Operating method for a multi-unit harvesting machine, and associated harvesting machine

Abstract

An operating method for a machine moving in a working direction and comprising a right unit, a left unit and a central unit extending between the left unit and the right unit as seen in the working direction, each unit being capable of occupying a working configuration and an operating configuration and being capable of being moved between its configurations by a respective actuator, an interface allowing the entry of commands being associated with the machine and connected to a controller allowing the actuators to be actuated, the method comprising the steps of: a) moving the machine with the units in the same configuration, d) starting a pre-recorded sequence of actuation of the actuators, e) actuating an actuator by entering an action command, f) actuating another actuator by entering the same action command, g) actuating the actuator which has not been actuated by entering the same action command, h) stopping the sequence.Figure to be published with the abstract: Fig. 1.

Description

Title of the invention: Operating method for a multi-unit harvesting machine, and associated harvesting machine

[0001] The invention relates to an operating method for a multi-unit harvesting machine, as well as to an associated harvesting machine.

[0002] The invention particularly relates to a method of operating a harvesting machine moving in a working direction and comprising a right unit, a left unit and a central unit extending at least predominantly between the left and right units seen along the working direction, each unit being able to occupy a working configuration and a maneuvering configuration, the right unit being able to be moved between a working configuration and a maneuvering configuration by a right actuator, the left unit by a left actuator, and the central unit by a central actuator, an interface allowing commands to be entered being associated with the machine and connected to a controller allowing the actuators to be actuated.

[0003] Document EP3892084A1 discloses a method for operating a multi-unit harvesting machine, in which the agricultural machine comprises two left units and two right units and allows, following the input of an action command via the interface, the actuation of the actuator associated with the front right unit and, after a time delay, the automatic actuation of the actuator associated with the rear right unit. In addition, following the input of another action command via the interface, the method allows the actuation of the actuator associated with the front left unit and, after a time delay, the automatic actuation of the actuator associated with the rear left unit. Such a method makes it possible to reduce the number of actions to be carried out by the operator when crossing a boundary between an area to be worked and an area to be excluded.

[0004] A disadvantage of this method is however that the user must, when the machine crosses a boundary between an area to be worked and an area to be excluded, concentrate on the choice of the action command to be entered on the interface and at the same time on the appropriate moment to actuate each of the actuators associated with the front units, requiring significant dexterity and concentration, so that the operator easily risks making a mistake in the command and / or missing the appropriate moment to actuate at least one of these actuators. In addition, the time delay between the two actuators on the same side allows actuations for the rear units at appropriate times only for a specific type of boundary. When this boundary varies, it is necessary to modify the time delay to remain precise in the actuation times of the cylinders associated with the rear units and to enable good quality work. In fact, a poorly adjusted time delay leads to a risk of working an area to be excluded, in the case of lifting the unit too late and / or lowering the unit too early, and / or of leaving an area to be worked unworked, in the case of lifting the unit too early and / or lowering the unit too late. Finally, if the median plane of the machine is not aligned with the median plane of the tractor, particularly when turning, the time delay is even more likely to be inaccurate.

[0005] The aim of the present invention is to overcome at least some of the aforementioned problems and in particular to relieve the operator when crossing a boundary between the area to be worked and the area to be excluded, while allowing better quality of work thanks to better maneuverability of the machine, respectively facilitation of the actuation of the actuators allowing the movement of the units.

[0006] To this end, the invention proposes an operating method comprising the following steps: a. move the machine with all units in the same configuration, a. start a pre-recorded sequence of actuator actuation, b. actuate one of the actuators by entering an action command, c. actuate another actuator by further entering the same action command, d. operate the actuator not operated during this sequence by additionally entering the same action command, e. stopping the sequence, in which process steps d) and e) may be concurrent or consecutive, and in which steps g) and h) may be concurrent or consecutive.

[0007] The invention will be clearer after reading the following description relating to a preferred variant given by way of example. The description refers to the appended schematic drawings, in which:

[0008] [Fig. 1] is a top view of a harvesting machine capable of operating using the method according to the invention;

[0009] [Fig.2] is a view of a possible embodiment of a machine interface according to the invention;

[0010] [Fig.3A], [Fig.3B] and [Fig.3C] are other views of possible embodiments of the interface of the machine according to the invention;

[0011] [Fig.4] is a simplified top view of a harvesting machine preparing to cross a boundary between the worked area and the area to be excluded;

[0012] [Fig.5] is a simplified side view of the machine of [Fig.l] in which the right, left and central units are in maneuvering configuration;

[0013] [Fig.6] is a simplified top view of a harvesting machine, of which the arrangement of the units is such that the right, left and central units are aligned orthogonally to the working direction.

