Agricultural machinery comprising a mass transfer mechanism and a method for balancing such machinery

Abstract

The invention relates to an agricultural implement (10) comprising a chassis (11) and motorized drive means (12) enabling the implement (10) to move forward in a principal direction of travel and which are mounted on the chassis (11), as well as a main body (14). The implement (10) includes a mass transfer mechanism (25) through which the main body (14) is mounted on the chassis (11), and which is configured to move the main body (14) relative to the chassis in at least one first direction corresponding to one of a longitudinal direction of the implement (10), parallel to the principal direction of travel, and a transverse direction of the implement (10), orthogonal to the principal direction of travel, so as to modify the position of the center of gravity of the agricultural implement (10) in said first direction. The invention also relates to a balancing method (50) implemented by such an agricultural implement (10).Figure for the abbreviation: figure 2.

Description

Title of the invention: Agricultural machinery comprising a mass transfer mechanism and a method for balancing such machinery. TECHNICAL FIELD OF THE INVENTION

[0001] The field of the invention is that of agriculture, and more particularly of the treatment of agricultural crops by an agricultural machine, preferably autonomous.

[0002] More specifically, the invention relates to an agricultural machine comprising a mass transfer mechanism, as well as a method for balancing such an agricultural machine.

[0003] The invention finds particular applications in the treatment of agricultural crops, for example cereal, vegetable or wine crops, by an agricultural machine operating in plots of crops whose soil is likely to have unevenness and / or a slope and / or incline. STATE OF THE ART

[0004] Prior art is known of techniques for treating crops by agricultural machinery comprising means of advancement enabling the machinery to move on the soil of a plot of crops.

[0005] In known systems, the means of advancement are mounted on a chassis, on which is generally mounted a body supporting functional elements of the machine, such as an engine, a control module, a power source, and possibly a cabin or other cargo volume.

[0006] Such a machine may also include crop treatment tools, in particular mechanical soil treatment tools, which are mounted on the machine.

[0007] Agricultural machinery is generally designed so that it can move as stably as possible on the soil of a plot of crops regardless of the load and / or equipment of the agricultural machinery, the soil being able to present in particular unevenness and / or slope and / or incline, and possibly being loose and / or presenting obstacles.

[0008] However, when the conditions of the ground on which the agricultural machine operates become too extreme, the agricultural machine may find itself in a situation of instability, and present the risk of inadequate operation, or even of the agricultural machine tipping over.

[0009] It is therefore desirable to extend the intervention capabilities of such an agricultural machine to more varied field conditions. Description of the invention

[0010] The present invention aims to remedy all or part of the disadvantages of the prior art mentioned above.

[0011] To this end, the invention relates to an agricultural machine comprising a chassis, motorized advancement means enabling the machine to advance in a main direction of advancement and which are mounted on the chassis, as well as a main body, the machine further comprising a mass transfer mechanism through which the main body is mounted on the chassis, and which is configured to move the main body relative to the chassis in at least one first direction corresponding to one of a longitudinal direction of the machine, substantially parallel to the main direction of advancement, and a transverse direction of the machine, substantially orthogonal to the main direction of advancement, so as to modify the position of the center of gravity of the machine at least in said first direction.

[0012] Thanks to these provisions, the agricultural machine can be stabilized in particular when moving forward on sloping and / or uneven ground, and / or depending on the mass of any equipment, such as crop treatment tools, placed at the front and / or rear of the agricultural machine.

[0013] In particular, in such an agricultural machine, it is the mass of the body which is displaced relative to the chassis to vary the position of the center of gravity.

[0014] The body supports and contains functional elements of the vehicle, such as an engine, a control module, an energy tank, and possibly a passenger compartment or other cargo volume.

[0015] The body is in particular devoid of any non-functional mass, of the unbalance type, the displacement of which would be dedicated only to balancing the craft during the variation of the center of gravity.

[0016] In this way, the agricultural machine is particularly simple in design while remaining light, only the mass transfer mechanism, located at the interface between the chassis and the body, being necessary to obtain the aforementioned effects.

[0017] This also helps to limit the compaction of the soil on which the machine operates, and therefore allows the preservation of the soil of the crop plot.

[0018] Furthermore, if the first direction corresponds to the direction of travel of the machine, the machine can be optimally balanced, thereby maximizing its ground contact. This increases the machine's efficiency.

[0019] In addition, in the case where the first direction corresponds to the transverse direction of the machine, the latter can in particular be used for the treatment of tree crops under which the machine can pass thanks to a lateral offset of the body relative to the chassis.

[0020] It should be specified that the center of gravity is here assimilated to the center of inertia of the agricultural machine, considering a uniform gravitational field in the environment of the machine.

[0021] In particular, the agricultural machine is an autonomous agricultural machine, such as an autonomous agricultural robot.

[0022] Other particularly advantageous embodiments of the agricultural machine are described below.

[0023] According to a preferred embodiment, the mass transfer mechanism can also be configured to move the main body relative to the chassis in a second direction, substantially orthogonal to said first direction, said second direction corresponding to the other between the longitudinal direction of the machine and the transverse direction of the machine, so as to modify the position of the center of gravity of the machine also in said second direction.

