NZ759247B2 - Improvements in or relating to tractor-baler combinations - Google Patents
Improvements in or relating to tractor-baler combinationsInfo
- Publication number
- NZ759247B2 NZ759247B2 NZ759247A NZ75924718A NZ759247B2 NZ 759247 B2 NZ759247 B2 NZ 759247B2 NZ 759247 A NZ759247 A NZ 759247A NZ 75924718 A NZ75924718 A NZ 75924718A NZ 759247 B2 NZ759247 B2 NZ 759247B2
- Authority
- NZ
- New Zealand
- Prior art keywords
- tractor
- baler
- swath
- sensor
- sensors
- Prior art date
Links
- 239000000463 material Substances 0.000 claims abstract description 29
- 230000037406 food intake Effects 0.000 claims abstract description 19
- 230000000875 corresponding Effects 0.000 claims abstract description 10
- 230000003287 optical Effects 0.000 claims description 16
- 230000001276 controlling effect Effects 0.000 claims description 5
- 238000003306 harvesting Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 238000001914 filtration Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000010902 straw Substances 0.000 description 3
- 230000002708 enhancing Effects 0.000 description 2
- 230000002093 peripheral Effects 0.000 description 2
- VPAXJOUATWLOPR-UHFFFAOYSA-N Conferone Chemical compound C1=CC(=O)OC2=CC(OCC3C4(C)CCC(=O)C(C)(C)C4CC=C3C)=CC=C21 VPAXJOUATWLOPR-UHFFFAOYSA-N 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000004460 silage Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
Classifications
-
- 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
- A01B69/001—Steering by means of optical assistance, e.g. television cameras
-
- 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
-
- 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
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F15/00—Baling presses for straw, hay or the like
- A01F15/08—Details
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F15/00—Baling presses for straw, hay or the like
- A01F15/08—Details
- A01F15/0825—Regulating or controlling density or shape of the bale
Abstract
moveable tractor-baler combination (10) includes (a) a self-powered tractor (11) having a plurality of ground-engaging members (13, 14, 16, 17) and a steering mechanism for steering at least one said ground-engaging member so as to cause changes in a direction of movement of the tractor (11); (b) a baler (12) that is towed behind the tractor (11) as the tractor (11) moves forwardly and is pivotably connected to the tractor (11); (c) one or more sensors (36, 38) for sensing one or more lines (herein swath lines) of crop material corresponding to a maximal quantity of crop material per unit length of a swath (24); and (d) a control apparatus (41). The control apparatus (41) operates in dependence on at least one output of the one or more sensors (36, 38) to operate the steering mechanism of the tractor (11) such that the baler (12) follows a said swath line in a manner optimising the ingestion of crop material into the baler (12) for baling. One or more said sensors (36, 38) is at least temporarily operable to sense a swath line that is laterally offset from the direction of forward movement of the tractor (11). As a result the alignment of the baler (12) may be optimised before baling of a swath (24) commences. a baler (12) that is towed behind the tractor (11) as the tractor (11) moves forwardly and is pivotably connected to the tractor (11); (c) one or more sensors (36, 38) for sensing one or more lines (herein swath lines) of crop material corresponding to a maximal quantity of crop material per unit length of a swath (24); and (d) a control apparatus (41). The control apparatus (41) operates in dependence on at least one output of the one or more sensors (36, 38) to operate the steering mechanism of the tractor (11) such that the baler (12) follows a said swath line in a manner optimising the ingestion of crop material into the baler (12) for baling. One or more said sensors (36, 38) is at least temporarily operable to sense a swath line that is laterally offset from the direction of forward movement of the tractor (11). As a result the alignment of the baler (12) may be optimised before baling of a swath (24) commences.
Description
IMPROVEMENTS IN OR RELATING TO TRACTOR-BALER COMBINATIONS
Background of the Invention
The invention relates to a tractor-baler combination.
It is well known in the field of agricultural machines to tow a wheeled baler behind
a tractor for the purpose of creating bales of valuable stalk (or other plant constituent)
products such as hay, silage vegetation and straw that are deposited in fields as
harvesting or mowing operations take place. In the majority of cases the baler is neither
autonomous nor self-powered, and instead is towed behind an agricultural tractor from
which it derives rotary power to drive its pickup components and internal machinery.
The hay, straw or similar products requiring baling usually are left in fields in the
form of swaths or windrows, i.e. elongate rows of the products in question that are heaped
in the transverse centre and tend to flatten at the respective transverse edges. Although
according to some definitions there are differences between e.g. swaths and windrows,
except where the context requires these terms are used interchangeably herein.
