Method for correcting the drift of an agricultural machine attached to the rear of a tractor vehicle and such an agricultural machine enabling its implementation

Abstract

Method for correcting the drift of an agricultural machine attached to the rear of a tractor vehicle and such an agricultural machine enabling its implementation The present invention relates to a method for correcting the drift of an agricultural machine (M) attached to the rear of a tractor vehicle (V), the agricultural machine (M) comprising a frame (M1) supporting at least two rows (1, 2) of soil preparation discs (10, 20) arranged one behind the other and at least one actuator device (3, 4) allowing the working depth of the discs (10, 20) to be modified.It is characterized in that the agricultural machine (M) further comprises a data collection device (5) and in that it consists of measuring or detecting the drift of the agricultural machine (M) by means of the data collection device (5) so that, if the result of the measurement / detection is representative of a drift, the necessary correction to be applied to adjust the position of the agricultural machine (M) is determined. It also includes an agricultural machine (M) enabling its implementation. Figure to be published with the abbreviation: Fig. 1.

Description

Title of the invention: Method for correcting the drift of an agricultural machine attached to the rear of a tractor vehicle, and such an agricultural machine enabling its implementation

[0001] The present invention relates to the field of agricultural machinery, more particularly to agricultural machines of the stubble cultivator type, and relates to a method for correcting the drift of an agricultural machine attached to the rear of a tractor vehicle. It also relates to such an agricultural machine enabling the implementation of the method.

[0002] It is known that when using an agricultural machine attached to a tractor, the agricultural machine has freedom of movement around a vertical axis to follow the tractor both during work and transport. With such an attachment, the agricultural machine can be towed (attached to the tractor's hitch) or semi-mounted (attached to the tractor) via a crossmember connecting the two lower arms of the tractor's three-point linkage.

[0003] Such an agricultural machine is, for example, a stubble cultivator with independent discs used for shallow soil cultivation. It is designed to bury and distribute crop residues to the depth worked after the combine harvester has passed. The stubble cultivator allows for the uprooting of emerged plants and their incorporation into the soil along with any fallen seeds. This machine is particularly useful for mixing soil and plant debris to prepare the soil for sowing.

[0004] Such a stubble cultivator comprises a frame, that is, a main structure of the cultivator designed to withstand mechanical stresses during soil cultivation, supporting, in particular, two rows of discs, a front row and a rear row, arranged one behind the other, and, at the rear of the frame, press rollers generally distributed in several groups of at least one press roller. The discs are driven into the soil and prepare the seedbed by performing various functions such as turning, cutting, and mixing the soil. To facilitate passage through crop residue, the discs are independent, that is, each disc is mounted on its own arm.

[0005] The stubble cultivator further comprises a drawbar connecting the front of the frame to the lower arms of the tractor's linkage via the cross member. The front of the drawbar is connected to the cross member by means of a joint allowing freedom of movement of the stubble cultivator around the vertical axis to follow the tractor during fieldwork and road transport.

[0006] The press rollers, or each group of press roller(s), are height-adjustable relative to the frame by means of at least one actuator, referred to in this application as the rear actuator. Since the press rollers rest on the ground, raising or lowering them changes the height of the rear of the frame relative to the ground or relative to the front of the frame. The front of the frame is also height-adjustable relative to the ground or relative to the rear of the frame by means of at least one actuator, referred to in this application as the front actuator. Other height-adjustable elements, such as gauge wheels, can also change the height of the front of the agricultural machine; these are actuated by other front actuators. These actuators are generally hydraulic cylinders.

[0007] The working depth of the discs is adjustable by adjusting the height of the front and / or rear of the frame.

[0008] There are stubble cultivators with two parallel rows of discs arranged one behind the other, the discs of which are independent and arranged in a V-shape. The angle of attack of all the discs in the front row is oriented opposite to the angle of attack of all the discs in the rear row. In other words, the discs in the front row are oriented in the opposite direction to the discs in the rear row. Generally, for an observer located behind the cultivator and looking in the direction of travel, the angle of attack of the discs in the front row is oriented to the left so as to throw the soil to the right, and the angle of attack of the discs in the rear row is oriented opposite to the right of the agricultural machine. The discs in the rear row throw the soil to the left, given the direction of travel.On this type of stubble cultivator, the angle of attack of the discs is fixed, therefore there is no possibility of adjustment relative to the frame.

[0009] The distinctive feature of a V-shaped disc harrow is that it operates with drift. Since the angle of attack of the discs in each row is fixed on such a machine, the drift is compensated for by adjusting the working depth. Drift is due to the fact that the resistance to forward motion of the first row of discs is greater than the resistance to forward motion of the second row of discs, which is working on soil that is already partially loosened. This drift is primarily explained by an imbalance in the working effort between the two rows of independent discs, resulting from the discs being mounted in this V-shaped configuration. When drift is not compensated for, some strips of soil are not worked, while others are worked twice. The harrow also requires more effort to pull, which leads to increased fuel consumption.

[0010] Thus, for each working condition, it is necessary to adapt the height setting of the frame relative to the ground, that is to say, adapt the working depth of the The first row of discs is positioned relative to the second row of discs so that the resultant forces from both rows of discs pass through the cultivator's traction line. Depth adjustment is achieved by modifying the length of each cylinder. Its length is limited by a stop device. This stop device can be a stop screw at the cylinder head or a system of shims. The length of each front and rear actuator is adapted to adjust the frame height and control the cultivator's working depth. The cylinders extend between the frame and ground support elements, which are generally wheels, such as gauge wheels, transport wheels, or press wheels. In practice, this involves first modifying the length of each cylinder by adjusting its stop device and then checking the impact of the adjustment on the cultivator's operation over a distance of several tens of meters.This operation must be repeated until the cultivator's traction line is aligned with that of the tractor. Given the above, it is clear that eliminating drift is a rather difficult and time-consuming task. Eliminating drift on such agricultural machinery therefore requires stopping the work to make the appropriate adjustments to the cultivator while it is stationary, and then resuming work to check if the correction is sufficient or if further adjustments are necessary. In practice, the operator will only adjust the front or rear actuators for ease of use and, above all, to resume cultivating more quickly. The adjustment made will not always be optimal, and the cultivator will continue to operate with some drift.Strips of unworked land or those worked twice will be reduced but not eliminated, resulting in uneven soil preparation across the entire field.

