Method for balancing an agricultural machine comprising a mass transfer mechanism

Abstract

The invention relates to a method (50) for balancing an agricultural machine, comprising: an initial step (51) of determining a point mass of a treatment tool (19); a step (52) of determining a target position of the centre of gravity of the machine (10), which is determined such that the machine (10) is stable on a surface on which it moves when its centre of gravity is at the target position; a step (53) of determining the current position of the centre of gravity of the machine (10); and a step (54) of actuating the mass transfer mechanism (25) to move at least part of the main body (14) relative to the frame (11) such that the current position of the centre of gravity of the machine coincides with the target position of the centre of gravity.

Description

[0001] Description Title: Method for balancing an agricultural machine comprising a mass transfer mechanism

[0002] TECHNICAL FIELD OF THE INVENTION

[0003] [1] The field of the invention is that of agriculture, and more particularly of the treatment of agricultural crops by an agricultural machine, preferably autonomous.

[0004] [2] More specifically, the invention relates to a method for balancing an agricultural machine comprising a mass transfer mechanism, and an agricultural machine configured to implement such a method.

[0005] [3] The invention finds particular applications in the treatment of agricultural crops, for example cereal, vegetable or wine crops, by an agricultural machine moving in plots of crops whose soil is likely to have unevenness and / or a slope and / or incline.

[0006] STATE OF THE ART

[0007] [4] It is known from the prior art 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.

[0008] [5] In known systems, the means of advancement are mounted on a chassis, on which is generally mounted a body supporting functional elements of the vehicle, such as an engine, a control module, a power source, and possibly a passenger compartment or other cargo volume.

[0009] [6] Such a machine may also include crop treatment tools, including mechanical soil treatment tools, which are mounted on the machine.

[0010] [7] Agricultural machinery is generally designed to operate as stably as possible on the soil of a crop plot, regardless of the load and / or equipment of the agricultural machinery. The soil may present uneven terrain, slopes, and / or inclines, and may be loose and / or contain obstacles. [8] However, when the ground conditions on which the agricultural machinery is operating become too extreme, the machinery may become unstable and present a risk of improper operation or even tipping over.

[0011] [9] It is therefore desirable to extend the intervention capabilities of such an agricultural machine to more varied field conditions.

[0012] DESCRIPTION OF THE INVENTION

[0013]

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

[0014]

[0011] To this end, the invention aims, according to a first aspect, at a method of balancing an agricultural machine.

[0015]

[0012] The machine is of the type comprising a chassis, motorized advancement means enabling the machine to advance in a main direction of advance and which are mounted on the chassis, a main body also mounted on the chassis, a tool carrier fixed to the main body, at least one agricultural crop treatment tool mounted, preferably removably, on the main body via the tool carrier, and a mass transfer mechanism which is configured to move at least a part of 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 advance, and a transverse direction of the machine, substantially orthogonal to the main direction of advance.

[0016]

[0013] Preferably, the agricultural machine includes a computer control module configured for the execution of the process.

[0017]

[0014] 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.

[0018]

[0015] The process comprises:

[0019] - 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;

[0020] - a step of actuation of the mass transfer mechanism to move said at least one part of 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.

[0021]

[0016] In particular, the method further comprises:

[0022]

[0017] - An initial step of determining a point mass of at least one processing tool, the point mass being equivalent to a mass of at least one processing tool applied at the level of a fixing interface of at least one processing tool on the tool holder;

[0023]

[0018] - A step of determining the current position of the center of gravity of the craft.

[0024]

[0019] In the step of determining the current position of the center of gravity of the machine, 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.

[0025]

[0020] In particular, in the step of determining the current position of the center of gravity of the machine, the current position of the center of gravity of the machine is determined from the relative positions of said at least one part of the main body with respect to the chassis and of the point mass with respect to the main body, as well as the masses of the chassis, the main body, the mass transfer mechanism and the point mass.

[0026]

[0021] The step of determining the current position of the center of gravity of the craft may precede the actuation step and follow the step of determining a target position of the center of gravity of the craft.