[0014] [Fig.l] illustrates a harvesting machine (1) moving in a working direction (S). In this figure, the machine (1) comprises a right unit (30), a left unit (40) and a central unit (50). The central unit (50) extends at least mainly between the left unit (40) and the right unit (30) seen along the working direction (S), making it possible to harvest over a large width with a minimum of overlap between the central unit (50) and each of the left (40) and right (30) units seen along the working direction (S). Each unit (30, 40, 50) can occupy a working configuration and a maneuvering configuration. The right unit (30) can be moved between its working configuration and its maneuvering configuration by a right actuator (31). The left unit (40) can be moved between its working configuration and its maneuvering configuration by a left actuator (41).Finally, the central unit (50) can be moved between its working configuration and its maneuvering configuration by a central actuator (51). Each actuator (31, 41, 51) can be realized by at least one hydraulic cylinder. Alternatively, the actuators (31, 41, 51) could be electric or pneumatic.

[0015] An interface (8) for entering commands is associated with the machine (1). The interface (8) is connected to a controller (7). The controller (7) can send signals to and receive signals from the interface (8). The controller (7) can actuate the actuators (31, 41, 51). The controller (7) can send signals to the actuators (31, 41, 51) in order to actuate them and / or to valves for actuating the actuators (31, 41, 51). The interface (8) can send signals to the controller (7), in particular so that it actuates at least one actuator (31, 41, 51).

[0016] The right unit (30) is located on the right of the machine (1) seen in the working direction (S) and the left unit (40) on the left of the machine (1). As shown in Figures 1, 4, 5 and 6, the machine (1) also comprises a chassis (2) connecting at least the right (30) and left (40) units to a tractor (3). Preferably, each of the left (30) and right (40) units is connected to the chassis (2) by a respective arm (10). As shown in [Fig.l], the chassis (2) is connected to the tractor (3) by the two lower arms of the rear three-point hitch of the tractor (3). As illustrated in Figures 1, 4 and 5, the central unit (50) is connected to the tractor (3) by means of a front chassis (5) and the front three-point hitch of said tractor (3). Alternatively, the central actuator (51) is part of the tractor (3), not changing the operating method.

[0017] The tractor (3) makes it possible to move the machine (1) in the working direction (S) and preferably also to drive it. The machine (1) could also be self-propelled, the tractor (3) then being an integral part of the machine (1). The machine (1) has a vertical median plane (4). When the machine (1) moves in a straight line, the median plane (4) is parallel to the working direction (S). It also passes through the center of the machine (1) and / or the chassis (2). The machine (1) is symmetrical along the median plane (4). The tractor (3) also has a plane of symmetry which coincides with the median plane (4) in a straight line. An operator drives the tractor (3) and / or the machine (1).

[0018] In this document, the concepts "left", "right", "front", "rear", "side", "front" and "behind" are defined looking in the working direction (S). The concepts "inner" and "outer" are defined with respect to the median plane (4). An outer component is further from the median plane (4) than an inner component.

[0019] In the working configuration, each unit (30, 40, 50) rests on the ground of a field, allowing the chassis (2) and / or the front chassis (5) to be relieved. In order to harvest a product, each unit (30, 40, 50) comprises a respective conveyor (34, 44, 54). Each unit (30, 40, 50) also comprises a respective grouper (33, 43, 53). Each grouper (33, 43, 53) is intended to move the product in a grouping direction (C), preferably in both directions. Preferably, in the working configuration, each grouper (33, 43, 53) extends along the grouping direction (C). Each grouper (33, 43, 53) may in particular comprise a worm screw, partially contained in a shell guiding the product. The worm screw is preferably driven around a horizontal axis transverse to the working direction (S). Alternatively or additionally, each grouper (33, 43, 53) comprises an endless belt stretched between at least two cylinders (12).Each endless belt is preferably driven by at least one of the cylinders (12). The at least two cylinders (12) are guided in rotation around axes substantially parallel to the working direction (S). The product is in particular plant-based, such as grass or straw. Preferably, the or each grouping direction (C) is orthogonal to the working direction (S).

[0020] In the working configuration, each conveyor (34, 44, 54) is located in front of the grouper (33, 43, 53) of the same unit (30, 40, 50). Each conveyor (34, 44, 54) is intended to transfer product to the respective grouper (33, 43, 53) in a direction parallel to the working direction (S). Preferably, each conveyor (34, 44, 54) has substantially the same length as the respective grouper (33, 43, 53) along the grouping direction (C).