[0011] The present invention aims to overcome these drawbacks by proposing a method for correcting the drift of an agricultural machine attached to the rear of a tractor vehicle and such an agricultural machine enabling the implementation of the method.

[0012] The method, according to the present invention, for correcting the drift of an agricultural machine attached to the rear of a tractor by providing freedom of rotation around a substantially vertical axis of rotation, drift being defined as an angular displacement of the agricultural machine around its axis of rotation from a desired position of the agricultural machine aligned with the direction of travel of the tractor moving over the ground to an undesired position, the agricultural machine comprising a frame supporting at least two rows of soil preparation discs arranged one behind the other, the discs of one of the rows having an angle of attack opposite to that of the discs of the other row, and at least one actuator device allowing modification of the working depth of the discs, characterized in that the agricultural machine further comprises a data collection device and in that it consists of carrying out the following steps:

[0013] i) measure or detect the drift of the agricultural machine by means of the data collection device,

[0014] ii) analyze the measurement or detection of the drift to deduce a result, then, depending on the result:

[0015] - if the result is representative of a drift, determine the correction necessary to to apply to adjust the position of the agricultural machine and apply the necessary correction by controlling the actuator device so as to create, by adjusting the working depth of the discs of at least one of the rows, a torque (or torque moment) on the agricultural machine allowing it to return to its desired position,

[0016] - if the result is not representative of a deviation, no corrective action is ordered.

[0017] The present invention also relates to such an agricultural machine attached to the rear of a tractor vehicle, having freedom of rotation around a substantially vertical axis of rotation, drift being defined as a displacement of the agricultural machine around its axis of rotation from a desired angular position of the agricultural machine aligned with the direction of travel of the tractor vehicle moving on a surface to an undesired position, the agricultural machine comprising a frame supporting at least two rows of soil preparation discs arranged one behind the other and the discs of one of the rows having an angle of attack opposite to that of the discs of the other rows and at least one actuator device allowing the working depth of the discs to be modified,characterized in that the agricultural machine further comprises a data collection device for measuring or detecting drift of the agricultural machine, the measurement or detection of the drift allowing a result to be deduced, then, depending on the result, if the result is representative of drift, to determine the necessary correction to be applied to adjust the position of the agricultural machine and to apply the necessary correction by controlling at least one actuator so as to create, by adjusting the working depth of the discs of at least one of the rows, a torque on the agricultural machine allowing it to be brought back to its desired position.

[0018] 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:

[0019] [Fig-1] is a partial side view of an agricultural machine according to the present invention attached to the rear of a tractor vehicle,

[0020] [Fig.2] is a top view of the agricultural machine shown in [Fig.1] in a desired position aligned with the towing vehicle

[0021] [Fig.3] is a top view of the agricultural machine shown in [Fig.2] with drifting to the left into an undesirable position

[0022] [Fig.4] is a top view of the agricultural machine shown in [Fig.2] with drifting to the right in an undesired position, and in a variant of the location of the data collection device 5,

[0023] [Fig.5] is a perspective view of the data collection device mounted on the agricultural machine shown in figures 1 to 4,

[0024] [Fig.6] is a partial cross-sectional view of the data collection device shown on [Fig.5],

[0025] [Fig.7] is a top view of the data collection device shown on the [Fig. 5], in several angular positions, one of which is a solid line corresponding to the reference position of the rotation element itself corresponding to the desired position of the agricultural machine, and the others are dashed lines corresponding to drifts of the agricultural machine to the right or left,

[0026] [Fig.8]] is a side view of an agricultural machine according to the present invention in another method of implementation,

[0027] [Fig.9] is a side view of an agricultural machine according to the present invention in a different method of implementation.

[0028] The figures show an agricultural machine M attached to the rear of a tractor vehicle V, with freedom of rotation around a substantially vertical axis of rotation RI. The agricultural machine M, as illustrated in Figures 1 to 4, 8, 9, is a stubble cultivator, and more particularly a stubble cultivator with independent discs.

[0029] Drift (or lateral offset) is defined as an angular displacement of the agricultural machine M around its axis of rotation RI from a desired (angular) position of the agricultural machine M aligned with the tractor vehicle V, more particularly with the forward path A of the tractor vehicle V, moving on a surface S, to an undesired (angular) position. It is a deviation of the axis of the agricultural machine M from the direction of travel of the tractor vehicle V. In other words, when the traction line of the agricultural machine M is aligned with that of the tractor vehicle V, there is no drift.

[0030] The agricultural machine M can be towed by being attached to the tractor's hitch pin or, as shown in Figures 1 to 4, 8 and 9, semi-mounted by being attached to two lower arms V2 of the tractor's three-point linkage via a cross member VL

[0031] The agricultural machine M comprises a frame Ml supporting at least two rows 1, 2 of soil preparation discs 10, 20 S arranged one behind the other and whose discs 10, 20 of one of the rows 1, 2 has an angle of attack opposite to that of the discs 10, 20 of the other of the rows 1, 2 and at least one actuator device 3, 4 allowing to modify the working depth of the discs 10, 20, in particular of at least one of the rows 1, 2.

[0032] The V-shaped configuration of the discs of the agricultural machine M results in a greater lateral force on one side than the other, depending on the working depth setting. The agricultural machine M works asymmetrically; it drifts. To compensate for this phenomenon, an adjustment is necessary so that the resultant forces of the thrust from the two rows of discs 10, 20 pass through the line of traction of the agricultural machine M. In order to work the soil across the entire width of the agricultural machine M, the discs 10 of the first row 1 are offset laterally relative to the discs 20 of the second row 2, as shown, for example, in [Fig. 2].

[0033] The angle of attack is the angle formed between the plane of the disc 10, 20 and the median vertical plane of the agricultural machine M. The median vertical plane of the agricultural machine M is parallel to the direction of travel A of the tractor in [Fig. 2]. The arrangement of the discs on the two rows and their respective angles of attack are designed to achieve optimal performance of the agricultural machine M when it is aligned behind the tractor as shown in [Fig. 2]. The angle of attack describes how the disc 10, 20 is inclined relative to the direction of travel of the agricultural machine M.