[0027]

[0022] 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.

[0028]

[0023] The step of determining the current position of the machine's center of gravity thus includes taking into account the position of the tool holder, and also of the processing tools mounted on it, relative to the main body.

[0024] The current position of the center of gravity can thus be determined from the relative position of said part of the main body and the chassis, as well as their masses and that of the mass transfer mechanism, and the relative position with respect to the main body of the assembly comprising the tool holder and at least one processing tool, as well as their mass.

[0029]

[0025] Insofar as the current relative position of said part of the main body with respect to the chassis is known of the machine, as well as the relative position of the assembly including the tool holder and the processing tools with respect to the main body, as well as their different masses, the current position of the center of gravity can be determined by calculation.

[0030]

[0026] Similarly, the step of determining the current position of the center of gravity may include determining the target position of the center of gravity, in particular from the position of the point mass relative to the main body, as well as its mass.

[0031]

[0027] 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.

[0032]

[0028] 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.

[0033]

[0029] The target position of the center of gravity of the craft may correspond to a target position along the longitudinal direction of the craft, when the mass transfer mechanism is configured to move at least one part of 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 at least one part of the body relative to the chassis along the transverse direction.

[0034]

[0030] In the actuation step of the mass transfer mechanism, at least one part of 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.

[0035]

[0031] 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.

[0036]

[0032] 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 machine along the longitudinal direction of the machine 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 machine along the transverse direction of the machine being defined as a position substantially centered transversely with respect to the means of advancement.

[0037]

[0033] 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.

[0038]

[0034] 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.

[0039]

[0035] 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.

[0040]

[0036] 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.

[0041]

[0037] 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 on it, relative to the main body.

[0042]

[0038] The position of the tool holder can, for example, be determined from the position of a linear actuator of the tool holder.

[0043]

[0039] 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.

[0044]

[0040] Insofar as the target position of the center of gravity is defined beforehand, for example by default, the target relative position of said body part with respect to the chassis can be deduced, and the displacement to be made by the mass transfer mechanism can thus be deduced.

[0045]

[0041] 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.

[0046]

[0042] Determining the inclination of the agricultural machinery, due to the slope and / or incline of the ground on which the machinery is operating, makes it possible to determine a target position for the center of gravity, ensuring that the agricultural machinery does not tip over due to an excessive ground incline.

[0043] For this purpose, the agricultural machinery can be equipped with an inclinometer, preferably with at least two axes, preferably corresponding to inclination axes located in a plane substantially parallel to a plane passing through the points of contact of the motorized drive means on the ground.

[0047]

[0044] 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.

[0048]

[0045] 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.

[0049]

[0046] 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.

[0050]

[0047] The invention also relates, according to a second aspect, to an agricultural machine configured to implement the process described above.

[0051]

[0048] In particular, such a machine may include a chassis, motorized advancement means enabling the machine to advance in a main direction of advance and which are mounted on the chassis, a main body also mounted on the chassis, a tool carrier fixed to the main body, at least one agricultural crop treatment tool mounted, preferably removably, on the main body via the tool carrier, and a mass transfer mechanism which is configured to move at least a part of 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 advance, and a transverse direction of the machine, substantially orthogonal to the main direction of advance, so as to change the position of the center of gravity of the machine at least in said first direction.

[0052]

[0049] Thanks to these features, the agricultural machine can be stabilized, particularly when moving on sloping and / or uneven ground, and / or depending on the mass of any equipment, such as crop treatment tools, mounted at the front and / or rear of the machine.

[0050] The agricultural machine, whose center of gravity is mobile, also compensates for variations in mass and / or mounting position of different treatment tools that can be removably mounted on the body.

[0053]

[0051] In particular, in such an agricultural machine, all or part of the body mass is displaced relative to the chassis to vary the position of the center of gravity.

[0054]

[0052] 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.

[0055]

[0053] 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.

[0056]

[0054] In this way, the agricultural machine is particularly simple in design while remaining lightweight, only the mass transfer mechanism being necessary to obtain the aforementioned effects.