[0024] Thus, the agricultural machine can be stabilized or balanced more precisely when moving forward on sloping and / or inclined ground, and / or in compensation for the mass of any equipment which is arranged longitudinally and / or laterally on the agricultural machine, by allowing balancing in the second direction in addition to the balancing carried out by the displacement of the center of gravity in the first direction.

[0025] In particular, the movement of the body relative to the chassis can be carried out in either the first direction and the second direction, or in a combined movement in both the first and second directions.

[0026] According to a preferred embodiment, the mass transfer mechanism may comprise at least one pair of rails sliding relative to each other, a first rail of said pair of rails being fixed to the chassis and a second rail of said pair of rails being fixed to the body

[0027] Preferably, the mass transfer mechanism includes a drive means configured to move at least the second rail of the pair relative to the first rail of the pair, and the drive means is disposed on the chassis of the agricultural machine.

[0028] Preferably, the mass transfer mechanism includes at least one pair of first rails sliding into each other for the movement of the body along the first direction and at least one pair of second rails sliding into each other for the movement of the body along the second direction.

[0029] Preferably, the mass transfer mechanism comprises two pairs of first rails and two pairs of second rails.

[0030] According to a preferred embodiment, the machine may include an energy storage module, configured to supply energy to at least the motorized means of advancement, and the main body may include said energy storage module.

[0031] The energy storage module may include energy stored in electrical form, in the form of liquid or solid fuel, or in any other form. Such a module generally has a significant mass, which is cleverly used here to vary the position of the center of gravity. Its significant mass allows the position of the center of gravity to be varied by means of small-amplitude movements of the body relative to the chassis.

[0032] According to a preferred embodiment, the energy storage module may include an electric battery.

[0033] According to a preferred embodiment, the machine may further comprise at least one agricultural crop treatment tool mounted on the main body.

[0034] The processing tool(s) can be mounted directly or indirectly on the body.

[0035] According to a preferred embodiment, the machine may further comprise a tool holder fixed to the main body, and at least one processing tool may be removably mounted on the main body via the tool holder.

[0036] The agricultural machine whose center of gravity position is mobile makes it possible to compensate for variations in mass and / or mounting position of different treatment tools which are mounted removably on the body.

[0037] The tool holder can be configured to be moved relative to the main body between at least one so-called working position and one so-called rest position.

[0038] The agricultural machine whose center of gravity position is mobile makes it possible to compensate for variations in the position of the tool carrier, and therefore of the treatment tools, and makes it possible in particular to balance variations in the position of the center of gravity which are due to the transition of the tool carrier to the working or resting position.

[0039] Preferably, the tool holder includes a linear actuator for moving the tool holder between its working position and its rest position, and the linear actuator includes a position sensor for determining its position.

[0040] The invention also relates, according to a second aspect, to a method for balancing an agricultural machine as described above, comprising: - a step of determining a target position of the center of gravity of the machine, according to at least the first direction corresponding to one of the longitudinal or transverse directions of the machine, the target position being determined in such a way that the machine is stable on a surface on which it moves when its center of gravity is at said target position; - a step of actuation of the mass transfer mechanism to move the main body relative to the chassis such that the current position of the center of gravity of the machine coincides with said target position of the center of gravity.

[0041] Preferably, the agricultural machine includes a computer control module configured for the execution of such a process.

[0042] Thus, during its progress in a plot of crops, particularly during a crop treatment mission, the agricultural machine can balance itself in response to its environment and / or its mission profile, so as to evolve stably without risk of tipping over.

[0043] This method can be executed in whole or in part according to an operating loop, continuously, at a frequency close to that of the computer control module, or periodically, that is to say, at intervals which may be based on time or distance traveled by the vehicle. The method can thus be described as dynamic, the position of the center of gravity being constantly or periodically adjusted to respond to changes in the terrain on which the vehicle is moving.

[0044] Preferably, the method may include actuation of the mass transfer mechanism only when the difference between the instantaneous position of the instantaneous center of gravity and the target position of the center of gravity exceeds a predetermined threshold.

[0045] The target position of the center of gravity of the craft can correspond to a target position along the longitudinal direction of the craft, when the mass transfer mechanism is configured to move the body relative to the chassis along the longitudinal direction, and / or correspond to a target position along the lateral direction of the craft, when the mass transfer mechanism is configured to move the body relative to the chassis along the transverse direction.

[0046] In the actuation step of the mass transfer mechanism, the body is moved relative to the chassis at least such that the position of the center of gravity along the longitudinal direction of the machine coincides with the target position along the longitudinal direction of the machine, and / or such that the position of the center of gravity along the transverse direction of the machine coincides with the target position along the transverse direction of the machine.

[0047] It is specified that the position of the center of gravity along a direction of elevation of the craft, defined as a direction orthogonal to the longitudinal and transverse directions of the craft, can in particular be arbitrary. Indeed, this component of the position of the center of gravity is negligible in determining a stable configuration of the craft.

[0048] According to a preferred embodiment, the step of determining a target position includes determining a default target position along the longitudinal direction of the machine and / or along the transverse direction of the machine, the default target position of the center of gravity of the vehicle along the longitudinal direction of the vehicle being defined as a position substantially centered longitudinally with respect to the means of advancement; and / or the default target position of the center of gravity of the vehicle along the transverse direction of the vehicle being defined as a position substantially centered transversely with respect to the means of advancement.