Each swath usually extends in as straight a line as possible for almost the entire
length of a field. Typically a field that has undergone harvesting contains many,
essentially mutually parallel, swaths. The swaths are spaced from one another by largely
consistent gaps that normally are determined by the widest part, that usually is the header
or front cutter bar, of the harvesting or mowing machine employed to cut the harvest
products in question.
The width of a swath is nearly always less than the track of the wheels of a tractor
that must subsequently pass along the swaths. As a result such a tractor may travel with
one set of wheels on either side of the swath during baling work. At other times it is
desirable for the tractor to run alongside the swath, with the baler towed behind and offset
laterally relative to the tractor such that only the wheels of the baler straddle the swath.
In some cases, especially when the harvest product is hay, it is known to use a
haybob, tedder or rake attached to a tractor after the swaths have lain for a certain period,
in order to turn over the swaths left by the mowing machine and thereby achieve a desired
degree of aeration of the stalks (or other plant parts if these are of interest). In such cases
the resulting windrows while generally following the lines of swaths left by the mowing
machine may be of differing dimensions from those of the as-deposited stalks, etc.
The invention is applicable in the use of balers to bale stalks (or other plant parts,
as desired) as deposited in swaths; or in windrows created by a secondary operation such
as raking, tedding or hay bobbing.
Balers fall in to several categories. The most common types presently in use are
those for creating so-called “round” bales, usually of hay or straw (that are approximately
cylindrical); and those for creating so-called “rectangular” or “square” bales (that are
cuboidal). Each bale type is associated with particular storage and handling
characteristics.
Among rectangular balers the most common types produce either “large
rectangular bales” or “midi rectangular bales”. As the names imply, the former are larger
than the latter.
Regardless of the exact type, in use a baler is hitched to the rear of a tractor and
the power take-off (PTO) shaft of the tractor connected to provide rotary drive to the baler.
The PTO shaft rotates at a speed determined by the settings of the tractor engine and in
some cases certain other variable parameters that are settable e.g. by the tractor driver
or as a result of automatic or semi-automatic control actions initiated in the tractor or baler
such as when one or more sensors produces a particular output, class of output, value or
range. Typically the PTO shaft includes a universal joint or similar flexible drive-
transferring arrangement, with the result that the connection to the baler does not have to
be directly in line with the PTO connection on the tractor, and instead may be offset
laterally from it.
The PTO shaft provides rotary drive for the various parts of the baler that move to
cause ingestion and baling of stalks. US 4433533 A includes an explanation of the
operation of a round baler. An example of rectangular baler operation is described in FR
2684517 A.
The invention is applicable to tractor-baler combinations including round balers
and rectangular balers of all types including but not limited to those described above, and
indeed may be used whenever it is required to tow a baling machine in the vicinity of
swaths or windrows.
When towing a baler it usually is an objective of the tractor driver to maintain a
particular part (such as the transverse front centre point) of the baler in line with the centre
line of the swath to be baled. Some balers, such as those described in US 4433533 A
and FR 2684517 A, include features permitting the transverse centre of a towed baler to
be moved towards and away from an offset position relative to the centre line of the tractor
during towing to pick up stalks. This is desirable in order to control the part of the front
opening of the baler into which stalks (or other plant parts) are ingested, and thereby
assure even filling of the chamber(s) of the baler. This is beneficial because uneven filling
can lead to the creation of bales that are of the incorrect shape, and/or are insufficiently
strong for handling and storage, and/or are of varying density and hence low commercial
value.
In some cases crops are sown in a field in a manner that leaves a respective
margin (called a headland), on each of two opposite sides of the field, in which no crops
are grown. In many fields, in the alternative, crops are sown over the entire field area, up
to the edges of the field. In such cases when harvesting of the field occurs the harvesting
machine initially completes e.g. one or two circumferential passes around the outer
periphery of the field in order to create a crop-free margin that is akin to a headland except
that it extends about the entire periphery of the field for the width of the number of passes
of the harvesting machine.
A space such as a headland or the aforementioned harvested periphery is needed
for various reasons, one of which is to permit the manoeuvring of agricultural vehicles and
vehicle combinations without running over, and hence wasting, cultivated crop.