[0034] The discs 10, 20, which are concave or conical in shape, are driven into the soil to cut and turn over the strip of earth. The discs 10, 20 mix the soil and plant debris to prepare the field for sowing. The discs 10, 20 can be smooth or serrated. When the disc edge is serrated, penetration is increased. The working depth to which the discs are driven is the depth at which the discs operate to perform their functions. The working depth range extends, depending on the type of disc, from 3 cm to 15 cm. This depth is adjustable as will be described later.

[0035] The agricultural machine M shown in Figures 2 to 4 has a working width exceeding 3 meters. It can be equipped with a folding frame M1 with a central section and two folding side sections for transport. To allow movement in transport mode, the side sections located on either side of the central section are raised vertically. When folded in this position and in transport mode, the agricultural machine M is authorized to travel on roads. The folding mechanism can be operated by actuators 8, such as cylinders. The discs 10, 20 fixed to the side sections on each side of the agricultural machine M can be moved from a substantially horizontal working position (illustrated in Figures 2 to 4) to a substantially vertical position (not shown). For large working widths For widths of approximately 9 meters and above, the folding Ml frame comprises five sections; each side section includes an intermediate section and an end section. Figures 8 and 9 illustrate an M agricultural machine in a non-folding version, where the Ml frame consists only of a central section. It does not have folding sections hinged to the central section. In an alternative version, the folding Ml frame may have only two folding side sections. There is no central section in this alternative. In such a configuration, the cultivator will have a working width of 4 or even 5 meters.

[0036] Preferably, all the discs 10, 20, or most of (or the majority of) the discs 10, 20 of one of the two rows 1, 2 have an angle of attack opposite to that of all, or most of (or the majority of) the discs 10, 20, of the other of the rows 1, 2.

[0037] As shown in the figures, the disks 10 in the first row 1 are oriented to the left and the disks 20 in the second row 2 are oriented to the right. With this distribution over two rows 1, 2, the disks 10, 20 together form a V-shaped configuration.

[0038] As can be seen further in Figures 1 to 4, 8, 9, the agricultural machine M may include a drawbar M2 connecting the front of the frame M1 to the lower arms V2 of the tractor's linkage via a cross member VI. The front of the drawbar M2 is connected to the cross member VI by means of a joint 7 allowing freedom of movement of the cultivator around the vertical axis RI to follow the moving tractor vehicle V. The joint 7 is mounted in a clevis 70. The joint axis RI is materialized by a substantially vertical pivot mounted in the joint 7. In addition, the agricultural machine M may include at least one front actuator 3 such as a cylinder mounted in an articulated manner on the drawbar M2 and on the front of the frame ML. Such a front actuator 3 makes it possible to modify, by a variation of its length, the height relative to the ground S of the front of the frame ML, in particular articulated on the drawbar M2 around a horizontal axis.

[0039] As can be seen further in Figures 1 to 4, the agricultural machine M may also include gauge wheels J. The gauge wheel J allows the working depth of the discs mounted on the respective lateral part of the folding frame Ml to be adjusted and maintained. In the embodiment shown, one gauge wheel J is provided per side. In an alternative not shown, a gauge wheel J may be provided on the central part of the frame ML. In another alternative, several gauge wheels J may be provided on the lateral parts of the frame ML. Each gauge wheel J is fixed to the frame ML, preferably at the front of the frame ML. Such gauge wheels J stabilize the agricultural machine M during operation and, by adjusting their height relative to the frame ML, allow the height of the front of the frame ML to be modified. The height adjustment of each gauge wheel J is ensured by means of a front actuator 3, such as a cylinder, different from that of the drawbar M2. Changing the length of such a front actuator 3 of the gauge wheels J modifies the height position of the corresponding gauge wheel J. The height adjustment of the central part of the frame M1 is achieved using the drawbar actuator 3. The drawbar cylinder can be identical to that of the gauge wheels J.

[0040] It can be seen more particularly in Figures 2 to 4 that the agricultural machine M can include at least one press roller 6 at the rear of the frame M1. The roller 6 allows the soil to be firmed after the work of the two rows of discs 10, 20. Each part of the frame M1 (central part, side part) has such a press roller 6. In the example shown in Figures 1 to 4, the press roller 6 consists of a double roller. Figure 1 shows only, in profile view, the double roller of the central part. The rollers provided for the side parts are not shown. Figures 8 and 9 illustrate another type of support element consisting of a single press roller 6. We can also see from all these figures that each roller is height adjustable relative to the frame Ml by means of at least one rear actuator 4 such as a cylinder, preferably two rear actuators 4.Each rear actuator 4 connects, in an articulated manner around a substantially horizontal axis, the rear of the frame Ml, or a support element T mounted at the rear of the frame Ml, to a support 60 supporting the rollers 6 of the group concerned. The support element T may be a support element T supporting transport wheels TL.

[0041] The frame Ml supports at least one actuator device 3, 4 allowing the working depth of the discs 10, 20 to be modified. The actuator device 3, 4 allows the working depth of the agricultural machine M to be controlled, i.e. the height of the frame Ml relative to the ground surface S.

[0042] In a preferred embodiment, the actuator device 3, 4 may consist of at least one front actuator 3 such as a cylinder allowing the height S of the front of the frame M1 to be modified relative to the ground by varying its length, and at least one rear actuator 4 such as a cylinder allowing the height S of the front of the frame M1 to be modified relative to the ground by varying its length, the variation in the length of the front and / or rear cylinders 3, 4 thus allowing the working depth of the discs 10, 20 to be affected. According to a particular feature of the invention, the agricultural machine M may be adapted to be able to control the front and rear actuators 3, 4 simultaneously and in a combined manner so that when the front or rear actuator 3, 4 extends, the other front or rear actuator 3, 4 retracts.Preferably, these front and rear actuators 3, 4 can be at least one of the front actuators 3, 4 and rear described previously. With simultaneous adjustment of the front and rear actuators, the average working depth of the discs 10, 20 is better maintained, given that the average depth will be . close to the desired or theoretical working depth. Under certain operating conditions, the wear of discs 10, 20 in the first row 1 and the second row 2 is substantially similar, and it will not be necessary to replace the discs 10 in the first row 1 prematurely.