[0049] A position substantially centered longitudinally with respect to the means of advancement is understood here to mean a position that is equidistant from the support points of the most distant means of advancement, along the longitudinal direction. For example, when the means of advancement comprise a pair of front wheels and a pair of rear wheels, this is a position equidistant from the support points of the front and rear wheels. As another example, when the means of advancement comprise a pair of right and left tracks, this is a position centered on the portion of the track that is in contact with the ground.

[0050] A position substantially centered laterally with respect to the means of advancement is understood here to mean a position that is equidistant from the means of advancement located laterally on one side of the vehicle and laterally on a second side of the vehicle, in the lateral direction. More generally, it is a central position on the chassis. For example, when the means of advancement comprise a pair of front wheels and a pair of rear wheels, it is a position equidistant between each of the front wheels and each of the rear wheels. As another example, when the means of advancement comprise a pair of right and left tracks, it is a central position between the tracks.

[0051] It is specified that the default target position is also understood to mean any target position which is substantially modified in relation to the aforementioned positions, for example manually by an operator for the purpose of recalibration.

[0052] According to a preferred embodiment, the step of determining a target position includes modifying the default target position along the longitudinal direction of the machine and / or along the transverse direction of the machine as a function of a position of the tool holder relative to the main body and / or as a function of a position of at least one processing tool relative to the tool holder as well as the mass of at least one processing tool.

[0053] The step of determining a target position may include taking into account the position of the tool holder, and also of the processing tool(s) mounted thereon, relative to the main body.

[0054] The position of the tool holder can, for example, be determined from the position of a linear actuator of the tool holder.

[0055] The target position of the center of gravity can be determined from the relative position of the body and the chassis, as well as their masses and that of the mass transfer mechanism, and the relative position with respect to the body of the assembly including the tool holder and at least one processing tool, as well as their mass.

[0056] Insofar as the target position of the center of gravity is defined beforehand, for example by default, the target relative position of the body and chassis so that the center of gravity is positioned at its target position can be deduced, and the displacement to be made by the mass transfer mechanism can thus be deduced.

[0057] According to a preferred embodiment, the step of determining a target position includes modifying the default target position according to the longitudinal direction of the machine and / or according to the transverse direction of the machine as a function of the machine's inclination on a slope and / or on a sloping side.

[0058] Determining the inclination of the agricultural machine, due to the slope and / or the incline of the ground on which the agricultural machine is moving, makes it possible to determine a target position of the center of gravity which ensures that the agricultural machine does not tip over due to an excessive inclination of the ground.

[0059] For this purpose, the agricultural machine can be equipped with an inclinometer, preferably at least along two axes, corresponding preferably to inclination axes located in a plane substantially parallel to a plane passing through the support points of the motorized means of advancement on the ground.

[0060] According to a preferred embodiment, the target position of the center of gravity along the transverse direction of the machine is affected by a multiplication coefficient which is a function of an inclination of the machine on a slope, and / or the target position of the center of gravity along the longitudinal direction of the machine is affected by a multiplication coefficient which is a function of an inclination of the machine on a slope.

[0061] For example, the target position of the center of gravity determined by default can be affected by a correction coefficient which is a function of the inclination of the machine on a slope and / or on an incline.

[0062] It may for example be a multiplier coefficient in the form (1 + nx %), with n being a predetermined coefficient and % being the percentage of inclination of the slope or the cross slope.

[0063] According to a preferred embodiment, the method further includes a step of determining the current position of the center of gravity of the machine, in which the current position of the center of gravity of the machine is determined from a position of the tool holder relative to the main body, and / or from a position of at least one processing tool relative to the tool holder as well as from the mass of at least one processing tool.

[0064] The step of determining the current position of the center of gravity of the machine may include taking into account the position of the tool holder, and also of the processing tools mounted on it, relative to the main body.

[0065] The current position of the center of gravity can be determined from the relative position of the body and the chassis, as well as their masses and that of the mass transfer mechanism, and the relative position with respect to the body of the assembly comprising the tool holder and at least one processing tool, as well as their mass.

[0066] Insofar as the current relative position of the body and chassis is known of the machine, as well as the relative position of the assembly including the tool holder and the processing tools, as well as the various masses, the current position of the center of gravity can be determined by calculation.

[0067] According to a preferred embodiment, the method further includes an initial step of determining a point mass of at least one processing tool, and possibly of the tool holder, the point mass being equivalent to a mass of at least one processing tool, and possibly of the tool holder, applied at the level of a fixing interface of at least one processing tool on the tool holder; and in which the step of determining the current position of the center of gravity includes determining the current position of the center of gravity of the machine from the masses of the chassis, the body, the mass transfer mechanism as well as the point mass, and the relative position of the chassis with respect to the body, as well as the position of the point mass with respect to the body.

[0068] Determining a point mass makes it possible to concentrate the masses of the processing tools at a single point whose position is known, namely that of the clamping interface. This results in a simplification of the determination of the target position of the center of gravity and / or the current position of the center of gravity.

