving or not completely stopped.

[0043] In a preferred embodiment, the measuring system comprises at least two measuring sensors 5a, 5b, namely at least one first sensor 5a suitable for measuring the load P1 on the first main wheel 2a and at least one second sensor 5b suitable for measuring the load P2 on the second main wheel 2b. Preferably, each sensor 5a, 5b can be a force sensor, more preferably a force sensor comprising at least one strain gauge. Preferably, each sensor 5a is located on the transverse axis 20 near the hub 21 of the corresponding first or second main wheel 2a, 2b or at a point located on the hub 21 of the corresponding first or second main wheel 2a, 2b. Figures 2, 4 and 5 schematically show the locations of the Sensors 5a, 5b. To further enhance the comparison of the two measurements, sensors 5a and 5b are arranged symmetrically with respect to the longitudinal axis X of the agricultural machine. Specifically, the first sensor 5a is located on the transverse axis 20 near the hub 21 of the first main wheel 2a, or at a point on the hub 21 of the first main wheel 2a, and the second sensor 5a is located on the transverse axis 20 near the hub 21 of the second main wheel 2a, or at a point on the hub 21 of the second main wheel 2a. To further enhance the comparison of the two measurements, sensors 5a and 5b can be arranged symmetrically with respect to the longitudinal axis X of the agricultural machine.The measurement system therefore includes at least one sensor 5a, 5b configured to detect, directly or indirectly, the load applied to one of the main wheels 2a, 2b and at least one sensor 5b, 5a configured to detect, directly or indirectly, the load applied to the other of the main wheels 2b, 2a. The sensors 5a, 5b thus provide a weight indication of the associated lateral section 1a, 1b on which the main wheel 2a, 2b is supported. In light of the above, the secondary wheels 2c, which are not in contact with the ground S during the folding / unfolding phases of the agricultural machine, are not equipped with such sensors.

[0044] In an embodiment not shown, the agricultural machine may include at least one bogie having at least two axles connected to each other by linkage elements. In this embodiment, each sensor 5a, 5b may be arranged on one of the linkage elements connecting the axles.

[0045] The tractor vehicle to which the agricultural machine according to the present invention can be attached and hydraulically connected may include a distributor 6, as is generally the case in this type of vehicle (Figures 6 and 7). The function of this distributor 6 is to direct the pressurized fluid in the various circuits of the tractor and the agricultural machine attached to it. The control unit 3 may then be further connected to the distributor 6 so as to supply pressurized hydraulic fluid to the main actuators 7a, 7b, and, where applicable, the secondary actuators 8a, 8b, via the control unit 3 (Figures 6 and 7). The distributor 6 may be controlled by the user or automatically by electronic control.

[0046] The measurement operations by the measuring system and / or the measurement acquisition operations by the control block 4 and / or the processing operations, in particular comparison, by the control block 4 can be performed at a predetermined frequency or at any time as soon as an unfolding / folding command is issued by the user or automatically by a control electronic. For example, a comparison could be performed every second (1 Hz) or every half-second. In practice, since the unfolding speed of the side sections of The agricultural machine is quite fast; a suitable comparison frequency could be 10 Hz or higher. The control electronics can include a program to control folding / unfolding based on the machine's forward speed and position on the ground. The comparison frequency is appropriate for the technology.

[0047] Referring to [Fig. 7], it can be seen that the agricultural machine can include two supply circuits Cr, Cs for supplying pressurized fluid to double-acting cylinders, each forming one of the main actuators 7a, 7b, namely a Cr supply circuit for the small chamber of cylinders 7a, 7b and a Cs supply circuit for the large chamber of cylinders 7a, 7b. These two supply circuits Cr and Cs preferentially supply two cylinders 7a for actuation of the first lateral section 1a and two cylinders 7b for actuation of the second lateral section 1b. These two supply circuits Cr and Cs are selected by the distributor 6 (and therefore by the user or the control electronics that operate the distributor 6), i.e., depending on the state of the distributor 6, the pressurized fluid is directed to the Cr circuit or to the Cs circuit.It is understood that it is therefore the distributor 6 (and therefore the user) who selects whether to order the unfolding (for example here by the extension of the rod) or the folding (for example here by the retraction of the rod) of the lateral sections la, 1b. .