[0043] On such an agricultural machine M, the discs 10, 20 are preferably independent, in particular by each being mounted on a respective arm so as to be able to retract independently of each other. This arrangement is known and is therefore not described in further detail.

[0044] In accordance with the present invention, the agricultural machine M further comprises a sensor data collection device 5 enabling the measurement or detection of the drift of the agricultural machine M.

[0045] Measuring or detecting drift allows a result to be deduced, and then, depending on the result, if the result is representative of drift, (via a human operator or an electronic processing and control unit UC) according to a mode called correction mode, the necessary correction to be applied to adjust the angular position of the agricultural machine M is determined and the necessary correction is applied by controlling the actuator device 3, 4 so as to create, by adjusting the working depth of the discs of at least one of the rows 1, 2, a torque (or torque moment) on the agricultural machine M allowing it to be brought back to its desired position, that is to say, to move it around its axis of rotation RI from its undesired position to its desired position (initial reference position). The desired position being that of an alignment of the agricultural machine M with the direction of travel of the tractor vehicle V.In this position, aligned behind the tractor vehicle V, as illustrated in [Fig. 2], the agricultural machine M will perform uniform work across the entire field surface with optimal fuel consumption. The agricultural machine M will work its effective working width, and no strip will be worked twice or left unworked.

[0046] In a preferred embodiment allowing the steps of the process to be implemented according to an automatic process, the agricultural machine M may further include an electronic processing and control unit UC configured to continuously (or constantly) or punctually measure or detect the drift of the agricultural machine M by means of the data collection device 5 and, as long as the result is representative of a drift, to gradually and / or periodically adjust the position of the agricultural machine M until the result is no longer representative of a drift, i.e. until the position of the agricultural machine M corresponds to its desired position.

[0047] The electronic processing and control unit (UC) can be, for example, a microcontroller or a processor or any type of computing system. The unit The processing and control unit (PCU) can then be adapted to read the data collected by the data collection device 5, process it, and optionally send / transmit it to a storage or display system. The storage and / or display system may include local memory and / or a database and / or a screen for viewing the results. The processing and control unit (PCU), and optionally the storage and / or display system, may be located, for example, on the agricultural machine M or in the tractor vehicle V. Their power supply, as well as that of the data collection device 5 if it requires a power supply, may come from a power source, such as a battery, an electric generator, or other source of electrical power, located on the agricultural machine M or on / in the tractor vehicle V.

[0048] The term "progressively" means that the position adjustments are made continuously and incrementally. This may involve, for example, the use of a feedback loop in which the drift is continuously or intermittently measured and adjusted according to the difference between the current drift position (at the time of measurement) of the agricultural machine M and its desired position. For example, a PID (Proportional-Integral-Derivative) controller managed by the electronic processing and control unit UC can be used to continuously adjust the output in order to minimize the drift.

[0049] The term "periodically" means that the position adjustments are made at regular time intervals. This may imply, for example, that the adjustments are made at predefined times, such as every second or half-second. Between these periods, the electronic processing and control unit (UC) does not perform any adjustments. The responsiveness of the adjustment will depend on the measurement frequency. The present invention may provide for a measurement frequency of, for example, between 0.1 seconds and 1 second. The computing power will need to be adjusted accordingly.

[0050] The term “and / or” in “progressively and / or periodically” means that the two adjustments “progressive” and “periodically” can be used alone or in combination. Thus, in a complex configuration, the present invention can provide for a combination of the two adjustments “progressive” and “periodically.” The adjustments can therefore be progressive to respond to immediate variations, while more significant and planned adjustments can be made periodically.

[0051] These adjustments ensure that the system automatically reaches and maintains the desired state (desired position of the agricultural machine M) efficiently and stably. For each working condition, the position adjustments of the frame M1 can be made in a complex manner, by acting on the front actuator 3 and the rear actuator 4 effectively so that the agricultural machine M works on its effective width, to respect an average working depth of discs 10, 20 while limiting fuel consumption.

[0052] The fact that the electronic processing and control unit UC is configured to continuously or intermittently measure or detect the drift of the agricultural machine M by means of the data collection device 5 means that the difference between continuous and intermittent measurement or detection lies primarily in the frequency and duration of data collection. In the case of continuous measurement, the data collection device 5 operates continuously, collecting data without interruption, which has the advantage of monitoring the evolution of the drift in real time and detecting changes or anomalies quickly or instantly.In the case of spot measurement, the data collection device 5 operates only for a defined period or on demand, and measurements are taken at specific and predefined intervals, or in response to a particular event. This has the advantage of saving energy because the data collection device 5 is only activated when necessary, and of reducing the amount of data to be processed and stored.

[0053] According to a preferred feature, the electronic processing and control unit UC is adapted to carry out the correction (or corrective action) by controlling the working depth adjustment actuator device 3, 4 so as to make the discs 10, 20 of one of the rows 1, 2 work at different depths compared to the discs 20, 10 of the other of the rows 2, 1.

[0054] Regarding the data collection device 5 for measuring or detecting drift, it is specified that:

[0055] - the measurement relates to obtaining precise quantitative values, while Detection focuses on identifying the presence or absence of an event without necessarily providing a precise quantitative value.

[0056] - for measurements, a setpoint (or threshold value or threshold), for example stored stored in the CPU's processing and control system memory, it may be necessary to compare the measured values ​​to the setpoint and trigger the correction.

[0057] - for detection, a setpoint is not necessarily required, but a threshold or A detection criterion can be used to determine when correction should be made.

[0058] It is understood that the present invention can provide, based on the measurement or detection performed:

[0059] - implementation by a human operator. The human operator, for example The driver of the tractor vehicle V uses their knowledge, experience, and possibly simple tools such as manual or graphical calculations, to analyze or interpret drift measurement or detection data and takes a decision to, if necessary, apply the aforementioned correction method if the result is representative of a drift. The human operator can monitor, for example, a control screen and detect the drift by observing visible changes in the displayed data.