[0069] The step of determining the current position of the center of gravity includes determining the target position of the center of gravity, particularly based on the position of the point mass relative to the body, as well as its mass. BRIEF DESCRIPTION OF THE FIGURES

[0070] Other advantages, purposes and particular features of the present invention will become apparent from the following non-limiting description of at least one particular embodiment of the devices and methods of the present invention, with reference to the accompanying drawings, in which: • Figure [1] schematically represents, from the side, an agricultural machine comprising a main body mounted on a chassis by means of a mass transfer mechanism, the vehicle having its center of gravity at a first position GC; • [Fig.2] is similar to [Fig.1], the craft having its center of gravity at a second position GC' further back in the longitudinal direction of the craft, relative to the first position GC; • [Fig.3] schematically represents, from the front, the agricultural machine of figures 1 and 2, the machine having its center of gravity at a first position GC; • [Fig.4] is similar to [Fig.3], the craft having its center of gravity at a third position GC” offset laterally in the transverse direction of the craft, relative to the first position GC; • [Fig.5] is a flowchart of a process for balancing the machine. DETAILED DESCRIPTION OF THE INVENTION

[0071] The present description is given by way of non-limiting example, each feature of an embodiment being able to be advantageously combined with any other feature of any other embodiment.

[0072] It should be noted from the outset that the figures are not necessarily to scale.

[0073] Figures [Fig. 1] and [Fig. 2], as well as [Fig. 3] and [Fig. 4], schematically illustrate a agricultural machine 10, configured for the processing of agricultural crops, respectively seen from the side and from the front.

[0074] Agricultural crops can, for example, be relatively tall crops, such as vines or hedges or shrubs, or relatively low crops, such as vegetable or cereal crops.

[0075] Such crops are generally arranged within a predefined perimeter, hereinafter referred to as a crop plot, in which the machine 10 can move to treat the crops during a crop treatment mission.

[0076] The vehicle 10 is in particular of the autonomous type, that is to say that it is designed to follow a trajectory autonomously, and to carry out a crop treatment mission essentially without human intervention.

[0077] Such a device 10 is sometimes also called a robot.

[0078] However, it could be another type of device such as a remotely operated vehicle or even a vehicle manually operated by an individual.

[0079] Figures 1 to 4 show an orthogonal coordinate system XYZ, with the X-axis direction corresponding to a longitudinal direction of the machine 10, the Y-axis direction corresponding to a transverse or right-left lateral direction of the machine 10, and the Z-axis direction corresponding to an elevation direction of the device 10, substantially vertical when the device 10 moves on a flat and horizontal surface.

[0080] The vehicle 10 comprises a chassis 11 on which motorized advancement means 12 are mounted, enabling the vehicle 10 to advance in a main direction of advancement.

[0081] These means of advancement 12 can be controlled by a control module 13 which is included in the vehicle 10.

[0082] In the illustrated example, the means of advancement 12 include tracks, but could however also include wheels or any other suitable means of movement, which are connected to at least one axle driven by one or more motors, preferably electric.

[0083] The means of advancement 12 allow the machine 10 to advance in the direction of advancement, represented by an arrow P in figures 1 to 4, and possibly in a direction opposite to the direction of advancement where appropriate, along a straight or curved line.

[0084] The direction of advancement of the vehicle 10 is parallel to a longitudinal direction of the vehicle 10, and here to a direction of axis X.

[0085] The modification of the trajectory of the vehicle 10 can here be achieved by a speed differential of the opposite tracks of the advancement means 12 of the vehicle 10.

[0086] The device 10 comprises a body 14, mounted on the chassis 11.

[0087] The body 14 contains functional elements of the craft 10, such as in particular an energy storage module, which here is an electric battery.

[0088] The body 14 may contain other elements such as, in particular, the control module 13.

[0089] The device 10 illustrated here comprises a mast 16 on which navigation and communication devices are mounted, including in particular a geolocation module 17 and a telecommunications module (not shown) which may be a modem.

[0090] The device 10 is here substantially symmetrical about a median plane, which is here an XZ plane.

[0091] The device 10 further comprises one or more crop treatment tools 19, here several treatment tools 19 mounted directly, or here indirectly, on the body 14.

[0092] In the illustrated example, the machine includes a tool holder 20 fixed to the body 14 through which the processing tools 19 are mounted on the body 14.

[0093] The processing tool(s) 19 can be mounted at the front of the machine 10, to be pushed, and / or be mounted at the rear of the machine 10, to be pulled, and / or be mounted in a central position on the machine 10.

[0094] Here, the processing tools 19 are mounted at the rear of the machine 10.

[0095] The processing tool(s) 19 may be motorized or not.

[0096] For example, the processing tool(s) 19 may include, in a non- limiting, tools such as hoeing, and / or seeder, and / or inter-row, and / or weeding finger (for example of Kress type, registered trademark), and / or clod-breaking disc, and / or notched discs, and / or brush, and / or rigid tines, and / or tine harrow, and / or opening share, and / or leaf guards.

[0097] In the illustrated example, the processing tools 19 include harrows.

[0098] The tool holder 20, and therefore the processing tools 19, is configured to adopt a so-called working position, illustrated in figures 1 and 2, and a so-called resting position (not illustrated).

[0099] In the working position, the treatment tools 19 can be configured in particular to make surface contact with the crops or to make contact with the soil on the surface or underground.

[0100] In certain configurations, the processing tools 19 may not be in contact with the soil or crops, but may be located slightly above the ground, for example in the case of a sowing operation.

