FR2851410A1 - Method of guiding agricultural implement with respect to vines has reflected wave used for triangulation of implement position with respect to vine roots - Google Patents
Method of guiding agricultural implement with respect to vines has reflected wave used for triangulation of implement position with respect to vine roots Download PDFInfo
- Publication number
- FR2851410A1 FR2851410A1 FR0302091A FR0302091A FR2851410A1 FR 2851410 A1 FR2851410 A1 FR 2851410A1 FR 0302091 A FR0302091 A FR 0302091A FR 0302091 A FR0302091 A FR 0302091A FR 2851410 A1 FR2851410 A1 FR 2851410A1
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- FR
- France
- Prior art keywords
- wave
- tool
- distance
- respect
- vines
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection automatic
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G17/00—Cultivation of hops, vines, fruit trees, or like trees
- A01G17/02—Cultivation of hops or vines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G3/00—Cutting implements specially adapted for horticultural purposes; Delimbing standing trees
- A01G3/04—Apparatus for trimming hedges, e.g. hedge shears
- A01G3/0408—Apparatus for trimming hedges, e.g. hedge shears specially adapted for trellis work, e.g. machines for pruning vine or the like
Abstract
Description
PROCEbE DE GUIDAGE D'UN OUTIL PAR RAPPORT A UNE CULTURE PALISSEE,GUIDANCE PROCEED OF A TOOL IN RELATION TO A PALISSE CULTURE,
DISPOSITIF POUR SA MISE EN CEUVRE ET MACHINE EQUIPEE DUbIT DISPOSITIF DEVICE FOR IMPLEMENTING IT AND MACHINE EQUIPPED WITH DUBIT DEVICE
La présente invention se rapporte à un procédé de guidage par rapport à un culture palissée ainsi qu'à un dispositif pour sa mise en oeuvre. The present invention relates to a method of guiding with respect to a trellised culture as well as to a device for its implementation.
Pour l'exploitation des vignes, on a recours à de nombreuses machines, telles que les vendangeuses, les rogneuses, les effeuilleuses et autres, qui sont reliées à un 5 tracteur, un enjambeur ou tout autre engin motorisé ou sont équipées de leurs propres moyens de déplacement. Numerous machines are used for the exploitation of the vines, such as the grape pickers, the trimmers, the leaf strippers and others, which are connected to a tractor, a straddle or any other motorized machine or are equipped with their own means. of displacement.
Lors de leur déplacement dans les rangs de vigne, ces machines, et plus particulièrement leurs parties actives appelées par la suite outils, doivent être positionnées de manière précise par rapport au rang de vigne. During their movement in the rows of vines, these machines, and more particularly their active parts, hereinafter called tools, must be positioned precisely with respect to the row of vines.
En général, l'opérateur positionne lui-même la machine par rapport au rang, sans assistance, en agissant sur les commandes de direction de l'engin auquel est reliée la machine. In general, the operator positions the machine himself relative to the row, without assistance, by acting on the direction controls of the machine to which the machine is connected.
Selon une variante, la machine ou l'outil peut être relié à l'engin motorisé par l'intermédiaire d'actionneurs permettant d'ajuster la position de l'outil par 15 rapport à la vigne, indépendamment de l'engin motorisé. bans ce cas, l'opérateur agit sur les commandes des actionneurs pour positionner l'outil par rapport au rang de vigne. According to a variant, the machine or the tool can be connected to the motorized vehicle by means of actuators making it possible to adjust the position of the tool relative to the vine, independently of the motorized vehicle. In this case, the operator acts on the actuator controls to position the tool relative to the row of vines.
bans les deux cas, la qualité du positionnement de l'outil par rapport au rang de vigne dépend de la dextérité de l'opérateur qui doit ajuster la position de l'outil 20 tout en assurant le guidage de l'engin motorisé entre deux rangs de vigne. Aussi, cette solution n'est pas satisfaisante. in both cases, the quality of the positioning of the tool in relation to the row of vines depends on the dexterity of the operator who must adjust the position of the tool 20 while guiding the motorized machine between two rows vineyard. Also, this solution is not satisfactory.