[0060] - an automatic implementation by means of the electronic processing unit and UC control.

[0061] In the machine configuration adapted to control the front and rear cylinders 3, 4 in a combined manner, such that when the front or rear cylinder 3, 4 extends, the other front or rear cylinder 3, 4 retracts, it is understood that the control can be carried out by an operator or by the electronic processing and control unit UC. This includes, in particular, changing the length of the actuators 3, 4.

[0062] Thus, in this form where the actuator device 3, 4 is composed of at least one front cylinder 3 allowing to modify, by a variation of its length, the height relative to the ground S of the front of the frame Ml and at least one rear cylinder 4 allowing to modify, by a variation of its length, the height relative to the ground S of the front of the frame Ml, the variation of the length of the front and / or rear cylinders 3, 4 thus allowing to act on the working depth of the discs 10, 20, the electronic processing and control unit UC can be adapted to be able to control in a combined manner the front and rear cylinders 3, 4 so that when the front or rear cylinder 3, 4 extends the other front or rear cylinder 3, 4 retracts.

[0063] According to the present invention, several commands of the actuator device 3 comprising at least one forward actuator 3 and at least one rear actuator 4 can thus be performed to apply the correction:

[0064] - action only on the front actuator(s) 3,

[0065] - action only on the rear actuator(s) 4,

[0066] - simultaneous and combined action on the rear actuator(s) 3 and the actuator(s) rear 4.

[0067] The present invention therefore uses a specific adjustment of the depth of the discs 10, 20 between the two rows of discs 1, 2 to modify the (angular) displacement of the agricultural machine M in order to correct drift. Indeed, when the discs 10, 20 are in contact with the soil S, they generate forces due to their interaction with the soil S. These forces depend on the depth to which the discs 10, 20 penetrate the soil S, their angle of attack / inclination, and the speed of the agricultural machine M. When the depth of the discs 10, 20 changes, the resulting forces change. The forces generated by discs 10, 20 create a torque (or moment) on the agricultural machine M, thus influencing its direction of rotation around the axis of rotation RL. It is therefore understood that, when the depth of discs 10, 20 differs from one row 1, 2 to the next, row 1, 2, whose discs 10, 20 are Driven to a greater depth, discs 10 and 20 influence the agricultural machine M to move in the direction of their orientation (or angle of attack) because these discs are the ones that "grip" the soil S the most or generate the greatest rotational torque on the agricultural machine M compared to the discs 10 and 20 of the other row 1 and 2. Thus, the depth of discs 10 and 20 has a direct impact on the forces generated by their interaction with the soil S, which influences the rotational torque applied to the agricultural machine M and therefore its drift as it moves around its axis of rotation RI. The deeper the discs 10 and 20 are driven, the greater the forces and moments generated, and consequently, the higher the wear rate.The objective to be achieved by adapting the working depth of discs 10, 20 is to achieve a balance of forces so that the action of discs 10, 20 on the soil, their tracks in the earth, is parallel to the direction of travel A of the tractor vehicle V. When the agricultural machine M works without drift, it is aligned and its effective working width corresponds to its theoretical width and all strips of the field are worked homogeneously.

[0068] Thus, in the case of a drift to the left or right of the agricultural machine M (relative to the forward trajectory A of the tractor vehicle V or of the agricultural machine M following the latter), if we refer to figures 3 and 4, in a version of the agricultural machine M in which the angle of attack of the discs 10 of one of the rows 1, called first row 1, is oriented to the left of the agricultural machine M and the angle of attack of the discs 20 of the other row 2, called second row 2, is oriented in the opposite direction to the right of the agricultural machine M, this for an observer located behind the agricultural machine M and looking in the forward direction A of the agricultural machine M:

[0069] - in the case where the agricultural machine M drifts to the left ([Fig.3]), the human operator or the electronic processing and control unit UC can control the actuator device 3, 4 so that the working depth of the discs 20 of the second row 2 whose angle of attack is oriented to the right is greater than that of the discs 10 of the first row 1, which has the effect of moving the agricultural machine M to its right, bringing it back to its desired position ([Fig.2]) aligned with the tractor vehicle V,

[0070] - in the case where the agricultural machine M drifts to the right ([Fig.4]), the human operator or the electronic processing and control unit UC can control the actuator device 3, 4 so that the working depth of the discs 10 of the first row 1 whose angle of attack is oriented to the left is greater than that of the discs 20 of the second row 2, which has the effect of moving the agricultural machine M to its left, bringing it back to its desired position ([Fig.2]) aligned with the tractor vehicle V.

[0071] In a preferred embodiment, as can be seen in Figures 1 to 9, the data collection device 5 may comprise at least one assembly consisting of a rotating element 50 and a sensor 51. The rotating element 50 is mounted freely to rotate about a substantially vertical axis of rotation (R2) on the agricultural machine M and interacts with the ground S such that the angular position of the rotating element 50 is representative of that of the agricultural machine M. The sensor 51 allows for the measurement or detection of angular information on the rotating element 50, such as, for example, the angular position of the rotating element 50.

[0072] "The angular position of the rotating element 50 is representative of that of "The agricultural machine M" means that the angular position of the rotating element 50 corresponds, in a reference angular position, to the desired position of the agricultural machine M aligned with the tractor vehicle M. We can see more particularly on [Fig.7] several angular positions of the rotating element 50, one of which, in solid line, is the reference position of the rotating element 50 corresponding to the desired position of the agricultural machine when it is aligned with the tractor vehicle V and the other two, in dashed lines, correspond to drifts of the agricultural machine M to the right for one and to the left for the other.

[0073] Preferably, the rotating element 50 extends in the median vertical plane of the agricultural machine M or close to this plane. Alternatively, the rotating element 50 may extend along one of the sides of the agricultural machine M. A position in which the proper functioning of the data collection device 5 is ensured should be preferred. With a central position at the median axis, the data collection device 5, and therefore the rotating element 50, is preserved. In the preferred configuration, the data collection device 5, and consequently the rotating element 50, is positioned between the two wheels intended to support the frame M1 during road transport. Preferably, the rotating element 50 interacts with the ground, i.e., it is likely to penetrate the soil S to approximately the same depth as the discs 10, 20.According to an alternative, the penetration depth of the rotating element 50 of the data collection device 5 in the ground is different from that of the discs 10, 20.