[0057]

[0055] 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.

[0058]

[0056] 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.

[0059]

[0057] 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.

[0060]

[0058] 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.

[0061]

[0059] In particular, the agricultural machine is an autonomous agricultural machine, such as an autonomous agricultural robot.

[0062]

[0060] Other particularly advantageous embodiments of the agricultural machine are described below.

[0063]

[0061] According to a preferred embodiment, the mass transfer mechanism is also configured to move said at least one main body part 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.

[0064]

[0062] Thus, the agricultural machine can be stabilized or balanced more precisely when moving forward on sloping and / or uneven 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.

[0065]

[0063] In particular, the movement of said body part relative to the chassis can be carried out in either the first and second directions, or in a combined movement in both the first and second directions.

[0066]

[0064] According to a preferred embodiment, the mass transfer mechanism comprises at least one pair of rails sliding relative to each other, a first rail of said pair of rails being fixed relative to the chassis and a second rail of said pair of rails being fixed to said at least one part of the body.

[0067]

[0065] Preferably, the mass transfer mechanism includes a motorization means configured to move at least the second rail of the pair relative to the first rail of the pair.

[0068]

[0066] The motorization means can be arranged on the chassis of the agricultural machine or on the main body.

[0069]

[0067] Preferably, the mass transfer mechanism comprises at least one pair of first rails sliding into each other for the movement of said body part in the first direction and at least one pair of second rails sliding into each other for the movement of said body part in the second direction.

[0070]

[0068] Preferably, the mass transfer mechanism comprises two pairs of first rails and two pairs of second rails.

[0071]

[0069] According to a preferred embodiment, the tool carrier 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.

[0070] The agricultural machine, whose center of gravity is mobile, makes it possible to compensate for variations in the position of the tool carrier, and therefore of the processing tools, and in particular to balance variations in the center of gravity position that are due to the tool carrier moving between the working and rest positions.

[0072]

[0071] 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.

[0073]

[0072] According to a preferred embodiment, the entire main body is mounted on the chassis via the mass transfer mechanism which is configured to move the entire main body relative to the chassis in at least the first direction.

[0074]

[0073] In such an embodiment, the mass transfer mechanism can be disposed at the interface between the chassis and the main body.

[0075]

[0074] According to a preferred embodiment, the craft 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.

[0076]

[0075] According to a preferred embodiment, the main body comprises a first part which is fixed on the chassis and a second part mounted on the first part by means of the mass transfer mechanism, which is configured to move the second part of the main body relative to the first part of the main body in at least the first direction.

[0077]

[0076] The second part of the body is mobile relative to the first part of the body, and therefore relative to the chassis.

[0078]

[0077] In such an embodiment, the first part of the main body can be fixedly mounted on the chassis and the mass transfer mechanism can be mounted on the first part of the main body.

[0079]

[0078] According to a preferred embodiment, the tool holder is mounted on the first part of the main body.

[0080]

[0079] According to a preferred embodiment, the vehicle comprises an energy storage module, configured to supply energy to at least the motorized propulsion means, the second part of the main body incorporating said energy storage module.

[0080] The energy storage module described above, in two variants, may contain 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 or the second part of the body relative to the chassis.

[0081]

[0081] According to a preferred embodiment, the energy storage module may include an electric battery.

[0082] BRIEF DESCRIPTION OF THE FIGURES

[0083]

[0082] 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:

[0084] - Figure 1 schematically represents, from the side, an agricultural machine according to a first embodiment, comprising a main body mounted on a chassis via a mass transfer mechanism, the machine having its center of gravity at a first position GC;

[0085] - Figure 2 is similar to Figure 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;

[0086] - Figure 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

[0087] - Figure 4 is similar to Figure 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;

[0088] - Figure 5 is a flowchart of a process for balancing the machine.

[0089] DETAILED DESCRIPTION OF THE INVENTION

[0090]

[0083] The present description is given by way of non-limiting example, each feature of one embodiment being advantageously combined with any other feature of any other embodiment.

[0084] It should be noted from the outset that the figures are not necessarily to scale.