Selon une première amélioration, certaines machines, notamment des effeuilleuses, sont équipées de palpeurs qui prennent appui contre la végétation au niveau des fruits et renseignent des commandes afin d'ajuster automatiquement la position de l'outil en fonction de l'effort de palpage. Même 5 si cette solution permet d'ajuster l'outil automatiquement et d'affranchir la qualité de positionnement de la dextérité de l'opérateur, elle n'est pas pleinement satisfaisante, car les palpeurs glissent contre la végétation et exercent un effort non négligeable susceptible d'endommager les fruits, d'autant plus que lesdits palpeurs sont positionnés à leur hauteur. According to a first improvement, certain machines, in particular leaf strippers, are equipped with feelers which bear against the vegetation at the level of the fruit and provide commands in order to automatically adjust the position of the tool as a function of the probing force. Even if this solution makes it possible to adjust the tool automatically and to free the quality of positioning of the operator's dexterity, it is not fully satisfactory, because the probes slide against the vegetation and exert a significant effort likely to damage the fruit, especially since said feelers are positioned at their height.
Une autre technique décrite dans la demande de brevet FR-2.810.499 permet un positionnement automatique de l'outil par rapport à un rang de vigne, sans contact avec la végétation. A cet effet, ce procédé utilise un des fils de palissage pour générer un champ magnétique, par exemple grâce à un courant induit, la position de l'outil étant ajustée en temps réel et de manière 15 automatique en fonction des valeurs mesurées du champ magnétique. En variante, le fil de palissage est utilisé pour perturber un champ magnétique, la position de l'outil étant également ajustée en fonction des valeurs mesurées du champ magnétique perturbé par le fil de palissage. Another technique described in patent application FR-2,810,499 allows automatic positioning of the tool relative to a row of vines, without contact with the vegetation. To this end, this method uses one of the trellising wires to generate a magnetic field, for example by means of an induced current, the position of the tool being adjusted in real time and automatically as a function of the measured values of the magnetic field. . As a variant, the trellising wire is used to disturb a magnetic field, the position of the tool also being adjusted as a function of the measured values of the magnetic field disturbed by the trellising wire.
La présente invention vise à proposer une alternative au procédé de guidage d'un 20 outil par rapport à une culture palissée de l'art antérieur, assurant un positionnement automatique de l'outil, indépendant de la dextérité de l'opérateur, et limitant les risques d'endommagement des fruits. The present invention aims to provide an alternative to the method of guiding a tool with respect to a trellised culture of the prior art, ensuring automatic positioning of the tool, independent of the dexterity of the operator, and limiting the risk of fruit damage.
A cet effet, l'invention a pour objet un procédé de guidage d'un outil par rapport à une culture palissée constituée par l'alignement de pieds de plantes, 25 notamment un rang de vigne, caractérisé en ce qu'il consiste à ajuster la position de l'outil en mesurant la distance séparant un point lié à l'outil des pieds, en utilisant la réflexion d'une onde. To this end, the subject of the invention is a method of guiding a tool with respect to a trellised crop constituted by the alignment of plant feet, in particular a row of vines, characterized in that it consists in adjusting the position of the tool by measuring the distance between a point linked to the tool and the feet, using the reflection of a wave.
L'invention propose également un dispositif pour sa mise en oeuvre et une machine équipée dudit dispositif. The invention also provides a device for its implementation and a machine equipped with said device.
D'autres caractéristiques et avantages ressortiront de la description qui va suivre de l'invention, description donnée à titre d'exemple uniquement, en regard des dessins annexés sur lesquels: - la figure 1 est vue en perspective montrant un tracteur supportant des outils se déplaçant le long d'un rang de vigne, - la figure 2 est une coupe transversale d'un rang de vigne par rapport auquel est positionné un outil, et - la figure 3 est une représentation schématique du dispositif de l'invention. Other characteristics and advantages will emerge from the following description of the invention, description given by way of example only, with reference to the attached drawings in which: - Figure 1 is a perspective view showing a tractor supporting implements. moving along a row of vines, - Figure 2 is a cross section of a row of vines with respect to which a tool is positioned, and - Figure 3 is a schematic representation of the device of the invention.