[0021] Each conveyor (34, 44, 54) may in particular comprise at least one mowing bar and / or at least one collection roller. When the conveyor (34, 44, 54) comprises a mowing bar, it can mow standing plants. When the conveyor (34, 44, 54) is made up solely of a collection roller, it can collect product, such as mown plants, lying on the ground. Each conveyor (34, 44, 54) may comprise a pickup roller driven in rotation about a respective roller axis (13). Preferably, each roller axis (13) is perpendicular to the working direction (S). Each pickup roller has fingers distributed around its periphery intended to pick up product from the ground and transfer it to the respective grouper (33, 43, 53) by projecting it backwards. Each pickup roller is preferably driven by a respective drive motor, preferably hydraulic or electric. Each pickup roller could also be driven via the power take-off of the tractor (3), like the respective grouper (33, 43, 53).

[0022] Before a unit (30, 40, 50) passes through the working configuration, the entire surface of the field may constitute a working area (62). In the case where a path crosses the field, for example, this path is preferably considered as an exclusion area (60). As illustrated in [Fig. 5], in the maneuvering configuration, each unit (30, 40, 50) is far from the ground. The maneuvering configuration allows the units (30, 40, 50) not to work an area, in particular an exclusion area (60). Also, an area already worked by a unit (30, 40, 50) is an exclusion area (60). As is clear from [Fig. 4], the field may comprise at least one working area (62) and at least one exclusion area (60). A boundary (61) is the line between an area to be worked on (62) and an area to be excluded (60).

[0023] In order to relieve the operator when the machine (1) has to cross a boundary (61), the method comprises the following steps: a. move the machine (1) with all units (30, 40, 50) in the same configuration, a. start a pre-recorded sequence of actuation of the actuators (31, 41, 51), b. actuating an actuator (31, 41, 51) by inputting an action command, c. actuate another actuator (31, 41, 51) by additionally entering the same action command, d. actuate the actuator (31, 41, 51) not actuated during this sequence by an additional input of the same action command, e. stop the sequence, wherein steps d) and d) may be simultaneous or successive, and wherein steps g) and h) may be simultaneous or successive.

[0024] Thanks to these arrangements, in order to cross a boundary (61), the operator advantageously repeats the same action command to actuate each of the actuators (31, 41, 51), thus less likely to make a mistake in the command. Because the first entry of the action command, respectively the entry made in step e), defines how the actuators (31, 41, 51) will be actuated during this sequence, the operator is relieved because he has to concentrate less on the action command to be entered for steps f) and g). The operator can then concentrate more on the appropriate moment to actuate each of the actuators (31, 41, 51) in relation to the delimitation (61), thus improving the precision of these actuations when the machine (1) and / or the tractor (3) does not allow them to be automated and thus avoiding working the same place twice, as well as leaving places unworked, improving the quality of work.

[0025] In order to enable a sequence to be carried out simply and quickly, the first input of the action command (carried out in step e)) preferably also makes it possible to start the or each sequence. Thus, in the preferred variant of the method, steps d) and e) are simultaneous. In an alternative variant of the method, step d) (consisting of starting a sequence of actuation of the actuators (31, 41, 51)) requires actuating an additional command. This additional command could be identical to the action command (carried out in step e)). Alternatively or additionally, steps d) and e) are successive.

[0026] In order to allow a sequence to be carried out in a simple and rapid manner, the third entry of the action command (carried out in step g)) preferably makes it possible to stop the or each sequence (started in step d)). Also, in the preferred variant, steps g) and h) are simultaneous. In an alternative variant, step h) (consisting of stopping the sequence) requires actuating an additional command. This additional command could also be identical to the action command. Alternatively or additionally, steps g) and h) are successive.

[0027] Unless otherwise indicated, the steps of the method are carried out in alphabetical order.

[0028] As can be seen from Figures 2 and 3, in order to enter a command on the interface (8), the interface (8) is provided with a plurality of keys (81, 82, 83, 84, 85, 86, 87). The keys (81-87) allow commands to be entered. Preferably, the keys (81-87) are actuated by the operator. The commands are therefore preferably entered by the operator. As will be detailed later in this description, the interface (8) may in particular include selection keys (81, 82, 83), action keys (84, 85, 86) and / or a stop key (87). A command may in particular allow one or more actuators (31, 41, 51) to be actuated. The entry of a command, in particular an action command, may correspond to the actuation of one or more keys (81-87). In an alternative variant, the entry of the action command corresponds to the consecutive and / or simultaneous actuation of one or more keys (81-87).

[0029] In a simple and rapid manner, in the preferred embodiment, the input of an action command corresponds to the single actuation of the same key (81-87). Preferably, the input of an action command corresponds to the single actuation of the same action key (84, 85, 86). In the preferred embodiment, it is the lifting action key (84) or the lowering action key (85) which allows the input of the action command. In more detail, during a sequence, the first input of the action command (performed in step e)), the second input of the action command (performed in step f)) and the third input of the action command (performed in step g)) each correspond to the single actuation of the same key (81-87).