[0048] Still on [Fig. 7], it can be seen that the control unit 3 connected to the distributor 6 is configured to be able to direct the fluid to one and / or the other of the lateral sections la, 1b, that is to say to the two cylinders 7a of the first lateral section la and / or to the two cylinders 7b of the second lateral section 1b. It can be seen on this [Fig. 7] that the circuit is arranged so that the two cylinders 7a, 7b actuating each lateral section la, 1b are supplied at the same time and with the same flow rate. We can also see that the control unit 3 has two distributors 30, 31, namely a first distributor 30 to allow the supply of pressurized fluid to the two cylinders 7a actuating the first lateral section 1a and a second distributor 31 to allow the supply of pressurized fluid to the two cylinders 7b actuating the second lateral section 1b.Each distributor 30, 31 has a coil 300, 310 electrically connected to the control block 4. Each distributor 30, 31 is therefore controlled (electrically) by the control block 4. As can be seen in [Fig.7], each distributor 30, 31 can be a 4 / 2 spool valve, i.e. with four ports and two positions, namely a rest position (position illustrated in [Fig.7]) in which the coil 300, 310 of the distributor 30, 31 and the fluid passage are closed / blocked and a working position in which the coil 300, 310 is energized and the fluid passage is open.

[0049] The present invention may provide for other types of distributor 30, 31, for example Proportional distributors (with proportional control and a progressive spool) allow the fluid passage to open gradually, unlike the 4 / 2 spool distributors 30 and 31, which operate on an on / off basis. In the latter case (proportional distributor), the spool movement is proportional to the control signal (electrical signal emitted by the control unit 4). The control unit 4 connected to such a proportional distributor must therefore be adapted accordingly. This type of proportional distributor thus allows for a low or high flow rate in the Cr or Cs supply circuit, depending on the electrical control signal, and therefore for adjusting the extension / retraction speed (rod extension / retraction speed).

[0050] In a preferred embodiment, the control unit 4 is configured to determine the difference (in absolute value) between the first measurement and the second measurement and:

[0051] - in the case where the difference is the same as, or less than, a threshold value, for example a threshold value corresponding to a difference of the order of 5% to 15%, preferably of the order of 10%, between the first and second measurements, to control the control unit 3 so as to allow the unfolding / folding (or in other words: the unfolding / folding control) of the two side sections la, 1b,

[0052] - in the case where the difference is greater than the threshold value, to control the control unit 3 so as to allow the unfolding / folding (or in other words: the unfolding / folding control) of the side section la, 1b located on the side of the main wheel 2a, 2b on which the measured load PI, P2 is the lowest and to block the, or limit the speed of, unfolding / folding of the side section la, 1b located on the side of the main wheel 2a, 2b on which the PI charge, P2 measured is the most important.

[0053] According to the present invention, it is therefore always the lateral section la, 1b located on the side of the main wheel 2a, 2b where the load PI, P2 acting on the latter is less (compared to the load PI, P2 acting on the main wheel 2a, 2b located on the other side) that must be unfolded / folded first. Conversely, it is always the lateral section la, 1b where the load PI, P2 acting on the main wheel 2a, 2b is greater (compared to the load PI, P2 acting on the main wheel 2a, 2b located on the other side) that will be blocked or whose unfolding / folding speed will be limited.

[0054] The control block 4 may consist of an electronic board capable of managing the functions of the agricultural machine according to the present invention. It may include a processor and at least one memory storing a computer program comprising instructions for comparing the first and second load measurements PI, P2 performed by the measurement and control system, based on the result of the comparison, from the control unit 3. Where applicable, the memory or one of the memories may include the threshold value or several selectable threshold values.

[0055] Thus, for example, in cases 1 to 4 mentioned above, when placing an order with the distributor 6 to unfold or fold the side sections 1:

[0056] -in case 1 (horizontal ground): the control block 4 receives, in the form of electrical signals, the measurements from the sensors 5a, 5b representing an equivalent load PI, P2 on the first and second main wheels 2a, 2b and sends a supply order (electrical control signal) to the control unit 3 (to the distributors 30, 31) so that it (or they) controls with an identical flow rate the supply of pressurized fluid to the main cylinders 7a, 7b, and where applicable to the secondary cylinders 8a, 8b, of the two lateral sections la, 1b so as to allow the unfolding or folding of the latter (simultaneously).