Sur la figure 1, on a représenté en 10 un rang de vigne matérialisé par un alignement de ceps ou pieds de vigne 12 et de piquets 14 supportant des fils de palissage 16. Le procédé de l'invention décrit en application à la viticulture peut s'appliquer à tout autre culture en rang comportant des alignements de pieds de 15 plantes. In Figure 1, there is shown at 10 a row of vines materialized by an alignment of vines or vines 12 and stakes 14 supporting trellising wires 16. The method of the invention described in application to viticulture can s '' apply to any other row crop with rows of 15 plants.
Sur la figure 1, on a également représenté une rogneuse 20, appelée par la suite machine, comprenant au moins une lame 22, appelée par la suite outil. Le procédé de l'invention appliqué au guidage d'une rogneuse peut s'appliquer à tout autre dispositif susceptible d'être positionné par rapport à une culture palissée 20 comprenant un alignement de pieds. In Figure 1, there is also shown a trimmer 20, hereinafter called machine, comprising at least one blade 22, hereinafter called tool. The method of the invention applied to guiding a trimmer can be applied to any other device capable of being positioned with respect to a trellised crop 20 comprising an alignment of feet.
Selon les cas, la machine peut être motorisée à la manière d'une vendangeuse par exemple, ou être reliée à un engin motorisé 24, un tracteur par exemple comme illustré par la figure 1. La machine peut être directement liée à l'engin motorisé et alors son positionnement est ajusté en agissant sur les commandes de 25 direction de l'engin motorisé, ou reliée à l'engin motorisé ou un support tracté par l'intermédiaire d'actionneurs et alors son positionnement est ajusté en agissant sur les commandes des actionneurs et/ou les commandes de direction de l'engin motorisé. Depending on the case, the machine can be motorized in the manner of a grape harvester for example, or be connected to a motorized vehicle 24, a tractor for example as illustrated in FIG. 1. The machine can be directly linked to the motorized vehicle and then its positioning is adjusted by acting on the steering controls of the motorized vehicle, or connected to the motorized vehicle or a support towed by means of actuators and then its positioning is adjusted by acting on the controls of the actuators and / or steering controls of the motorized vehicle.
Selon l'invention, l'outil 22 est positionné par rapport au rang de vigne 10 en mesurant la distance b séparant un point relié à l'outil aux pieds 12 et en ajustant automatiquement et en temps réel la position de l'outil en fonction des valeurs mesurées des distances D. Ainsi, l'outil défile le long du rang et lorsqu'il passe au droit d'un pied 12, on mesure la distance entre un point lié à l'outil et le pied 12 et on ajuste la position de l'outil de manière à obtenir une distance constante, réglée au préalable par l'opérateur. Le choix du pied comme référentiel permet de ne prévoir aucun autre référentiel tel qu'un fil enterré par exemple, et d'obtenir un 10 positionnement très précis le pied matérialisant parfaitement le rang de vigne, la végétation se développant par rapport audit pied et ledit pied étant à sa base dégagé de tout obstacle susceptible de perturber les mesures. According to the invention, the tool 22 is positioned relative to the row of vines 10 by measuring the distance b between a point connected to the tool at the feet 12 and by automatically adjusting the position of the tool in real time measured values of the distances D. Thus, the tool scrolls along the row and when it passes in line with a foot 12, the distance between a point linked to the tool and the foot 12 is measured and the position of the tool so as to obtain a constant distance, set beforehand by the operator. The choice of the base as a frame of reference makes it possible to provide for no other frame of reference such as a buried wire for example, and to obtain a very precise positioning, the base materializing perfectly the row of vines, the vegetation developing with respect to said base and said foot being at its base clear of any obstacle likely to disturb the measurements.
Avantageusement, pour déterminer la distance b. on utilise la réflexion d'une onde 26. Ainsi, le guidage de l'outil est assuré sans contact avec la végétation. Advantageously, to determine the distance b. using the reflection of a wave 26. Thus, the guiding of the tool is ensured without contact with the vegetation.
Selon un mode de réalisation préféré, on utilise une mesure par triangulation. According to a preferred embodiment, a triangulation measurement is used.