[0091]

[0085] Figure 1 and Figure 2, as well as Figure 3 and Figure 4, schematically illustrate an agricultural machine 10 according to a first embodiment, configured for the treatment of agricultural crops, respectively seen from the side and from the front.

[0092]

[0086] 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.

[0093]

[0087] 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.

[0094]

[0088] 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.

[0095]

[0089] Such a device 10 is sometimes also called a robot.

[0096]

[0090] However, it may be another type of device such as a remotely operated vehicle or a vehicle manually operated by an individual.

[0097]

[0091] Figures 1 to 4 show an orthogonal XYZ coordinate system, 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 machine 10, substantially vertical when the machine 10 moves on a flat and horizontal surface.

[0098]

[0092] 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.

[0099]

[0093] These means of advancement 12 can be controlled by a control module 13 which is included in the vehicle 10.

[0100]

[0094] In the illustrated example, the propulsion means 12 include tracks, but could 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.

[0095] The propulsion means 12 enable the vehicle 10 to move forward in the direction of travel, represented by an arrow P in Figures 1 to 4, and possibly in the opposite direction to the direction of travel, if necessary, along a straight or curved line.

[0101]

[0096] 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.

[0102]

[0097] 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.

[0103]

[0098] The device 10 comprises a body 14, mounted on the chassis 11.

[0104]

[0099] The body 14 contains functional elements of the craft 10, such as in particular an energy storage module, which here is an electric battery.

[0105]

[0100] The body 14 may contain other elements such as, in particular, the control module 13.

[0106]

[0101] 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.

[0107]

[0102] The device 10 is here substantially symmetrical about a median plane, which is here an XZ plane.

[0108]

[0103] 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.

[0109]

[0104] 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.

[0110]

[0105] 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.

[0111]

[0106] Here, the processing tools 19 are mounted at the rear of the machine 10.

[0112]

[0107] The processing tool(s) 19 may be motorized or not.

[0113]

[0108] For example, the treatment tool(s) 19 may include, but not limited to, hoeing tools, and / or seed drill, and / or inter-row cultivator, 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 opener share, and / or firebreak.

[0114]

[0109] In the illustrated example, the processing tools 19 include harrows.

[0115]

[0110] 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).

[0116]

[0111] 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.

[0117]

[0112] 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.

[0118]

[0113] The working position, in particular the working height of the processing tools 19, can be adjusted as required.

[0119]

[0114] 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.

[0120]

[0115] 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.

[0121]

[0116] The linear actuator 23 is configured to drive the pivoting of the support arm 22 and thus raise or lower the latter.

[0122]

[0117] 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.

[0123]

[0118] The support arm 22 has a free end comprising a fixing interface 24 for one or more processing tools 19 as described above.

[0124]

[0119] The mounting interface 24 can be configured to allow the removable mounting of the processing tools 19 and in particular of different types of processing tools 19.

[0120] The mounting interface 24 can also be configured to allow the selective mounting of different types of processing tools 19 on the same tool holder 20.

[0125]

[0121] 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 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 actuator rod 23.

[0126]

[0122] 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.

[0127]

[0123] In the device 10 according to the invention, the body 14 is movable relative to the chassis 11.

[0128]

[0124] For this purpose, the machine 10 includes a mass transfer mechanism 25 through which the main body 14 is mounted on the chassis 11.

[0129]

[0125] The mass transfer mechanism 25 is configured to allow the movement of the main body 14 relative to the chassis 11 in at least one first direction, corresponding here to the main direction of advancement of the vehicle 10, i.e. to a direction of axis X.

[0130]

[0126] Figure 2 illustrates the device 10 of Figure 1 in which the body 14 is moved rearward along the X axis, relative to the chassis 11.

[0131]

[0127] 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.

[0132]

[0128] Figure 3 illustrates the machine 10 in a front view along the X axis, the main body 14 being substantially centered on the chassis 11, that is to say, being substantially symmetrical in the XZ plane.