[0101] The working position, in particular the working height of the processing tools 19, can be adjusted as required.

[0102] In the rest position (not shown), the processing tools 19 are at a distance from the ground and crops, and can in particular be raised relative to the working configuration.

[0103] In the illustrated example, the tool holder 20 comprises a support frame 21 fixedly mounted on the body 14, a support arm 22 pivotally mounted on the body 14, and a linear actuator 23, which is here a linear cylinder, and which is mounted between the support frame 21 and the support arm 22.

[0104] The linear actuator 23 is configured to drive the pivoting of the support arm 22 and thus raise or lower the latter.

[0105] The linear actuator 23 can be equipped with one or more position sensors allowing the output length of a linear cylinder rod to be measured.

[0106] The support arm 22 has a free end comprising a fixing interface 24 for one or more processing tools 19 as described above.

[0107] The fixing interface 24 can be configured to allow the removable mounting of processing tools 19 and in particular of different types of processing tools 19.

[0108] The fixing interface 24 can also be configured to allow the selective mounting of different types of processing tools 19 on the same tool holder 20.

[0109] The linear actuator 23 is actuated at least when exiting a working row in a crop plot, to raise the treatment tools 19, and when entering in the next working row in a crop plot, to lower the treatment tools 19. During these movements, the treatment tools 19 and the tool holder 20 are moved along the X and Z axes. The X and Z position of the treatment tools 19 and the tool holder 20 can be determined from the extension position of the linear cylinder rod of the linear actuator 23.

[0110] These movements cause a displacement of the center of gravity of the machine 10 equipped with its processing tools 19 and the tool holder 20, which are mobile relative to the body 14.

[0111] In the device 10 according to the invention, the body 14 is movable relative to the chassis 11.

[0112] For this purpose, the vehicle 10 includes a mass transfer mechanism 25 through which the main body 14 is mounted on the chassis 11.

[0113] The mass transfer mechanism 25 is configured to allow the main body 14 to move relative to the chassis 11 in at least one first direction, corresponding here to the main direction of advance of the vehicle 10, i.e. to a direction of axis X.

[0114] [Fig.2] illustrates the device 10 of [Fig.1] in which the body 14 is moved backwards along the X axis, relative to the chassis 11.

[0115] Preferably, the mass transfer mechanism 25 is also configured to allow the main body 14 to move relative to the chassis 11 along a second direction substantially orthogonal to the first direction, corresponding here to a transverse direction of the vehicle 10, i.e. a Y-axis direction.

[0116] Fig. 3 illustrates the machine 10 in a front view along the X axis, the main body 14 being substantially centered on the chassis 11, i.e. being substantially symmetrical in the XZ plane.

[0117] Fig. 4 illustrates the device 10 of Fig. 3 in which the body 14 is moved laterally along the Y axis, relative to the chassis 11.

[0118] In other words, the main body 14 can be moved relative to the chassis 11 in an XY plane, substantially parallel to the ground on which the vehicle 10 locally moves.

[0119] The mass transfer mechanism 25 includes at least one pair of rails, and here two pairs of rails, to allow the movement of the body 14 relative to the chassis 11 in each of the directions.

[0120] In the example illustrated in Figures 1 to 4, the mass transfer mechanism 25 includes first pairs of rails 26 allowing movement along the first direction of axis X, each comprising a first rail 27 fixed to the chassis 11 and a second rail 28 fixed to the body 14, with the first rail 27 and the second rail 28 cooperating mechanically to slide relative to each other.

[0121] The mass transfer mechanism 25 also includes second pairs of rails 29 allowing movement along a second direction of axis Y, and each comprising a first rail 30 fixed to the chassis 11 and a second rail 31 fixed to the body 14, with the first rail 30 and the second rail 31 cooperating mechanically to slide relative to each other.

[0122] For example, the first pairs of rails 26 are mounted directly on the chassis 11 and the second pairs of rails 29 are mounted on the chassis 11 via the first pairs of rails 26.

[0123] Conversely, this means that the second pairs of rails 29 are then mounted directly on the body 14 and the first pairs of rails 26 are mounted on the body 14 via the second pairs of rails 29.

[0124] The mass transfer mechanism 25 includes one or more motorization means (not shown) for motorizing the second rails 28, respectively 31, relative to the first rails 27, respectively 30.

[0125] The motorization means are here preferably arranged at the chassis 11, but could also be arranged at the body 14.

[0126] The mass transfer mechanism 25 described in an exemplary manner above could also be replaced by other suitable means of displacement.

[0127] The displacement of the body 14 relative to the chassis 11 in a plane can also be achieved in a way other than by combining two linear movements of axis X and Y, for example by combining a linear movement in the XY plane and a rotational movement around the Z axis.

[0128] The displacement of the body 14 relative to the chassis lia results in a change in the position of the center of gravity of the machine 10.

[0129] By an appropriate displacement of the body 14 relative to the chassis 11, the device 10 can make the position of its center of gravity coincide with a target center of gravity position, at least in the longitudinal direction of the device 10, here the X-axis direction, and / or in the transverse direction of the device 10, here the Y-axis direction.

[0130] It is specified that the position of the center of gravity can also coincide with the target position of the center of gravity in the direction of elevation of the device 10, here the direction of axis Z.