[0074] As shown in Figures 1, 5 to 7, 9, the rotating element 50 may have a disk shape. Preferably, the rotating element 50 may have a flat shape. The disk may be considered as a flat element or as generally flat by being, for example, slightly curved or convex on one or both of its faces.

[0075] Referring in particular to figures 1, 5 to 7 and 9, it can be seen that the disk 50 is fixed on a support 52 of the data collection device 5. The support 52 is mobile in rotation around the substantially vertical axis R2 and supports the sensor 51.

[0076] The disc shape is preferred since, by rotating freely around a substantially horizontal axis perpendicular to the direction of travel A, its lifespan will be increased. In another form illustrated in [Fig. 8], the rotating element 50 may have the shape of a plowshare, a trailing blade, or a skid. With such a shape, the element that will be dragged will have a higher wear rate than an element that is designed to roll like a disc. In this form, as with the disc, the rotating element 50 can be fixed to such a support 52 which supports the sensor 51.

[0077] The sensor 51 can be an angular position sensor for measuring, in degrees or radians, the angular position of the rotating element 50. For this purpose, the support 52 pivots around the axis of rotation R2. The sensor 51 converts, for example into an angle, the rotational movement of the support 52 fixed to the rotation of the rotating element 50 around the substantially vertical axis R2.

[0078] Such an angular position sensor 51 can be, for example, a potentiometric, Hall effect, optical sensor such as rotary, inductive, capacitive encoders.

[0079] Preferably, the rotating element 51, or the data collection device 5, is arranged either in front of the two rows 1, 2 of discs 10, 20 as shown in [Fig. 9], or behind one of the rows 1, 2, or behind both rows 1, 2. In [Fig. 4], the rotating element 50 extends behind the first row 1 of discs. The rotating element 50 is at least partially located on the second row of discs 20. It extends along the left side of the agricultural machine M, on the left lateral part of the folding frame M1. Preferably, the rotating element 50 extends behind the two rows of discs 10, 20 as illustrated in Figures 1 to 3 and 8.

[0080] Preferably, the present invention may provide that the rotating element 50 is limited in rotation with an amplitude of approximately 5 to 15 degrees. It may also provide that the rotating element can rotate through 360°, particularly when the rotating element is located in a position, for example in front of or behind the rows 1, 2 of discs 10, 20, avoiding a collision or risk of interference with another element of the agricultural machine M (Figures 1 and 9).

[0081] Such a rotating element 50 engaged in the soil S is subject to lateral and longitudinal friction forces. These forces depend on the nature of the soil S and the depth of engagement of the rotating element 50 in the soil S. Thus, when the agricultural machine M moves laterally by an angular displacement of the agricultural machine M around its axis of rotation RI (Figures 3, 4) from its desired position ([Fig. 2]), it generates a torque on the rotating element 50 due to the difference in resistance offered by the soil S on one side of the element compared to the other. This torque tends to rotate the rotating element 50 around its substantially vertical axis of rotation R2 (Figures 3, 4). The rotating element 50 rotates freely under the effect the generated torque and the friction with the ground S offers a resistance which depends on the depth of engagement and the properties of the ground S.

[0082] The present invention may provide that the data collection device 5 takes other forms than that mentioned above using such a rotating element 50, in particular forms comprising a gyroscopic sensor or an accelerometer. The advantage of these other forms is the absence of contact between the data collection device 5 and the ground, and therefore no wear from friction with the earth.

[0083] The present invention may further provide that the data collection device 5 includes a sensor disposed at the joint 7 so as to measure or detect information relating to the rotation of the axis of rotation RI of the agricultural machine M. With a sensor disposed at the joint 7, the data collection may be incorrect, in particular when the tractor vehicle V is itself drifting and moving sideways.

[0084] Preferably, as can be seen in particular in [Fig. 5], the data collection device 5 may include retractable means 53 for raising the rotating element 50 when it encounters an obstacle. These retractable means 53 may include a substantially horizontal axis of rotation around which the rotating element 50 can pivot. Preferably, these retractable means 53 may include a return mechanism for returning the rotating element 50 to its deployed position once the obstacle has been passed.

[0085] Preferably, the data collection device 5 may also further include a braking system 54 to limit vibrations.

[0086] The present invention also relates to a method for correcting the drift of such an agricultural machine M enabling its implementation.

[0087] According to the present invention, the process consists of carrying out the following steps:

[0088] i) measure or detect the drift of the agricultural machine M by means of the data collection device 5,

[0089] ii) analyze the measurement or detection of the drift to deduce a result, then, depending on the result:

[0090] - if the result is representative of a drift, determine the correction necessary to apply to adjust the position of the agricultural machine M and apply the necessary correction by controlling at least one actuator device 3, 4 so as to create, by adjusting the working depth of the discs 10, 20 of at least one of the rows 1, 2, a torque on the agricultural machine M allowing it to be brought back to its desired position,

[0091] - if the result is not representative of a deviation, no corrective action is ordered.

[0092] In a particular embodiment of the process, where the agricultural machine M further comprises an electronic processing and control unit UC, the process consists, using the electronic processing and control unit UC, in executing the process implementing steps i) and ii) so as to:

[0093] - in step i) to carry out, continuously or punctually, the measurement or the detection of drift of agricultural machine M by means of data collection device 5,

[0094] - in step ii), as long as the result is representative of a drift, to adjust progressively and / or periodically, the position of the agricultural machine M until the result is no longer representative of a drift.

[0095] With the present invention, drift correction can be performed during the working phase of the agricultural machine M; that is, the impact of the correction is visible and measurable instantly thanks to the data collection device 5. Drift correction is carried out more quickly and is always adapted to the working conditions. The work performed by the agricultural machine M is of higher quality while respecting the effective working width and reducing fuel consumption.