When crop is harvested using a harvesting machine stalks or other plant matter
that are required to be baled are left in swaths in the field as outlined above. As a result
of the absence of crop in the headlands of the field these regions are normally free of
swaths. If a peripheral crop-free margin is created initially during harvesting the stalks
lying in this margin are baled first in order to provide a swath-free space. During baling
operations the headland or peripheral space at each end or side of the field thus provides
space in which a tractor-baler combination may manoeuvre in order to position itself for
baling of the plant matter in the parallel swaths extending along the field.
Typically the tractor-baler combination enters the field in the headland and lines
up to bale the first of the swaths to be baled. This might be a swath at the end of a series
of essentially parallel swaths in the field, or it may be part-way along the series of swaths.
The choice of which swath to bale first is determined by potentially a number of factors
often the main one of which is the location of the field entrance relative to the series of
swaths, although other factors such as but not limited to driver preference, the likely or
detected moisture content of the swaths, the layout and terrain of the field, the width of
the headland and the presence of obstacles may also be relevant.
During use the tractor-baler combination moves along the selected swath and
deposits completed bales behind the baler as it does so. Once the first swath has been
baled in this way the tractor reaches the headland at an opposite end of the field to that
at which baling commenced. At this point the tractor-baler combination must turn in order
to travel along the field in the opposite direction in order to bale the next swath to be picked
up. This may be the swath that in the series of swaths is immediately adjacent the initially
baled swath, or (depending on the transverse spacing of the swaths the headland
dimensions and so on) it may be separated from the initially baled swath by one or more
intermediate swaths.
If the headland is relatively broad there is room for the tractor-baler combination
to turn through 180 degrees in order to approach the next swath to be baled end-on, with
the baler aligned for the ingestion of crop before it encounters the end of the swath.
In many fields however the headland is not broad enough to permit the tractor-
baler combination to turn through 180 degrees before at least the tractor, and possibly
also the baler, encounters the end of the swath. This can be e.g. because the headland
is narrow ; or because the tractor-baler combination is too long for the scale of the field in
which it is required to operate and instead is intended to operate in a larger field having a
broader headland. Also the presence of obstacles that encroach into the headland can
reduce the space available for turning a tractor-baler combination.
Increasingly nowadays new tractors include or may be retro-fitted with sensors,
such as optical sensors, that sense the region in front of the tractor. A processor forming
part of or operatively connected to the tractor may construct from the sensor output
readings a database, image output, log or map of the terrain towards which the tractor is
heading.
Such an output may be useful when the tractor tows a baler since this permits the
transverse position of the baler relative to a swath to be optimised. As a result the
ingestion of plant matter may take place in a way that ensures filling of the chamber(s) of
the baler so as to minimise the risk of varying density or incomplete bales forming. As
explained above the creation of such bales is undesirable.
One way in which such a sensor output may be used is to identify the line traced
by the centre of gravity of the detected cross-section of the swath. This is referred to
herein as the “swath line” or the “line of the swath”. The processor may plot or log such
a line and use it as an input to a control method for the baler. Such a control method may
involve minimising the deviation of a preferred part of the baler, such as the transverse
centre of the pickup at the front of the baler, from the swath line. Adjustments of the
transverse position of the baler may be effected e.g. by causing steering of the tractor, or
by adjusting a mechanism of the baler that causes transverse offsetting as mentioned
above. In the former regard many modern tractors include features permitting the
automation of steering functions. Such features include powered actuators such as
hydraulic or electric motors, linkages and control elements that typically are
programmable and take the form of processors installed in or in use operatively connected
to the tractor.
An aspect of the sensor mechanisms outlined above existing in the prior art is that
they only sense the terrain in front of the tractor. As a result when the tractor reaches the
end of a swath during baling work, or when the tractor is travelling in the headland in a
direction that is not aligned end-on with a swath, it is not possible for the sensor and its
associated processor to map a swath line at all.
At such a time in order to commence the baling of a fresh swath it is necessary for
the tractor driver to turn the tractor at least until a swath is in the field of view of the sensor
in front of the tractor. In practice the tractor driver is thereafter unlikely to relinquish control
of the tractor-baler combination back to any automated system as described above until
the combination has travelled some distance along the next swath to be baled.
Such an approach is associated with disadvantages in terms of bale-forming
efficiency.
This is partly because the tractor driver may not position the tractor very accurately
relative to the swath, with the result that adjustments of the transverse position of the
tractor-baler combination are required before the position of the baler pickup relative to
the swath line is optimised. If as is likely the driver retains control of the steering of the
tractor-baler combination for some distance after the tractor has encountered a swath this
may result in inefficient filling of the baler over a significant percentage of the length of the
swath.