[0131] Such a target position of the center of gravity is determined in particular so that the machine 10 does not present a risk of tipping, and also makes it possible to compensate for mass displacements on the machine 10, such as those generated by the movement of the tool holder 20 between its working and resting positions.

[0132] The invention also relates to a balancing method 50, preferably called dynamic, implemented by a device 10 as described above and schematically illustrated in [Fig.3].

[0133] Such a method aims to stabilize the advancement of the vehicle 10 during a crop treatment mission.

[0134] Preferably, the process 50 includes an initial step 51, during which the mass of each processing tool 19 and its mounting position on the tool holder 20 are determined.

[0135] In particular, such mass and position are determined prior to the execution of process 50, for different sets of processing tools 19 that can be mounted on the tool holder 20.

[0136] This initial step 51 may include in particular the determination of a point mass, equivalent to the mass of the processing tools 19, and possibly of all or part of the tool holder 20, and which is determined from the mass and position values ​​of the processing tools 19 on the tool holder 20, as well as possibly of all or part of the mass of the tool holder 20. This point mass corresponds to a mass applied at the level of the fixing interface 24, the position of which, and therefore the position of the point mass, can be determined as described later in the description.

[0137] The point mass can in particular be transmitted to the machine 10 by an individual, for example via a human-machine interface of the machine 10. In such a case, the point mass is preferably a data type manufacturer data, supplied with a set of processing tools 19 and / or a tool holder 20.

[0138] When the center of gravity can only be moved along the X axis, the Y position of the point mass, denoted Yp, is, in the general case, equal to 0, that is to say that the point mass is substantially centered on the device 10, in an XZ plane.

[0139] When the center of gravity can also be moved along the Y axis, the position Yp of the point mass can be transmitted to the machine 10, for example via a human-machine interface of the machine 10, and is preferably a manufacturer's data type data, supplied with a processing tool set 19 and / or a tool holder 20.

[0140] The position along the X axis of the point mass, denoted Xp, corresponds to the position in X of the fixing interface 24, denoted X24, which the device 10 can determine itself as described below.

[0141] The method 50 includes a step 52 of determining a target position of the center of gravity of the device 10.

[0142] As mentioned earlier, when the position of the center of gravity of the device 10 corresponds to the target position of the center of gravity, the device 10 is in a configuration in which it is stable on a surface on which it moves.

[0143] A stable configuration is understood to mean a configuration in which the risk of tipping of the vehicle 10 is low or non-existent, and / or in which the support of the means of advancement 12 on the ground is optimal.

[0144] The target position of the center of gravity preferably corresponds to a target position in X, denoted Xgc_c, and a target position in Y, denoted Ygc_c, of the center of gravity. In other words, the target position of the center of gravity here corresponds to a pair (Xgc_c ; Ygc_c).

[0145] The values ​​Xgc_c and Ygc_c can in particular be determined by default.

[0146] For example, the default target position Xgc_c may correspond to a position in X of the centre of gravity which is substantially centred longitudinally with respect to the means of advancement 12, for example midway between the axes of the tracks when the means of advancement 12 include tracks, as represented by the target centre of gravity GC' on the [Fig.2].

[0147] For example, the default target position Ygc_c may correspond to a position substantially centered laterally with respect to the driving means 12, along the transverse direction of the vehicle 10, for example a central position between the tracks when the driving means 12 include tracks, as represented by the target center of gravity GC” in [Fig. 4]. In other words, the default target position Ygc_c may be substantially located in a median plane, here XZ, of the chassis 11.

[0148] The default target position (Xgc_c; Ygc_c) of the center of gravity can, however, be modified, for example by an individual via a human-machine interface of the device 10. For example, such a modification can be made if it is found that the values ​​of the default target position (Xgc_c; Ygc_c) do not allow a satisfactory balancing of the device 10. Any value of the default target position which has been modified in this way is hereafter also called the "default target position".

[0149] In addition, the target position (Xgc_c ; Ygc_c) can in particular be determined from an inclination of the device 10. Such an inclination can be due to a slope and / or cross slope of the ground on which the device 10 moves.

[0150] The greater the inclination, the more the center of gravity must be moved away from the tipping point of the device 10.

[0151] The tipping point is located in the direction of the descent of the slope and / or the side slope, substantially at the level of the outermost support point of the means of advancement 12 on the ground on which the machine 10 moves.

[0152] When the inclination is due to a slope, the displacement of the center of gravity is carried out along the first direction of axis X, against the descent of the slope.

[0153] When the inclination is due to a slope, the displacement of the center of gravity is carried out along the second direction of axis Y, against the descent of the slope.

[0154] When the inclination is due to both a slope and a side slope, the displacement of the center of gravity is carried out along the first direction of axis X and the second direction of axis Y, i.e. in the XY plane, both against the descent of the slope and the side slope.

[0155] The inclination can be determined by means of an inclinometer, preferably along two axes, which is included in the device 10 and which can be integrated into the geolocation module 17 mounted on the mast 16.

[0156] When the target position of the center of gravity takes into account a slope or a cross slope, the default target position of the center of gravity (for example defined by default, possibly modified by a human operator) is modified substantially in the direction of the highest point of the slope and / or cross slope.

[0157] The target position of the center of gravity along the transverse direction of the machine can for example be affected by a multiplier coefficient which is a function of an inclination of the machine in downwards.