[0030] For clarity, in the expression "actuate an actuator (31, 41, 51)" of step e), the designated actuator (31, 41, 51) is one of the right actuator (31), the left actuator (41) and the central actuator (51). The expression "another actuator (31, 41, 51)" of step f) designates one of the right (31), left (41) and central (51) actuators not having been actuated by the input of the action command of step e). Finally, the expression "the actuator (31, 41, 51) not having been actuated during this sequence" designates the one between the right (31), left (41) and central (51) actuators not having been actuated by the input of the action command of step e), nor by the input of the action command of step f).

[0031] In a straight sequence, the actuator (31, 41, 51) actuated in step e) is the central actuator (51), the actuator (31, 41, 51) actuated in step f) is the right actuator (31), and the actuator (31, 41, 51) actuated in step g) is the left actuator (41). Such a straight sequence makes it possible to relieve the operator for a machine (1) whose units (30, 40, 50) are arranged as shown in Figures 1, 4 and 5, i.e. the central unit (50) located in front of the left (40) and right (30) units, and which crosses a boundary (61) like that illustrated in [Fig. 4]. In an alternative variant of the method, only this straight sequence is pre-recorded.

[0032] In order to enable the operating method to be adapted to different types of boundaries (61) and / or to machines (1) having different arrangements of their units (30, 40, 50), in the preferred embodiment, several sequences are pre-recorded. Thus, during a left sequence, the actuator (31, 41, 51) actuated in step e) is the central actuator (51), the actuator (31, 41, 51) actuated in step f) is the left actuator (41) and the actuator (31, 41, 51) actuated in step g) is the right actuator (31).

[0033] Also, during a symmetrical sequence, the actuator (31, 41, 51) actuated in step e) is the central actuator (51), and steps f), g) and h) are simultaneous and only require an additional input of the action command.

[0034] In the preferred variant, the sequences are pre-recorded in the controller (7). Alternatively, the sequences can be pre-recorded in an external memory (MS). Advantageously, the input of the action command, respectively the actuation of the key (81-87) allowing the action command, is identical regardless of the sequence.

[0035] When a unit (30, 40, 50) is moved from its working configuration to its maneuvering configuration, the associated actuator (31, 41, 51) is actuated in lifting. Also, actuating one or more actuators (31, 41, 51) in lifting amounts to moving the associated unit(s) (30, 40, 50) from their working configuration to their maneuvering configuration. When a unit (30, 40, 50) is moved from its maneuvering configuration to its working configuration, the associated actuator (31, 41, 51) is actuated in lowering. Actuating one or more actuators (31, 41, 51) in lowering amounts to moving the associated unit(s) (30, 40, 50) from their maneuvering configuration to their working configuration.

[0036] In a first embodiment variant, in order to actuate the actuators (31, 41, 51) in lifting during a right sequence, the input of the action command corresponds to the actuation of a right lifting action key. In the same way, in this first embodiment variant, in order to actuate the actuators (31, 41, 51) in lifting during a left sequence, the input of the action command corresponds to the actuation of a left lifting action key. Furthermore, in this first embodiment variant, in order to actuate the actuators (31, 41, 51) in lowering during a right sequence, the input of the action command corresponds to the actuation of a right lowering action key and, in order to actuate the actuators (31, 41, 51) in lowering during a left sequence, the input of the action command corresponds to the actuation of a left lowering action key.In this first embodiment variant, in order to actuate the actuators (31, 41, 51) in lowering during a symmetrical sequence, the input of the action command corresponds to the actuation of an action key in symmetrical lowering and, in order to actuate the actuators (31, 41, 51) in raising during a symmetrical sequence, the input of the action command corresponds to the actuation of an action key in symmetrical raising.

[0037] In this first variant, in order to be able to actuate the actuators (31, 41, 51) in lifting and lowering during a right sequence, a left sequence and a symmetrical sequence, to enter the action command, the operator must thus choose between six keys (81-87). A disadvantage of this first embodiment variant is that it requires a large number of keys (81-87) allowing the action command to be entered, which risks causing confusion for the operator. when choosing the sequence. Especially since, when crossing a boundary (61), the operator is often required to make a U-turn and must therefore concentrate on several other commands. Finally, the more potential keys there are for entering the action command, the greater the risk of input errors.

[0038] In order to allow the operator to choose the next sequence in advance, each of the sequences is preferably associated with a respective mode. More precisely, a left mode is associated with the left sequence and a right mode is associated with the right sequence. In the preferred variant, a symmetrical mode is associated with the symmetrical sequence. Preferably, the method comprises an additional step b) consisting of selecting a mode. The additional step b) may consist of selecting between at least the left mode and the right mode. In the preferred embodiment, step b) consists of selecting between the left mode, the right mode and the symmetrical mode. Thus, the actuation sequence of the actuators (31, 41, 51) started in step d) is that associated with the mode selected in step b).The operator can then choose the mode associated with the sequence he wants long before arriving at the delimitation (61), without starting said sequence, or actuating an actuator (31, 41, 51) (during the same step). This gives him more time to check his choice, while thus avoiding errors due to haste.