[0133]

[0129] Figure 4 illustrates the vehicle 10 of Figure 3 in which the body 14 is moved laterally along the Y axis, relative to the chassis 11.

[0130] 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.

[0134]

[0131] 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.

[0135]

[0132] 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.

[0136]

[0133] 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.

[0137]

[0134] 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.

[0138]

[0135] 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.

[0139]

[0136] 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.

[0140]

[0137] The motorization means are here preferably arranged at the level of the chassis 11, but could also be arranged at the level of the body 14.

[0141]

[0138] The mass transfer mechanism 25 described in an exemplary manner above could also be replaced by other suitable means of displacement.

[0142]

[0139] According to an embodiment not shown, the device 10 comprises a body 14 which has a first part which is fixedly mounted on the chassis 11, and a second part which is movable relative to the chassis 11.

[0140] In other words, in this embodiment, the body 14 is not entirely movable relative to the chassis 11, but only a part of the body 14 is movable relative to the chassis 11.

[0143]

[0141] The second part is in particular mounted on the first part, and therefore on the chassis 11, by means of a mass transfer mechanism 25 identical or similar to the mechanism described above.

[0144]

[0142] For example, the first part includes a base on which the mass transfer mechanism 25 is mounted, and receiving the second part via the latter.

[0145]

[0143] The second part may advantageously include functional elements of the device 10, such as in particular the energy storage module, which is here an electric battery.

[0146]

[0144] The second part can advantageously be devoid of any ballast mass.

[0147]

[0145] The second part may also include components dedicated to the autonomous navigation of the craft 10, such as safety devices, cameras, etc.

[0148]

[0146] The first part may include most of the other functional elements of the machine, in particular a hydraulic power unit for supplying hydraulic power to the processing tools 19, and the tool carrier 20 may be mounted on the first part.

[0149]

[0147] The first part may include an electrical cabinet, centralizing the electrical connections of the machine 10.

[0150]

[0148] The device 10 may include a cable or set of flexible electrical cables connecting the first part and the second part, in particular to conduct an electric power current and / or data.

[0151]

[0149] The body 14 may include a hood extending longitudinally from the first part and which is configured to at least partially cover the second part when the latter is brought closer to the first part, and to cover the space between the first part and the second part when the latter is moved away from the first part.

[0152]

[0150] In the embodiments described above, the movement of the whole body 14 or the movement only of the second part of the body 14 relative to the chassis 11 in a plane can also be achieved in a way other than by combination of two linear movements of axis X and Y, for example by the combination of a linear movement in the XY plane and a rotational movement around the Z axis.

[0153]

[0151] The displacement of the entire body 14 or the displacement only of the second part of the body 14 relative to the chassis 11 results in the modification of the position of the center of gravity of the machine 10.

[0154]

[0152] By an appropriate displacement of the whole body 14 or only of the second part of the body 14 relative to the chassis 11, the machine 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 machine 10, here the X-axis direction, and / or in the transverse direction of the machine 10, here the Y-axis direction.

[0155]

[0153] 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 Z-axis direction.

[0156]

[0154] 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.

[0157]

[0155] The invention also relates to a balancing method 50, preferably called dynamic, implemented by a device 10 as described above in different embodiments, and schematically illustrated by the logic diagram in Figure 5.

[0158]

[0156] Such a method aims to stabilize the advancement of the vehicle 10 during a crop treatment mission.

[0159]

[0157] 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.

[0160]

[0158] 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.

[0161]

[0159] This initial step 51 may in particular include 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 clamping interface 24, the position of which, and therefore the position of the point mass, can be determined as described later in the description.

[0162]

[0160] 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.

[0163]

[0161] 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.

[0164]

[0162] 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.

[0165]

[0163] 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.

[0166]

[0164] The method 50 includes a step 52 of determining a target position of the center of gravity of the device 10.

[0167]

[0165] 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.

[0168]

[0166] A stable configuration is understood to mean a configuration in which the risk of tipping of the machine 10 is low or non-existent, and / or in which the support of the means of advancement 12 on the ground is optimal.

[0169]

[0167] 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).