[0158] The target position of the center of gravity along the longitudinal direction of the machine can, for example, be affected by a multiplier coefficient which is a function of the inclination of the machine on a slope.

[0159] For example, the multiplier coefficient can follow a linear or affine law which is a function of the percentage of slope and / or cross slope measured by the inclinometer.

[0160] As an alternative or in addition, the target position can also be determined from the position of the tool holder 20 relative to the body 14.

[0161] Depending on whether the tool carrier 20 is in its working or resting position, or in an intermediate position or even in the process of moving between these positions, the center of gravity of the machine 10 varies.

[0162] The more the tool holder 20 is lowered, i.e. the further the processing tools 19 are from the body 14 and therefore from the tipping point, the more the center of gravity must be moved away from the tool holder 20, along the first X-axis direction.

[0163] Furthermore, when the processing tools 19 are mounted asymmetrically with respect to the X axis on the tool holder 20, the center of gravity must be moved along the second direction of the Y axis, opposite to the position of the processing tools 19.

[0164] In order to determine the target position (Xgc_c ; Ygc_c) of the center of gravity of the machine 10, step 52 may include taking into account the mass and the exact position of each processing tool 19 on the tool holder 20, which are taken into account to determine the configuration in which the machine 10 is stable.

[0165] This information can be pre-recorded in the control module 13 for each set of processing tools, or can be entered into the machine 10 manually by an individual, as described above.

[0166] The method 50 then includes a step 53 of determining the current position (Xgc; Ygc) of the center of gravity of the craft 10.

[0167] In particular, the device 10 determines the X, Y position of the equivalent point mass, for example from the X and Y position of the fixing interface 24 itself determined from the exit position of the linear cylinder rod of the linear actuator 23.

[0168] The craft 10 then determines the current position (Xgc; Ygc) of its center of gravity, from the mass of the chassis 11 and the body 14 as well as the mass transfer mechanism 25, which are known and can be stored in a non-volatile storage memory of the control module 13, from the relative position in X, denoted XI 1_14, and Y, denoted Y11_14, of the chassis 11 with respect to the body 14, and from the equivalent point mass and its position Xp and Yp.

[0169] From the difference between the target position (Xgc_c ; Ygc_c) of the center of gravity and the current position (Xgc ; Ygc) of the center of gravity, and indirectly between the target relative position in X and Y of the chassis 11 with respect to the body 14 which is to be reached and the current relative position in X and Y of the chassis 11 with respect to the body 14, the displacement to be carried out via the mass transfer mechanism 25 is determined by the machine 10.

[0170] The method 50 then includes a step 54 of actuation of the mass transfer mechanism 25 to move the body 14 relative to the chassis 11 such that the position of the center of gravity of the craft 10 coincides with the target position determined during step 52, according to the displacement determined during step 53.

[0171] Figures 1 to 4 illustrate the device 10 before (figures 1 and 3) and after (figures 2 and 4) the actuation step 54.

[0172] Fig. 1 shows the vehicle 10 with its center of gravity at a position GC, in which the vehicle 10 is unbalanced, and Fig. 2 shows the vehicle 10 with its center of gravity at a position GC' following a displacement of the body 14 relative to the chassis 11 in the direction of forward movement of the vehicle 10, rearward along the X-axis, and in which the vehicle 10 is balanced. The displacement of the center of gravity is illustrated by an arrow in Fig. 2.

[0173] The center of gravity is located at a longitudinal position GC' which corresponds substantially to a position centered with respect to the means of advancement 12, here with respect to the center distances of the tracks of the means of advancement 12.

[0174] Similarly, [Fig. 3] shows the vehicle 10 having its center of gravity at a position GC in which the vehicle 10 is unbalanced, and [Fig. 4] shows the vehicle 10 having its center of gravity at a position GC following a displacement of the body 14 relative to the chassis 11, laterally along the Y-axis, to the left along a direction of advance of the vehicle 10, and in which the vehicle 10 is balanced. The displacement of the center of gravity is illustrated by an arrow on [Fig.4].

[0175] The center of gravity is located at a transverse position GC” which corresponds substantially to a position centered between the means of advancement 12, here between the two tracks of the means of advancement 12.

[0176] As explained above, the displacements of the center of gravity of the device 10 shown in Figures 2 and 4 can be combined, according to any possible combination of forward-backward displacement along the X axis and right-left displacement along the Y axis.

[0177] Steps 53 and 54 in particular can be executed continuously, at an operating frequency of the control module 13, or periodically, i.e. at intervals which may in particular be temporal or of distance travelled by the machine 10, to dynamically balance the machine 10 during its advance in a plot of crops.

[0178] Step 51 is preferably executed only once upstream of a crop treatment mission, for example when a user enters the point mass value to the machine 10.

[0179] Step 52 may also be performed only once prior to a crop treatment mission.

[0180] The method 50 can preferably be implemented directly by the device 10.

[0181] The command module 13 can be configured for this purpose, and include including a microprocessor or microcontroller enabling the control of the motorization means of the mass transfer mechanism 25, as well as a non-volatile storage memory storing instructions leading the microprocessor or microcontroller to execute the steps of the process 50.