Also a system relying on the output of a forwardly directed sensor on the tractor
may result in sub-optimal positioning of the baler even if the driver relinquishes control
back to the sensor and processor combination shortly after the sensor detects a fresh
swath. This is because the processor may be reliant on signals from sensors in the baler
in order to determine whether the transverse position of the baler is optimised, and it may
require several metres of travel of the baler along the swath before meaningful or sufficient
data are acquired.
The processor during such a time may not acquire useful feedback on the position
of the baler. As a consequence the transverse position of the pickup may be sub-optimal
for longer than is necessary.
A further potential problem is that the driver simply may commence a turn into a
swath earlier or later than is desired from the standpoint of optimising baler filling. Again
the loss of valuable baled plant matter may result.
It is an object of the invention to provide an improved tractor-baler combination or
at least to provide the public or industry with a useful choice.
According to the invention in a first aspect there is provided a moveable tractor-
baler combination including (a) a self-powered tractor having a plurality of ground-
engaging members and a steering mechanism for steering at least one said ground-
engaging member so as to cause changes in a direction of movement of the tractor; (b) a
baler that is towed behind the tractor as the tractor moves forwardly and is pivotably
connected to the tractor; (c) one or more sensors for sensing one or more lines (herein
swath lines) of crop material corresponding to a maximal quantity of crop material per unit
length of swath; and (d) a control apparatus that operates in dependence on at least one
output of the one or more sensors to operate the steering mechanism of the tractor such
that the baler follows a said swath line in a manner optimising the ingestion of crop
material into the baler for baling, wherein the at least one said sensor is mounted on the
tractor and wherein one or more said sensors is at least temporarily operable to sense a
swath line that is laterally offset from the direction of forward movement of the.
Such an arrangement is capable of detecting a swath and determining its swath
line even when the tractor is facing in a direction that prevents a forwardly directed sensor
from sensing the swath.
As a result control operations aimed at optimally turning the tractor-baler
combination to commence baling of a swath may be initiated at a better time (typically but
not necessarily an earlier time) in the headland manoeuvring of the tractor-baler
combination than has been possible in the prior art.
Moreover the presence of a sensor that detects laterally offset swaths means that
more of the control of a headland manoeuvre may take place in an automated way, under
the control of software and the engineering parts that are available to control the direction
of a tractor-trailer combination, than has been possible in the prior art. This generally
increases the accuracy of optimisation of the filling of the baler.
In an optional embodiment of the invention one or more said sensor is moveable
between a first orientation in which it points forwardly of the tractor and a second
orientation in which it points to one side of the tractor.
Such a sensor may be secured to the tractor by means of e.g. a pivotable
mounting. Such a mounting may confer one or more than one degree of freedom on the
movement of the sensor between the first and second orientations. Thus in some
embodiments of the invention the sensor may be rotatable in a single plane e.g. between
a straight ahead orientation and a sideways-pointing orientation. In other embodiments
the sensor may be rotatable in two planes such that its direction and dip or elevation angle
may be adjusted. The latter may be useful for example when the tractor-baler combination
is travelling on uneven ground.
In practical embodiments of the invention optionally the tractor includes one or
more motors for effecting movement of at least one said sensor between the first
orientation and the second orientation.
As a result optimisation of the orientation of the moveable sensor for detecting
laterally offset swath lines may occur in an automated manner. The motors may take any
of a range of forms, including electric, hydraulic and pneumatic devices.
In an alternative embodiment of the invention the one or more sensors include
respective first and second sensors for sensing one or more swath lines, the first sensor
pointing forwardly of the tractor and the second sensor pointing laterally with respect to,
or sideways of, the tractor.
In such an arrangement the first and/or the second sensor may be mounted fixedly
on the tractor such that their orientations are not changeable relative to the orientation of
the tractor. Equally, one or both the sensors in question may be rotatable e.g. as
described above. In such an embodiment one or more motors may be provided for
effecting changes in the orientation of one or both the respective sensors. Such motors
may be as described herein.
In defining the sensors as being fixedly mounted on the tractor this means that the
bodies or housings of the sensors are fixed with respect to the tractor. As explained herein
even in such an arrangement it remains possible to adjust e.g. the field of view of a sensor,
e.g. by adjusting the relative positions of internal optical or other sensing components of
the sensors; and/or by filtering or otherwise selectively processing the output signals of
the sensors.