[0096] Preferably, in step ii), the correction is applied by controlling at least one working depth adjustment actuator device 3, 4 so as to make the discs 10, 20 of one of the rows 1, 2 work at different depths compared to the discs 20, 10 of the other row 2, 1.

[0097] In the embodiment where the data collection device 5 comprises at least one assembly consisting of a rotating element 50 and a sensor 51, the rotating element 50, preferably disc-shaped, is mounted freely to rotate about a substantially vertical axis of rotation R2 on the agricultural machine M and interacts with the ground S such that the angular position of the rotating element 50 is representative of that of the agricultural machine M, the method may consist of:

[0098] - in step i) to measure or detect angular information on the rotating element 50, such as, for example, the angular position of the rotating element 50, by means of the sensor 51,

[0099] - and in step ii) to analyze the measurement or detection of angular information by in relation to the position of the rotating element 50 representative of the desired position of the agricultural machine M, to deduce the result.

[0100] In the particular form where the actuator device 3, 4 is composed of at least one front actuator 3 such as a cylinder allowing the height relative to the ground S of the front of the frame M1 to be modified by a variation in its length and at least one rear actuator 4 such as a cylinder allowing the height relative to the ground S of the front of the frame M1 to be modified by a variation in its length, the variation of the length of the front and / or rear actuators 3, 4, thus allowing action on the working depth of the discs 10, 20, the method may consist in step ii) of applying the necessary correction by controlling the front and rear actuators 3, 4 in a combined manner so that when the front or rear actuator 3, 4 extends the other front or rear actuator 3, 4 retracts.

[0101] In a particular embodiment of the agricultural machine M where the angle of attack of the discs 10 of one of the rows 1, called first row 1, is oriented to the left, respectively to the right, of the agricultural machine M and the angle of attack of the discs 20 of the other row 2, called second row 2, is oriented in the opposite direction to the right, respectively to the left, of the agricultural machine M, this for an observer located behind the agricultural machine M and looking in the direction of advancement A of the agricultural machine M, the method may consist of step ii):

[0102] - in the case where the agricultural machine M drifts to the left relative to its trajectory advancement A, to control the actuator device 3, 4 so that the working depth of the discs 10, 20 of the first or second row 1, 2 whose angle of attack is oriented to the right, is greater than that of the discs 10, 20 of the other row 1, 2,

[0103] - in the case where the agricultural machine M drifts to the left relative to its trajectory advancement A, to control the actuator device 3, 4 so that the working depth of the discs 10, 20 of the first or second row 1, 2 whose angle of attack is oriented to the right, is greater than that of the discs 10, 20 of the other row 1, 2,

[0104] Thus, to compensate for the problem of an agricultural machine M such as a stubble cultivator with a V-shaped configuration and to try to keep the agricultural machine M aligned with its forward path A (or the tractor vehicle V), the present invention makes it possible, via a human operator or according to an automatic process, to intervene in the setting of the machine's working parameters by modifying in particular the working depth of the discs 10, 20 of one of the rows relative to the other row of the V-shaped configuration, this by acting on the various front and / or rear actuators 3, 4, in particular the drawbar M2, the press roller(s) 6 and / or, where applicable, the gauge wheels J. The intervention on at least one of the actuators 3, 4 is carried out during the operation of the agricultural machine M and the impact of the adjustment is visible immediately afterwards, without leaving the cab of the tractor vehicle V.Actuators 3 and 4 are advantageously hydraulic cylinders whose length is remotely adjustable. Each cylinder can be equipped with a stop device whose adjustment is made remotely, i.e., from the cab.

[0105] In general, the present invention also applies to an agricultural machine equipped with at least two rows of discs in an X configuration whose center is offset from the vertical median plane of the agricultural machine. In an X configuration, some of the discs in the first row are oriented with a left-hand angle of attack, while the others are oriented with a right-hand angle of attack. The discs in the second row are oriented in the opposite direction to those in the first row. This offset from the vertical median plane causes drift because the resulting forces of the two rows of discs are not identical, and it is necessary to compensate for this difference through adjustment, particularly of the working depth of the discs.

[0106] 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 correcting the drift of an agricultural machine (M) attached to the rear of a tractor (V) by having freedom of rotation about a substantially vertical axis of rotation (RI), drift being defined as an angular displacement of the agricultural machine (M) about its axis of rotation (RI) from a desired position of the agricultural machine (M) aligned with the direction of travel (A) of the tractor (V) moving over a soil (S) to an undesired position, the agricultural machine (M) comprising a frame (M1) supporting at least two rows (1, 2) of soil preparation discs (10, 20) (S) arranged one behind the other, the discs (10, 20) of one of the rows (1, 2) having an angle of attack opposite to that of the discs (20, 10) of the other row (2, 1) and at least one actuator device (3, 4) allowing modification of the working depth of the discs (10, 20),characterized in that the agricultural machine (M) further comprises a data collection device (5) and in that it consists of carrying out the following steps: i) measuring or detecting the drift of the agricultural machine (M) by means of the data collection device (5), ii) analyzing the measurement or detection of the drift to deduce a result, then, depending on the result: - if the result is representative of a drift, determining the necessary correction to be applied to adjust the position of the agricultural machine (M) and applying the necessary correction by controlling at least one actuator device (3, 4) so ​​as to create, by adjusting the working depth of the discs (10, 20) of at least one of the rows (1, 2), a torque on the agricultural machine (M) enabling it to be brought back to its desired position, - if the result is not representative of a drift, no corrective action is controlled.

2. A method according to claim 1, characterized in that the agricultural machine (M) further comprises an electronic processing and control unit (UC) and in that it consists, using the electronic processing and control unit (UC), of executing the process implementing the steps of claim 1 such that: - in step i), to carry out, continuously or punctually, the measurement or detection of the drift of the agricultural machine (M) by means of the data collection device (5), - in step ii), as long as the result is representative of a drift, to adjust progressively and / or periodically, the position of the agricultural machine (M) until the result is no longer representative of a drift.

3. Method according to claim 1 or 2, characterized in that, in step ii), the correction is applied by controlling at least one actuator device (3, 4) so ​​as to make the discs (10, 20) of one of the rows (1, 2) work at different depths relative to the discs (20, 10) of the other row (2, 1).