[0057] - In case 2 (sloping ground): the control block 4 receives, in the form of electrical signals, measurements from sensors 5a, 5b representing a non-equivalent load PI, P2 on the first and second main wheels 2a, 2b, and in particular representing a load PI on the first main wheel 2a (below) greater than the load P2 on the second main wheel 2b (wheel located at a higher level), and sends a supply command (electrical control signal) to the control unit 3 (to the distributors 30, 31) so that it (these) controls the supply of pressurized fluid to the main cylinders 7a, 7b, and where applicable the secondary cylinders 8a, 8b, of the two lateral sections la, 1b in order to block or limit the unfolding / folding speed of the first lateral section la and to allow the unfolding / folding of the second lateral section 1b,

[0058] -in case 3 (horizontal ground): the control block 4 receives, in the form of electrical signals, the measurements from sensors 5a, 5b representing a non-equivalent load PI, P2 on the first and second main wheels 2a, 2b, in particular representing a load PI on the first main wheel 2a lower than the load P2 on the second main wheel 2b, and sends a supply order (electrical control signal) to the control unit 3 (to the distributors 30, 31) so that the latter (these) controls the supply of pressurized fluid to the main cylinders 7a, 7b, and where applicable the secondary cylinders 8a, 8b, of the two lateral sections la, 1b so as to block or limit the unfolding / folding speed of the second lateral section 1b and to allow the unfolding / folding of the first lateral section la,

[0059] -in case 4 (sloping ground): the control block 4 receives, in the form of electrical signals, the measurements from sensors 5a, 5b representing a non-equivalent load PI, P2 on the first and second main wheels 2a, 2b, in particular a load PI on the first main wheel 2a (below) lower than the load P2 on the second main wheel 2b (wheel located at a higher level), and sends a supply order (electrical control signal) to the control unit 3 (to the distributors 30, 31) so that the latter (these) controls the supply of pressurized fluid to the main cylinders 7a, 7b, and where applicable the secondary cylinders 8a, 8b, of the two lateral sections la, 1b so as to block or limit the unfolding / folding speed of the second lateral section 1b and to allow the unfolding / folding of the first lateral section la.

[0060] Thanks to the present invention, comparing the information provided by the sensors 5a, 5b located at the first main wheel 2a and at the second main wheel 2b using the control block 4 makes it possible to operate the machine independently of the reference frame, and therefore of the ground S, on which it rests. As soon as a load variation is detected on one of the main wheels 2a, 2b, the control unit 3 is able to limit or block the unfolding / folding of a lateral section la, 1b to prevent any risk of the machine tipping over. The control block 4 is configured to command the control unit 3 so as to unfold the lateral section la, 1b on the side of the main wheel 2a, 2b where the detected load is lower and to block the lateral section la, 1b on the side of the main wheel 2a, 2b where the detected load is higher.In this way, the risk of the agricultural machine tipping over is eliminated during the folding and / or unfolding maneuvers of the side sections la, 1b. .

[0061] It also relates to a method for controlling such an agricultural machine according to the present invention. It is understood that the agricultural machine according to the present invention enables the implementation of the method according to the present invention.

[0062] According to the present invention, the method consists of:

[0063] -before or during an unfolding / folding command, to measure, by means of the measuring system, the load on the first main wheel 2a (or where applicable on at least one of the first main wheels 2a) to obtain at least a first measurement and the load on the second main wheel 2b (or where applicable on at least one of the first main wheels 2a) to obtain at least a second measurement,

[0064] -to compare, by means of the control block 4, the first measurement with the second measurement, then, depending on the result of the comparison, to control the control unit 3 so as to allow the unfolding / folding command of one and / or the other of the side sections la, 1b and / or to block the command of, or to limit the speed of, unfolding / folding of one and / or the other of the side sections la, 1b.