Ainsi, au moins un capteur 28, matérialisant le point lié à l'outil et disposé dans un plan distant des pieds, envoie une première onde 30, dite onde émise, en direction du pied 12 qui réfléchit ladite onde émise 30 en une seconde onde 32, dite onde réfléchie, en direction du plan d'émission. En fonction de la nature de 20 l'onde émise 30 et de l'objet réfléchissant, ici le pied, les deux ondes 30 et 32 forment un angle a et une distance d sépare le point d'émission de l'onde émise du point de réception de l'onde réfléchie 32. Thus, at least one sensor 28, materializing the point linked to the tool and arranged in a plane distant from the feet, sends a first wave 30, called the emitted wave, towards the foot 12 which reflects said emitted wave 30 in a second wave 32, called the reflected wave, in the direction of the emission plane. Depending on the nature of the emitted wave 30 and the reflecting object, here the foot, the two waves 30 and 32 form an angle a and a distance d separates the point of emission of the emitted wave from the point of reception of the reflected wave 32.
La distance b est calculée en fonction de l'angle a fixe dans le temps puisque lié à la nature de l'onde émise et des pieds de vigne en bois, et de la distance d 25 qui peut varier en fonction de l'éloignement du capteur 28 du pied 12. The distance b is calculated as a function of the angle a fixed over time since it is linked to the nature of the wave emitted and of the wooden vines, and of the distance d 25 which can vary depending on the distance from the foot sensor 28 12.
En fonction des cas, l'onde émise peut être choisie parmi différentes fréquences, notamment les infrarouges, et obtenue par exemple à l'aide d'un laser. Depending on the case, the wave emitted can be chosen from different frequencies, in particular infrared, and obtained for example using a laser.
Selon un mode de réalisation préféré, le dispositif de guidage selon l'invention comprend un capteur 28 relié à la machine disposé au droit des pieds, en partie inférieure, et des asservissements, non représentés, permettant d'ajuster la position de l'outil, en fonction de la valeur mesurée de la distance par le 5 capteur 28, en agissant sur les commandes de la direction de l'engin motorisé auquel est relié l'outil et/ou sur les commandes des actionneurs assurant la liaison entre l'engin motorisé et l'outil. According to a preferred embodiment, the guiding device according to the invention comprises a sensor 28 connected to the machine arranged at the level of the feet, in the lower part, and slaves, not shown, allowing the position of the tool to be adjusted. , as a function of the value measured by the distance by the sensor 28, by acting on the controls of the direction of the motorized machine to which the tool is connected and / or on the controls of the actuators ensuring the connection between the machine motorized and tool.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0302091A FR2851410A1 (en) | 2003-02-20 | 2003-02-20 | Method of guiding agricultural implement with respect to vines has reflected wave used for triangulation of implement position with respect to vine roots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0302091A FR2851410A1 (en) | 2003-02-20 | 2003-02-20 | Method of guiding agricultural implement with respect to vines has reflected wave used for triangulation of implement position with respect to vine roots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| FR2851410A1 true FR2851410A1 (en) | 2004-08-27 |
Family
ID=32799459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR0302091A Pending FR2851410A1 (en) | 2003-02-20 | 2003-02-20 | Method of guiding agricultural implement with respect to vines has reflected wave used for triangulation of implement position with respect to vine roots |
Country Status (1)
| Country | Link |
|---|---|
| FR (1) | FR2851410A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2878124A1 (en) * | 2004-11-24 | 2006-05-26 | Didier Andelfinger | Vine stakes passage detecting device for use in trellis cultivation, has support case for reception cell, and including window and ventilating unit, where cell has rectangular surface lower than that of stakes but higher than vine shoots |
| FR2878404A1 (en) * | 2004-11-26 | 2006-06-02 | Didier Andelfinger | Tipping and leaf stripping machine for vineyard, has jambs whose upper parts carry rotating knifes, intermediate parts disposed above upper parts to enclose tipping units and leaf stripping units and pressure plates separating units |
-
2003
- 2003-02-20 FR FR0302091A patent/FR2851410A1/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2878124A1 (en) * | 2004-11-24 | 2006-05-26 | Didier Andelfinger | Vine stakes passage detecting device for use in trellis cultivation, has support case for reception cell, and including window and ventilating unit, where cell has rectangular surface lower than that of stakes but higher than vine shoots |
| FR2878404A1 (en) * | 2004-11-26 | 2006-06-02 | Didier Andelfinger | Tipping and leaf stripping machine for vineyard, has jambs whose upper parts carry rotating knifes, intermediate parts disposed above upper parts to enclose tipping units and leaf stripping units and pressure plates separating units |
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