4. A method according to any one of claims 1 to 3, characterized in that the data collection device (5) comprises at least one assembly consisting of a rotating element (50) and a sensor (51), the rotating element (50) being mounted freely to rotate about a substantially vertical axis of rotation (R2) on the agricultural machine (M), and interacting with the ground (S) so that the angular position of the rotating element (50) is representative of that of the agricultural machine (M), and in that it consists of: - in step i) measuring or detecting angular information on the rotating element (50), such as, for example, the angular position of the rotating element (50), by means of the sensor (51), - and in step ii) analyzing the measurement or detection of the angular information with respect to the position of the rotating element (50) representative of the desired position of the agricultural machine (M), to deduce the result.

5. A method according to any one of claims 1 to 4, characterized in that the actuator device (3, 4) comprises at least one front actuator (3) such as a cylinder allowing the height above ground (S) of the front of the frame (M1) to be modified by varying its length, and at least one rear actuator (4) such as a cylinder allowing the height above ground (S) of the front of the frame (M1) to be modified by varying its length, the variation in the length of the front and / or rear actuators (3, 4) thus allowing the working depth of the discs (10, 20) to be adjusted, and in that it consists, in step ii), of applying the necessary correction by simultaneously controlling the front actuators (3, 4). and rear so that when the front or rear actuator (3, 4) extends the other front or rear actuator (4, 3) retracts.

6. A method according to any one of claims 1 to 5, characterized in that the angle of attack of the discs (10) of one of the rows (1), referred to as the first row (1), is oriented to the left, respectively to the right, of the agricultural machine (M), and the angle of attack of the discs (20) of the other row (2), referred to as the second row (2), is oriented in the opposite direction, to the right, respectively to the left, of the agricultural machine (M), for an observer located behind the agricultural machine (M) and looking in the direction of travel (A) of the agricultural machine (M), and in that it consists, in step iii): - in the case where the agricultural machine (M) drifts to the left with respect to the direction of travel (A), of controlling the actuator device (3, 4) so ​​that the working depth of the discs (10, 20) of the first or second row (1, 2) whose angle of attack is oriented to the right, is greater than that of the disks (10, 20) of the other row (1,2),- in the event that the agricultural machine (M) drifts to the right relative to the direction of travel (A), to control the actuator device (3, 4) so ​​that the working depth of the discs (10, 20) of the first or second row (1, 2) whose angle of attack is oriented to the left is greater than that of the discs (10, 20) of the other row (1, 2).

7. An agricultural machine (M) attached to the rear of a tractor (V) and having freedom of rotation about a substantially vertical axis of rotation (RI), drift being defined as a displacement of the agricultural machine (M) about its axis of rotation (RI) from a desired angular position of the agricultural machine (M) aligned with the direction of travel (A) of the tractor (V) moving over a surface (S) to an undesired position, the agricultural machine (M) comprising a frame (M1) supporting at least two rows (1, 2) of soil preparation discs (10, 20) arranged one behind the other, the discs (10, 20) of one of the rows (1, 2) having an angle of attack opposite to that of the discs (10, 20) of the other row (1, 2), and at least one actuator device (3, 4) allowing modification of the working depth of the disks (10, 20) of at least one of the rows (1,2),characterized in that the agricultural machine (M) further comprises a device, data collection (5) allowing to measure or detect the drift of the agricultural machine (M), the measurement or detection of the drift allowing to deduce a result, then, depending on the result, if the result is representative of a drift, to determine the necessary correction to apply to adjust the position of the agricultural machine (M) and to apply the necessary correction by controlling the actuator device (3, 4) so ​​as to create, by an adjustment of the working depth of the discs (10, 20) of at least one of the rows (1,2), a torque on the agricultural machine (M) allowing to bring it back to its desired position.

8. Agricultural machine (M) according to claim 7, characterized in that it further comprises an electronic processing and control unit (UC) configured to carry out, continuously or punctually, the measurement or detection of the drift of the agricultural machine (M) by means of the data collection device (5) and, as long as the result is representative of a drift, to adjust, progressively and / or periodically, the position of the agricultural machine (M) until the result is no longer representative of a drift.

9. Agricultural machine (M) according to claim 7 or 8, characterized in that the electronic processing and control unit (UC) is adapted to perform the correction by controlling the actuator device (3, 4) so ​​as to make the discs (10, 20) of one of the rows (1, 2) work at different depths compared to the discs (20, 10) of the other row (2, 10).

10. Agricultural machine (M) according to any one of claims 7 to 9, characterized in that the data collection device (5) comprises at least one assembly consisting of a rotating element (50) and a sensor (51), the rotating element (50) being mounted freely in rotation about a substantially vertical axis of rotation (R2) on the agricultural machine (M) and in interaction with the ground (S) so that the angular position of the rotating element (50) is representative of that of the agricultural machine (M), the sensor (51) enabling the measurement or detection of angular information on the rotating element (50), such as, for example, the angular position of the rotating element (50).

11. Agricultural machine (M) according to claim 10, characterized in that the rotating element (50) is arranged either in front of the two rows (1, 2) of disks (10, 20), either behind one of the rows (1, 2) or behind all the rows (1, 2) of disks (10, 20).

12. Agricultural machine (M) according to claim 10 or 11, characterized in that the data collection device (5) includes retractable means (53) allowing the rotating element (50) to be raised when it encounters an obstacle.

13. Agricultural machine (M) according to any one of claims 9 to 12, characterized in that the actuator device (3, 4) comprises at least one front cylinder (3) for modifying, by varying its length, the height above ground (S) of the front of the frame (M1) and at least one rear cylinder (4) for modifying, by varying its length, the height above ground (S) of the front of the frame (M1), the variation in the length of the front and / or rear cylinders (3, 4) thus allowing adjustment of the working depth of the discs (10, 20), and in that the electronic processing and control unit (UC) is adapted to be able to control the front and rear cylinders (3, 4) in a combined manner such that when the front or rear cylinder (3, 4) extends, the other front or rear cylinder (3, 4) extends. retracts.

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