[0039] Preferably, in step b), the operator selects a mode by a selection command. In an alternative variant, the entry of the selection command corresponds to the consecutive and / or simultaneous actuation of one or more keys (81-87). In a simple and rapid manner, in the preferred embodiment, the entry of a selection command corresponds to the single actuation of the same key (81-87). In the preferred variant, the entry of a selection command corresponds to the single actuation of the same selection key (81, 82, 83).

[0040] As shown in [Fig. 2], the interface (8) may be provided with a right selection key (83), a left selection key (81) and a symmetrical selection key (82). Preferably, actuation in step b) of the left selection key (81) selects the left mode and involves the start of the left sequence in step d). Actuation in step b) of the right selection key (83) selects the right mode and involves the start of the right sequence in step d). And actuation in step b) of the symmetrical selection key (82) selects the symmetrical mode and involves the start of the symmetrical sequence in step d).

[0041] Step b) is preferably optional. In the case where no mode is selected in step b), the sequence started in step d) is the same as the last sequence selected. Thus, for two crossings of delimitations (61) consecutive identical, the operator can skip step b), advantageously avoiding an action.

[0042] In the preferred embodiment, the method can thus comprise the following steps: a. move the machine (1) with all units (30, 40, 50) in the same configuration, a. select, if necessary, between a left mode, a right mode and a symmetrical mode, each of the sequences being associated with a respective mode, a. start the actuation sequence of the actuators (31, 41, 51) associated with the mode selected in step b) and b. actuating an actuator (31, 41, 51) by actuating an action key (84, 85, 86), a. actuate another actuator (31, 41, 51) by further actuation of the same action key (84, 85, 86), b. actuate the actuator (31, 41, 51) not having been actuated during this sequence and c. stop the sequence by further pressing of the same action key (84, 85, 86).

[0043] For example, in order to actuate the actuators (31, 41, 51) in lifting during a straight sequence, according to the preferred embodiment, the method may comprise the following steps: a. move the machine (1) with all units (30, 40, 50) into the working configuration, b. select, if necessary, the right mode, preferably by pressing the right selection key (83), a. start the right sequence and b. actuating the central actuator (51), so that it moves the central unit (50) into its operating configuration by actuating the lifting action key (84), c. actuating the right actuator (31), so that it moves the right unit (30) into its maneuvering configuration by additional actuation of the lifting action key (84), d. actuate the left actuator (41), so that it moves the left unit (40) into its maneuvering configuration and e. stop the sequence by additionally pressing the lifting action key (84).

[0044] As illustrated in [Fig.5], each unit (30, 40, 50) is preferably associated with a respective configuration sensor (32, 42, 52). Each configuration sensor configuration (32, 42, 52) detects whether the associated unit (30, 40, 50) is in working or maneuvering configuration. Each configuration sensor (32, 42, 52) can inform the controller (7) about the configuration of the associated unit (30, 40, 50). In other words, each configuration sensor (32, 42, 52) is capable of transmitting to the controller (7) a signal representative of the configuration, working or maneuvering, occupied by the associated unit (30, 40, 50).

[0045] In a second variant embodiment, the method comprises an additional step c) consisting of informing the controller (7) about the configuration of the units (30, 40, 50) using a configuration sensor (32, 42, 52) associated with each unit (30, 40, 50). If in step c), the configuration sensors (32, 42, 52) inform the controller (7) that the units (30, 40, 50) are in their maneuvering configuration, during this sequence, each input of the action command involves the actuation of the actuators (31, 41, 51) in lowering. Similarly, in this second variant, if in step c) the configuration sensors (32, 42, 52) inform the controller (7) that the units (30, 40, 50) are in their working configuration, during this sequence, each input of the action command involves the actuation of the actuators (31, 41, 51) in lifting.Thus, if all units are in their working configuration at step c), each input of the action command during this sequence will actuate the corresponding actuator (31, 41, 51) to move the associated unit (30, 40, 50) into the maneuvering configuration.

[0046] This additional step c) can be carried out before step d) or simultaneously with step d). In other words, step c) can be carried out simultaneously with each of steps a), b), c) and d).