[0182] The method 50 can also be carried out remotely from the machine 10, for example on a remote server with which the machine 10 can communicate, the machine 10 transmitting data relating to its inclination and / or the position of the tool holder 20 and the server transmitting instructions for moving the body 14 relative to the chassis 11.

[0183] It is more generally recalled that the invention is not limited to the examples described and illustrated.

Claims

Demands

1. Agricultural machine (10) comprising a chassis (11), motorized advancement means (12) enabling the machine (10) to advance in a main direction of advance and which are mounted on the chassis (11), and a main body (14), the machine (10) being characterized in that it comprises a mass transfer mechanism (25) through which the main body (14) is mounted on the chassis (11), and which is configured to move the main body (14) relative to the chassis in at least a first direction corresponding to one of a longitudinal direction of the machine (10), substantially parallel to the main direction of advance, and a transverse direction of the machine (10), substantially orthogonal to the main direction of advance, so as to modify the position of the center of gravity of the machine (10) at least in said first direction.

2. Device (10) according to claim 1, characterized in that the mass transfer mechanism (25) is also configured to move the main body (14) relative to the chassis (11) in a second direction, substantially orthogonal to said first direction, said second direction corresponding to the other among the longitudinal direction of the device (10) and the transverse direction of the device (10), so as to modify the position of the center of gravity of the device (10) also in said second direction.

3. Device (10) according to any one of claims 1 or 2, characterized in that the mass transfer mechanism (25) comprises at least one pair of rails (26, 29) sliding relative to each other, a first rail (27, 30) of said pair of rails (26, 29) being fixed to the chassis (11) and a second rail (28, 31) of said pair of rails (26, 29) being fixed to the body (14).

4. Machine (10) according to any one of claims 1 to 3, characterized in that it comprises an energy storage module, configured to supply energy to at least the motorized advance means (12), and in that the main body (14) comprises said energy storage module.

5. Device (10) according to claim 4, characterized in that the energy storage module comprises an electric battery.

6. Machine (10) according to any one of claims 1 to 5, characterized in that it further comprises at least one agricultural crop processing tool (19) mounted on the main body (14).

7. Device (10) according to claim 6, characterized in that it further comprises a tool holder (20) fixed to the main body (14), and in that at least one processing tool (19) is removably mounted on the main body (14) via the tool holder (20).

8. Device (10) according to claim 7, characterized in that the tool holder (20) is configured to be moved relative to the main body (14) between at least one so-called working position and one so-called rest position.

9. A method (50) for balancing an agricultural machine (10) according to any one of claims 1 to 8, comprising: - a step (52) of determining a target position of the center of gravity of the machine (10), along at least the first direction corresponding to one of the longitudinal or transverse directions of the machine (10), the target position being determined such that the machine (10) is stable on a surface on which it moves when its center of gravity is at said target position; - a step (54) of actuating the mass transfer mechanism (25) to move the main body (14) relative to the chassis (11) such that the current position of the center of gravity of the machine coincides with said target position of the center of gravity.

10. Method (50) according to claim 9, the step (52) of determining a target position comprising determining a default target position along the longitudinal direction of the machine and / or along the transverse direction of the machine, the default target position of the center of gravity of the machine along the longitudinal direction of the machine being defined as a position substantially centered longitudinally with respect to the means of advancement (12); and / or the default target position of the center of gravity of the machine (10) along the transverse direction of the machine being defined as a position substantially centered transversely with respect to the means of advancement (12).

11. Method (50) according to claim 10, implemented by a machine (10) according to claim 8, the step (52) of determining a target position comprising modifying the default target position along the longitudinal direction of the machine and / or along the transverse direction of the machine as a function of a position of the tool holder (20) relative to the main body (14) and / or as a function of a position of at least one processing tool (19) relative to the tool holder (20) as well as the mass of at least one processing tool (19).

12. Method (50) according to any one of claims 10 or 11, step (52) of determining a target position comprising modifying the default target position along the longitudinal direction of the machine and / or along the transverse direction of the machine as a function of an inclination of the machine (10) in slope and / or in incline.

13. Method (50) according to claim 12, wherein the target position of the center of gravity along the transverse direction of the machine is affected by a multiplication coefficient which is a function of an inclination of the machine (10) in a side slope, and / or the target position of the center of gravity along the longitudinal direction of the machine is affected by a multiplication coefficient which is a function of an inclination of the machine (10) in a slope.

14. A method (50) according to any one of claims 9 to 13, implemented by a machine (10) according to claim 8, further comprising a step (53) of determining the current position of the center of gravity of the machine (10), wherein the current position of the center of gravity of the machine (10) is determined from a position of the tool holder (20) relative to the main body (14), and / or from a position of at least one processing tool (19) relative to the tool holder (20) and from the mass of at least one processing tool (19).

15. Method (50) according to claim 14, further comprising an initial step (51) of determining a point mass of at least one processing tool (19), the point mass being equivalent to a mass of at least one processing tool (19) applied at the level of a fixing interface (24) of at least one processing tool (19) on the tool holder (20); and wherein the step (53) of determining the current position of the center of gravity includes determining the current position of the center of gravity of the machine (10) from the masses of the chassis (11), the body (14), the mass transfer mechanism (25) and the point mass, and the relative position of the chassis (11) with respect to the body (14), and the position of the point mass with respect to the body (14).

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