[0170]

[0168] The values ​​Xgc_c and Ygc_c can in particular be determined by default.

[0169] For example, the default target position Xgc_c can correspond to an X position of the center of gravity which is substantially centered 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 center of gravity GC' in Figure 2.

[0171]

[0170] 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 Figure 4. In other words, the default target position Ygc_c may be substantially located in a median plane, here XZ, of the chassis 11.

[0172]

[0171] 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 that has been modified in this way is also referred to as the "default target position".

[0173]

[0172] 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.

[0174]

[0173] The greater the inclination, the more the center of gravity must be moved away from the tipping point of the device 10.

[0175]

[0174] 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.

[0176]

[0175] 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.

[0177]

[0176] 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.

[0178]

[0177] 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.

[0179]

[0178] 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.

[0180]

[0179] 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.

[0181]

[0180] 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 the inclination of the machine on a slope.

[0182]

[0181] 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.

[0183]

[0182] 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.

[0184]

[0183] 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 (or relative to the first part of the body 14).

[0185]

[0184] 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.

[0186]

[0185] 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 direction of axis X.

[0187]

[0186] 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.

[0188]

[0187] 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 relevant to determining the configuration in which the machine 10 is stable.

[0188] This information may be pre-recorded in the control module 13 for each set of processing tools, or it may be entered manually into the machine 10 by an individual, as described above.

[0189]

[0189] The method 50 then includes a step 53 of determining the current position (Xgc; Ygc) of the center of gravity of the craft 10.

[0190]

[0190] 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.

[0191]

[0191] 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 (and possibly the mass of the first part and the second part of 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 X11_14, and Y, denoted Y11_14, of the chassis 11 with respect to the body 14 (or of the second part of the body 14 with respect to the chassis), and from the equivalent point mass and its position Xp and Yp.

[0192]

[0192] 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 (or of the chassis with respect to the second part of 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 (or of the chassis with respect to the second part of the body 14), the displacement to be carried out via the mass transfer mechanism 25 is determined by the machine 10.

[0193]

[0193] The method 50 then includes a step 54 of actuation of the mass transfer mechanism 25 to move the body 14 (or the second part of 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.

[0194]

[0194] Figures 1 to 4 illustrate the device 10 according to the first embodiment before (figures 1 and 3) and after (figures 2 and 4) the actuation step 54.

[0195]

[0195] Figure 1 shows the vehicle 10 with its center of gravity at a position GC, in which the vehicle 10 is unbalanced, and Figure 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 Figure 2.

[0196]

[0196] 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.

[0197]

[0197] Similarly, Figure 3 shows the vehicle 10 with its center of gravity at a position GC in which the vehicle 10 is unbalanced, and Figure 4 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, laterally along the Y-axis, to the left in a direction of forward movement of the vehicle 10, and in which the vehicle 10 is balanced. The displacement of the center of gravity is illustrated by an arrow in Figure 4.

[0198]

[0198] 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.

[0199]

[0199] As explained above, the displacements of the center of gravity of the device 10 shown in Figures 2 and 4 can be combined, and this according to any possible combination of forward-backward displacement along the X axis and right-left displacement along the Y axis.

[0200]

[0200] It is understood that this result is substantially the same when the process is implemented by the device 10 according to the second embodiment, although the amplitude of the displacements of the second part relative to the second part may be greater than in the first embodiment.

[0201]

[0201] 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.

[0202]

[0202] 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.

[0203]

[0203] Step 52 may also be executed only once upstream of a crop treatment mission.

[0204] Process 50 can preferably be implemented directly by the machine 10.

[0204]

[0205] The control module 13 can be configured for this purpose, and include in particular 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.

[0205]

[0206] The process 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.

[0206]

[0207] It is generally recalled that the invention is not limited to the examples described and illustrated.