[0047] More simply, in the second embodiment, the method comprises an additional step c) consisting of informing the controller (7) about the configuration of the units (30, 40, 50) and, during steps d), e) and f) of this sequence, actuating the actuators (31, 41, 51) amounts to moving the associated unit (30, 40, 50) into the other configuration. Thus, it is advantageously not necessary for the operator to choose whether to actuate the actuators (31, 41, 51) in lifting or lowering during a sequence. In this embodiment variant, when all the units (30, 40, 50) are in the same configuration, the or each entry of the action command preferably corresponds to the single actuation of the same common action key (86) ([Fig.2]), further reducing the number of keys (81-87) necessary to use the method, and thus reducing handling errors.

[0048] Preferably, the interface (8) is also provided with a screen (80) for displaying information on the machine (1), its status and / or its settings... The screen (80) may be touch-sensitive and include programmable keys (81-87). Alternatively or additionally, the interface (8) may include a joystick or key box (81-87) not comprising a screen (80). The interface (8) may thus comprise mechanical keys (81-87), on a joystick for example, and / or programmable keys (81-87) on a screen (80), all allowing the entry of commands. As shown in [Fig.2], in order to more easily locate a key (81-87), a pictogram, an image and / or text is preferably associated with each programmable key (81-87).

[0049] In the case where the interface (8) comprises a screen (80) and at least one programmable key (81-87) can occupy different locations on the screen (80), each key (81-87) preferably always occupies the same location, at least during the same sequence. Preferably, when a key (81-87) is displayed on the screen (80), it always occupies the same location, except for the stop key (87).

[0050] In order to avoid unwanted actuation of an actuator (31, 41, 51), at least one key (81-87) of the interface (8) can however be deactivated. When a key (81-87) is deactivated, its actuation will produce no effect. In the case of an interface (8) with a screen (80), when a programmable key (81-87) is deactivated, it can be displayed differently. Preferably, in the case of an interface (8) with a screen (80), when a programmable key (81-87) is deactivated, it is not displayed on the screen (80).

[0051] In particular, if in step b) the symmetrical mode has been selected, the left (81) and right (83) selection keys in the form of programmable keys (81-87) are preferentially deactivated (figures 3B), informing the operator about the sequence (right, left or symmetrical) in progress.

[0052] In the preferred variant, the two action keys (84, 85) allowing the input of the action command are both displayed on the screen (80) until the start of a sequence, respectively until step d) ([Fig. 3A]). In this preferred variant, with an interface (8) provided with a screen (80), whichever of the two action keys (84, 85) has not been entered in step e) is preferentially deactivated during this sequence, reducing the number of keys (81-87) on the screen (80), thus reducing the risk of operator error ([Fig. 3B]). In this way, the operator knows the type of actuation of the actuators (31, 41, 51) during the current sequence by looking at the screen (80). Such an embodiment also makes it possible to harmonize the screen (80) independently of the configuration of the units (30, 40, 50). Up to step d), the screen (80) is thus advantageously identical ([Fig.3A]), regardless of the sequence that follows, whether the units (30, 40, 50) are all in the same configuration or not.

[0053] With a screen (80), the stop key (87) preferably appears on the screen (80) as soon as the sequence is started, respectively from step e) inclusive, until the end of the sequence (step h)). With an interface (8) provided with a screen (80), whichever of the two action keys (84, 85) has not been entered in step e) is preferably replaced by the stop key (87) ([Fig.3B]) for the duration of the sequence. With or without a screen (80), a stop key (87) is intended to stop the current sequence. For safety purposes, a single actuation of the stop key (87) preferably immediately stops the actuation of all the actuators (31, 41, 51), respectively of the actuator(s) (31, 41, 51) currently being actuation. If the stop key (87) is not actuated during a sequence, all the actuators (31, 41, 51) or all the units (30, 40, 50) must be actuated in the same configuration, so that this sequence can be stopped.

[0054] Alternatively or additionally, when a unit (30, 40, 50) is in the maneuvering configuration and the associated actuator (31, 41, 51) is actuated in lifting, this actuation has no effect (and said unit remains in the maneuvering configuration). Similarly, when a unit (30, 40, 50) is in the working configuration and the associated actuator (31, 41, 51) is actuated in lowering, this unit (30, 40, 50) remains in the working configuration. In this case, even if all the units (30, 40, 50) are not in the same configuration at the start of a sequence, the latter can be executed.

[0055] The controller (7) can be installed optionally on the tractor (3) or the machine (1). The controller (7) and / or the interface (8) can be part of the machine (1) or the tractor (3). Alternatively, the interface (8) and the controller (7) could be a single component. In all cases, the machine (1) is connected to the tractor (3) via a standardized connection bus, for example ISOBUS (ISO 11783), allowing the machine (1) to operate with different brands of tractor (3) and / or components (interface (8), controller (7), ...). The controller (7) can thus also receive a signal representative, for example, of the forward speed of the machine (1). The signal representative of the forward speed of the machine (1) can be obtained by at least one GPS sensor, a speed sensor mounted on the machine (1) and / or a speed sensor of the tractor (3).