[0065] One method consists, by means of control block 4, of determining the difference between the first measurement and the second measurement and:

[0066] -in the case where the difference is identical to or less than a threshold value, to control the control unit 3 so as to allow the unfolding / folding (or in other words: the unfolding / folding control) of the two lateral sections la, 1b,

[0067] - in the event that the difference is greater than the threshold value, to control the control unit 3 so as to allow the unfolding / folding (or in other words: the unfolding / folding control) of the lateral section la, 1b located on the side of the wheel 2a, 2b main on which the measured load PI, P2 is the lowest and to block the, or to limit the speed of, unfolding / folding of the lateral section the, 1b located on the side of the main wheel 2a, 2b on which the measured load PI, P2 is the highest.

[0068] It is understood that if the difference exceeds a threshold value and only one of the two side sections la, 1b is unfolded / folded, the control block 4 continues to receive measurements. When the measured difference is equal to or less than the threshold value—that is, when the side section la, 1b being unfolded / folded reaches a certain pivot angle—the control block 4 will command the control unit 3 to initiate the unfolding / folding of the other side section la, 1b. Thus, both side sections la, 1b can be folded / unfolded without risk of the agricultural machine tipping over. Advantageously, if the difference between the first and second measurements is greater than 10%, the control unit 3 will control the unfolding / folding sequence of the side sections la, 1b to prevent the risk of the agricultural machine tipping over.

[0069] Preferably, the method may consist of each measurement being carried out at a point located on the transverse axis 20 near the hub 21 of the corresponding first or second main wheel 2a, 2b or at a point located on the hub 21 of the corresponding first or second main wheel 2a, 2b.

[0070] In the case where each lateral section la, 1b comprises a median section 10a, 10b and an end section 1 la, 11b, the method may consist, by means of the control block 4, depending on the result of the comparison, of commanding the unfolding / folding of the end sections lia, 11b offset with respect to the respective median sections 10a, 10b or at the same time as the latter.

[0071] Thus, the present invention, that is to say the method or the agricultural machine enabling its implementation, makes it possible, depending on the result of a comparison of load measurement PI, P2 on the main wheels 2a, 2b of the agricultural machine, to send an appropriate command for the folding / unfolding of each lateral section la, 1b in order to eliminate any risk of tipping of the agricultural machine and thus to offer an agricultural machine of great stability during the unfolding / folding maneuvers regardless of the reference frame on which the main wheels 2a, 2b are based.

[0072] Of course, the invention is not limited to the embodiment described and shown in the accompanying drawings. Modifications remain possible, particularly with regard to the composition of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

Demands

1. A method for controlling an agricultural machine, the agricultural machine comprising, on the one hand, at least two side sections (la, 1b) that fold into a transport position and unfold into a working position, at least two main wheels (2a, 2b), namely at least one first main wheel (2a) located on the side of one of the side sections (la) and at least one second main wheel (2b) located on the side of the other side section (1b), and a control unit (3) for controlling the unfolding / folding of each side section (la, 1b), and, on the other hand, a device for controlling the unfolding / folding comprising a control block (4) for controlling the control unit (3) and a measuring system connected to the control block (4) and enabling the measurement of the load (PI, P2) on the at least two main wheels (2a, 2b), characterized in that it consists of: - before or during a command of unfolding / folding, to be measured using the measuring system,the load (PI) on the first main wheel (2a) to obtain at least one first measurement and the load (P2) on the second main wheel (2b) to obtain at least one second measurement, - to compare, using the control block (4), the first measurement with the second measurement, then, depending on the result of the comparison, to control the control unit (3) so as to allow the unfolding / folding of one and / or the other of the side sections (la, 1b) and / or to block the, or limit the speed of, unfolding / folding of one and / or the other of the side sections (la, 1b) to avoid a risk of tipping of the agricultural machine.

2. A method according to claim 1, characterized in that it consists, by means of the control block (4), of determining the difference between the first measurement and the second measurement and: - in the case where the difference is the same as or less than a threshold value, of controlling the control unit (3) so as to allow the unfolding / folding of the two lateral sections (a1a, b1b), - in the case where the difference is greater than a threshold value, of control the control unit (3) so as to permit the unfolding / folding of the side section (la, 1b) located on the side of the main wheel (2a, 2b) on which the measured load (PI, P2) is the lowest and to block the, or limit the speed of, unfolding / folding of the side section (la, 1b) located on the side of the main wheel (2a, 2b) on which the measured load (PI, P2) is the highest.