Claims

25 Demands 1. A method (50) for balancing an agricultural machine (10) comprising a chassis (11), motorized drive means (12) enabling the machine (10) to move forward in a principal direction of travel and mounted on the chassis (11), a main body (14) also mounted on the chassis (11), a tool holder (20) attached to the main body (14), at least one crop-processing tool (19) mounted on the main body (14) via the tool holder (20), and a mass transfer mechanism (25) configured to move at least a portion of the main body (14) relative to the chassis (11) in at least one first direction corresponding to one of a longitudinal direction of the machine (10), substantially parallel to the principal direction of travel, and a transverse direction of the machine (10), substantially orthogonal to the principal direction of travel, the method 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); - a step (52) of determining a target position of the center of gravity of the device (10), along at least the first direction corresponding to one of the longitudinal or transverse directions of the device (10), the target position being determined in such a way that the device (10) is stable on a surface on which it moves when its center of gravity is at said target position; - a step (53) of determining the current position of the center of gravity of the machine (10) from the relative positions of said at least one part of the main body (14) with respect to the chassis (11) and of the point mass with respect to the main body (14), as well as the masses of the chassis (11), the main body (14), the mass transfer mechanism (25) and the point mass; - a step (54) of actuation of the mass transfer mechanism (25) to move said at least one part of 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.

2. Method (50) according to claim 1, step (52) of determining a target position comprising determining a default target position along the direction longitudinal of the machine and / or in the transverse direction of the machine, the default target position of the center of gravity of the machine in 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) in the transverse direction of the machine being defined as a position substantially centered transversely with respect to the means of advancement (12).

3. Method (50) according to claim 2, 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).

4. Method (50) according to any one of claims 2 or 3, 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 an inclination of the machine (10) on a slope and / or on a incline.

5. Method (50) according to claim 4, wherein the target position of the center of gravity along the transverse direction of the machine is multiplied by a factor that is a function of the machine's (10) inclination, and / or the target position of the center of gravity along the longitudinal direction of the machine is multiplied by a factor that is a function of the machine's inclination (10) on a slope.

6. Agricultural machinery (10) comprising a chassis (11), motorized drive means (12) enabling the machinery (10) to move forward in a principal direction of travel and mounted on the chassis (11), a main body (14) also mounted on the chassis (11), a tool carrier (20) attached to the main body (14), at least one crop-processing tool (19) mounted, preferably removably, on the main body (14) via the tool carrier (20), and a mass transfer mechanism (25) configured to move at least a portion of the main body (14) relative to the chassis (11) along at least one first direction corresponding to one of a longitudinal direction of the machine (10), substantially parallel to the direction 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 along said first direction, the machine (10) being configured for the implementation of a balancing method (50) according to any one of claims 1 to 5.

7. Device (10) according to claim 6, wherein the mass transfer mechanism (25) is also configured to move said at least one main body part (14) relative to the chassis (11) in a second direction, substantially orthogonal to said first direction, said second direction corresponding to the other of 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.

8. Device (10) according to claim 6 or 7, wherein 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 relative to the chassis (11) and a second rail (28, 31) of said pair of rails (26, 29) being fixed to said at least one part of the body (14).

9. Device (10) according to any one of claims 6 to 8, 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.

10. Device (10) according to any one of claims 6 to 9, wherein the entire main body (14) is mounted on the chassis (11) via the mass transfer mechanism (25) which is configured to move the entire main body (14) relative to the chassis (11) in at least the first direction.

11. Machine (10) according to claim 10, comprising an energy storage module, configured to supply energy to at least the motorized advance means (12), the main body (14) comprising said energy storage module.

12. A device (10) according to any one of claims 6 to 9, wherein the main body (14) comprises a first part which is fixed to the chassis (11) and a second part mounted on the first part by means of the mass transfer mechanism (25) which is configured to move the second part of the main body (14) relative to the first part of the main body (14) along at least the first direction.

13. A device (10) according to claim 12, wherein the tool holder (20) is mounted on the first part of the main body (14).

14. A device (10) according to claim 12 or 13, comprising an energy storage module configured to supply energy to at least the motorized drive means (12), the second part of the main body (14) comprising said energy storage module.

15. Device (10) according to claim 11 or 14, wherein the energy storage module comprises an electric battery.

Images