[0056] In Figures 1, 4 and 5, the central unit (50) is located in front of the left (40) and right (30) units in top view. In these figures, the central unit (50) is located in front of the tractor (3), thus avoiding driving over an area to be worked (62). As shown in Figures 1 and 4, in order to ensure that the entire field is worked even when turning, the central unit (50) is located partially between the left unit (40) and the right unit (30) seen in the working direction (S). In other words, seen in the working direction (S), the central unit (50) slightly overlaps each of the left (40) and right (30) units. Preferably, these overlaps can be adjusted simultaneously or separately. The central unit (50) can however also be located completely between the left unit (40) and the right unit (30) seen in the working direction (S).

[0057] As shown in [Fig.l], the chassis (2) can be mounted on wheels (15). The wheels (15) are preferably located at the rear of the chassis (2). Furthermore, in its working configuration, each unit (30, 40, 50) rests at least partially on the ground via skids (14). Alternatively or additionally, each unit (30, 40, 50) can rest on the ground via casters. In the working configuration, each unit (30, 40, 50) is configured to harvest product.

[0058] When the product is deposited by a unit (30, 40, 50), respectively by a grouper (33, 43, 53), the product forms a windrow (22) on the ground thanks to the movement of the machine (1) in the working direction (S). The windrow (22) is therefore longitudinal to the working direction (S). As shown in [Fig. 4], the right (33) and left (43) groupers move the product towards the median plane (4), the windrow (22) being deposited between the right unit (30) and the left unit (40). For this purpose, in their working configuration, the left (40) and right (30) units are spaced apart from each other in a direction perpendicular to the working direction (S). The right (33) and left (43) groupers are preferably aligned along the grouping direction (C), reducing the length of the machine (1) along the working direction (S).

[0059] In its maneuvering configuration, each unit (30, 40, 50) is further from the ground than in its working configuration. In its maneuvering configuration, each unit (30, 40, 50) is slightly further from the ground, so that movement between the working and maneuvering configurations is as rapid as possible. In its maneuvering configuration, each unit (30, 40, 50) does not harvest any product. The maneuvering configuration allows in particular the machine (1) to move quickly over an area already worked without undoing the windrows. In an area to be excluded (60), the units (30, 40, 50) are preferably in the maneuvering configuration.

[0060] The units (30, 40, 50) can also occupy a transport configuration. In their transport configuration, the dimension of the left (30) and right (40) units seen in the working direction (S) is reduced. In their transport configuration, each left (30) and right (40) unit is oriented parallel to the median plane (4), reducing the width of the machine (1). In order to minimize the height of the machine (1) in the transport configuration, the left (30) and right (40) units are preferably oriented parallel to the working direction (S). In their transport configuration, the units (30, 40, 50) are far from the ground, allowing a higher forward speed without damaging the machine (1). The transport configuration of the central unit (50) is preferably identical to its maneuvering configuration.

[0061] As mentioned above in this description, other arrangements of the units (30, 40, 50) on the machine (1) are possible. For example, a machine (1) with another possible arrangement of the units (30, 40, 50) is shown in [Fig.6]. In this [Fig.6], the central (50), left (40) and right (30) units are aligned along a straight line transverse to the working direction (S) and the central unit (50) is connected to the same chassis (2) as the left (40) and right (30) units. Preferably, the units (30, 40, 50) are aligned perpendicular to the working direction (S). In the case of a machine (1) as shown in [Fig.6], the pre-recorded sequences may be different than with an arrangement of units (30, 40, 50) as shown in [Fig.4]. Thus, alternatively or additionally, during a left alternating sequence, the actuator (31, 41, 51) actuated in step e) is the left actuator (41), the actuator (31, 41, 51) actuated in step f) is the central actuator (51) and the actuator (31, 41, 51) actuated in step g) is the right actuator (31).Alternatively or additionally, in a right alternating sequence, the actuator (31, 41, 51) actuated in step e) is the right actuator (31), the actuator (31, 41, 51) actuated in step f) is the center actuator (51), and the actuator (31, 41, 51) actuated in step g) is the left actuator (41).

[0062] The present invention also relates to a harvesting machine (1) moving in a working direction (S) and comprising a right unit (30), a left unit (40) and a central unit (50). The central unit (50) extends mainly between the left unit (40) and the right unit (30) seen along the working direction (S). The right unit (30) can occupy a working configuration and a maneuvering configuration. The left unit (40) can occupy a working configuration and a maneuvering configuration and the central unit (50) can occupy a working configuration and a maneuvering configuration. The right unit (30) can be moved between its working and maneuvering configurations by a right actuator (31), the left unit (40) by a left actuator (41), and the central unit (50) by a central actuator (51). An interface (8) allows commands to be entered.The interface (8) is associated with the machine (1) and is further connected to a controller (7) for actuating the actuators (31, 41, 51). The harvesting machine (1) is configured to perform the steps of a method as described above.