3. A method according to any one of claims 1 to 2, characterized in that the agricultural machine comprises at least one axle (20) having a transverse axis (20) and at least two main wheels (2a, 2b), namely the first main wheel (2a) and the second main wheel (2b), each having a hub (21), and in that each measurement is carried out at a point located on the transverse axis (20) near the hub (21) of the corresponding first or second main wheel (2a, 2b) or at a point located on the hub (21) of the corresponding first or second main wheel (2a, 2b).

4. A method according to any one of claims 1 to 3, characterized in that each lateral section (la, 1b) comprises a middle section (10a, 10b) and an end section (1la, 11b) and in that it consists, by means of the control block (4), depending on the result of the comparison, of controlling the unfolding / folding of the end sections (lia, 11b) offset with respect to the respective lateral sections (10a, 10b) or at the same time as the middle sections (10a, 10b).

5. An agricultural machine comprising at least two side sections (1a, 1b) that fold into a transport position and unfold into a working position, at least two main wheels (2a, 2b), namely at least one first main wheel (2a) located on the side of one of the side sections (1a) and at least one second main wheel (2b) located on the side of the other side section (1b), and a control unit (3) for controlling the unfolding / folding of each side section (1a, 1b), characterized in that it further comprises an unfolding / folding control device comprising a control block (4) for controlling the control unit (3) and a measuring system connected to the control block (4) and enabling the load (PI, P2) to be measured on the at least two main wheels (2a, 2b), namely on the first main wheel (2a) to obtain a first measurement and on the second wheel (2b) main to obtain at least a second measurement and in that the control block (4) is configured to be able to compare the first measurement with the second measurement and, depending on the result of the comparison, to be able to control the control unit (3) so as to allow the unfolding / folding of one and / or the other of the side sections (la, 1b) and / or to block the, or limit the speed of, unfolding / folding of one and / or the other of the side sections (la, 1b) to avoid a risk of tipping of the agricultural machine.

6. Machine according to claim 5, characterized in that the control block (4) is configured to determine the difference between the first measurement and the second measurement and: - in the case where the difference is the same as or less than a threshold value, to control the control unit (3) so as to allow the unfolding / folding of the two side sections (la, 1b), - in the case where the difference is greater than a threshold value, to control the control unit (3) so as to allow the unfolding / folding of the side section (la, 1b) located on the side of the main wheel (2a, 2b) on which the measured load (PI, P2) is the lowest and to block the, or limit the speed of, unfolding / folding of the side section (la, 1b) located on the side of the main wheel (2a, 2b) on which the measured load (PI, P2) is the highest.

7. Agricultural machine according to any one of claims 5 to 6, characterized in that the measuring system comprises at least two measuring sensors (5a, 5b), namely a first sensor (5a) suitable and intended to measure the load (PI) on the first main wheel (2a) and at least a second sensor (5b) suitable and intended to measure the load (P2) on the second main wheel (2b), preferably each sensor (5a, 5b) is a force sensor, more preferably a force sensor comprising at least one strain gauge.

8. Agricultural machine according to claim 7, characterized in that it comprises at least one axle having a transverse axis (20) and at least two main wheels (2a, 2b), namely the first main wheel (2a) and the second main wheel (2b), each having a hub (21), and in that each measuring sensor (5a) is located on the transverse axis (20) near the hub (21) of the corresponding first or second main wheel (2a, 2b) or at a point located on the hub (21) of the corresponding first or second main wheel (2a, 2b).

9. Agricultural machine according to claim 8, characterized in that it comprises at least one bogie having at least two axles connected to each other by connecting elements and in that each measuring sensor (5a, 5b) is disposed on one of the connecting elements.

10. Agricultural machine according to any one of claims 5 to 9, characterized in that each side (la, 1b) comprises a middle section (10a, 10b) and an end section (lia, 11b) and in that it consists, by means of the control block (4), depending on the result of the comparison, of controlling the unfolding / folding of the end sections (11) offset with respect to the middle sections (10a, 10b) or at the same time as the middle sections (10a, 10b).

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