[0063] The invention also relates to a controller (7) for a harvesting machine (1) configured to execute the steps of a method as described above. Preferably, the or each sequence is pre-recorded in a memory (MS) of the controller (7). Furthermore, the invention may also relate to a computer program containing code for executing the steps of a method as described above. Respectively, the invention relates to a memory (MS) containing program coding means which are stored on a computer-readable data carrier for executing the method as described above. Preferably, the controller (7), computer program and / or memory (MS) is / are configured to execute the steps in alphabetical order.

[0064] Of course, the invention is not limited to the embodiments described and shown in the attached drawings, and is available in several constructive variants. Modifications remain possible, particularly from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

Claims

1.

2.

3. Claims Operating method for a harvesting machine (1) moving in a working direction (S) and comprising a right unit (30), a left unit (40) and a central unit (50) extending at least mainly between the left unit (40) and the right unit (30) seen in the working direction (S), each unit (30, 40, 50) being able to occupy a working configuration and a maneuvering configuration, the right unit (30) being able to be moved between its working configuration and its maneuvering configuration by a right actuator (31), the left unit (40) by a left actuator (41), and the central unit (50) by a central actuator (51), an interface (8) allowing the entry of commands being associated with the machine (1) and connected to a controller (7) allowing the actuators (31, 41, 51) to be actuated, the method comprising the following steps: a. move the machine (1) with all units (30, 40, 50) in the same configuration, a. start a pre-recorded sequence of actuation of the actuators (31, 41, 51), b. actuating an actuator (31, 41, 51) by inputting an action command, c. actuate another actuator (31, 41, 51) by additionally entering the same action command, d. actuate the actuator (31, 41, 51) not actuated during this sequence by additionally entering the same action command, e. stop the sequence, wherein steps d) and e) may be simultaneous or consecutive, and wherein steps g) and h) may be simultaneous or consecutive. Method according to claim 1, characterized in that steps d) and e) are simultaneous and in that steps g) and h) are also simultaneous. Method according to one of claims 1 or 2, characterized in that the interface (8) is provided with a plurality of keys (81, 82, 83, 84, 85, 86, 87), and in that the or each entry of an action command corresponds to the single actuation of the same key (81-87).

4. Method according to any one of claims 1 to 3, characterized in that during a right sequence, the actuator (31, 41, 51) actuated in step e) is the central actuator (51), the actuator (31, 41, 51) actuated in step f) is the right actuator (31), and the actuator (31, 41, 51) actuated in step g) is the left actuator (41).

5. Method according to any one of claims 1 to 4, characterized in that several sequences are pre-recorded and in that, during a left sequence, the actuator (31, 41, 51) actuated in step e) is the central actuator (51), the actuator (31, 41, 51) actuated in step f) is the left actuator (41), and the actuator (31, 41, 51) actuated in step g) is the right actuator (31).

6. Method according to claim 5, characterized in that each of the sequences is associated with a respective mode and in that an optional additional step b) consists of selecting a mode.

7. Method according to any one of claims 1 to 6, characterized in that it comprises an additional step c) consisting of informing the controller (7) about the configuration of the units (30, 40, 50) and, during steps d), e) and f) of this sequence, actuating the actuators (31, 41, 51) amounts to moving the associated unit (30, 40, 50) into the other configuration, step c) being able to be carried out before or simultaneously with step d).

8. Harvesting machine (1) moving in a working direction (S) and comprising at least one right unit (30), one left unit (40) and one central unit (50) extending at least predominantly between the left unit (40) and the right unit (30) seen in the working direction (S), each unit (30, 40, 50) being able to occupy a working configuration and a maneuvering configuration, the right unit (30) being able to be moved between its working configuration and its maneuvering configuration by a right actuator (31), the left unit being able to be moved between its working configuration and its maneuvering configuration by a left actuator (41), and the central unit (50) being able to be moved between its working configuration and its maneuvering configuration by a central actuator (51), an interface (8) allowing the entry of commands being associated with the machine (1) and connected to a controller (7) making it possible to actuate the actuators (31, 41, 51),characterized in that the machine (1) is configured to carry out the steps of the method according to one of claims 1 to 7.,

9. Controller (7) for a harvesting machine (1), characterized in that it is configured to execute the steps of the method according to one of claims 1 to 7.

10. Computer program for a harvesting machine (1), characterized in that it contains a code making it possible to execute the steps of the method according to one of claims 1 to 7.

11. Memory (MS) containing program coding means which are stored on a computer-readable data carrier for carrying out the method according to one of claims 1 to 7.

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