It should be realised that in embodiments of the invention when respective first
and second sensors are provided typically at least one said sensor is mounted on the
tractor. In practical arrangements it is likely that both the respective first and second
sensors are mounted on the tractor, but this need not necessarily be so. Thus it is possible
for one or more sensor to be located on the baler. As will be known to the person of skill
in the art the output of such a sensor can be fed to a processor forming part of or
operatively connected to control the steering of the tractor.
In more detail optionally a said sensor pointing forwardly of the tractor senses a
swath line extending forwardly from the front of the tractor; and a said sensor pointing to
one side of the tractor senses a swath line extending sideways from the tractor. As used
herein the phrases “pointing forwardly of the tractor” and “pointing sideways of the tractor”
do not exclude the possibility of one or both the sensors in question being mounted on
the baler, although it is expected that in the majority of embodiments of the invention at
least one of the sensors would be mounted on the tractor.
It also should be realised that references to a swath line extending “sideways of
the tractor” or “laterally with respect to the tractor” are not limited to swath lines (or the
sensing of swath lines) extending at right angles to the prevailing direction of movement
or (if the tractor is stationary) orientation of the tractor. On the contrary, the sensor
pointing to one side of the tractor may sense swath lines extending at a range of angles
to the centre line of the tractor and may itself point at any of a range of angles. As noted
moreover the swath lines need not be straight. Thus the phraseology includes sensors
pointing at various angles to the direction of forward movement of the tractor.
It further should be realised that references to a sensor pointing “sideways of the
tractor” do not exclude arrangements in which either (a) at least one further sensor is
present for sensing swath lines on an opposite side of the tractor to that sensed by the
said sensor; or (b) a said sensor is moveable so that it can sense swath lines on either
side of the tractor.
In an embodiment of the invention one or more of the sensors optionally is
operatively connected to the control apparatus whereby on the sensor sensing a swath
line that is laterally offset from the direction of forward movement of the tractor the control
apparatus operates the steering mechanism of the tractor to cause steering of the tractor-
baler combination such that the baler aligns for ingestion of crop material corresponding
to the swath line.
As used herein references to the baler aligning for ingestion of crop material
corresponding to the swath line includes e.g. positioning the front centre of the baler
pickup so that it coincides with the swath line, or another control action. In the majority of
cases any such control action would have the objective of optimising in some way the
ingestion of crop material into the baler so that bales are formed as efficiently as possible.
In embodiments of the invention optionally at least one said sensor is an optical
device that generates at least one output signal derived from a two-dimensional image of
the cross-section of a swath captured by the optical device. Such an image output signal
may readily be processed in a range of ways as will be known to the person of skill in the
art, for example to generate one or more visible or displayable images; to identify
particular artefacts in the data acquired by the sensor; and/or to transmit, store or analyse
images or data relating to them in any of a variety of forms. Such signals typically will be
electrical signals, although they may take other forms such as but not limited to optical,
acoustic or other physical signals known in the electromagnetic spectrum.
Moreover in embodiments of the invention the sensor need not be an optical
device per se and instead may take a range of other forms.
When the sensor is an optical device however in embodiments of the invention it
is operatively coupled to a processor that generates a predicted swath line derived from
a plurality of two-dimensional images of the cross-section, silhouette or outline of a swath
captured sequentially by the optical device as the tractor moves.
As noted such a processor may form part of or be operatively connected to the
tractor. In other embodiments of the invention the processor may form part of or be
operatively connected to the baler; or it may be located partly in the tractor and partly in
the baler. In yet further embodiments of the invention to processor may be located
remotely of the tractor-baler location and the sensor may be connected to it e.g. by way
of one or more wireless connection arrangements.
For the avoidance of doubt in practical embodiments of the invention the baler
optionally is connected to the tractor by a drawbar that is pivotably connected (a) at a
tractor connection to the tractor and (b) at a location spaced along the drawbar to an
attachment location on the baler. In other embodiments however other connection
arrangements are possible. It is preferable that the linkage between the tractor and the
baler permits pivoting of the latter relative to the former; although it is possible to devise
arrangements within the scope of the invention in which the baler is rigidly (i.e. non-
pivotingly) connected to the tractor.
The invention also resides in a method of controlling a moveable tractor-baler
combination including (a) a self-powered tractor having a plurality of ground-engaging
members and a steering mechanism for steering at least one said ground-engaging
member so as to cause changes in a direction of movement of the tractor; (b) a baler that
is towed behind the tractor as the tractor moves forwardly and is pivotably connected to
the tractor; (c) one or more sensors for sensing one or more lines (herein swath lines) of
crop material corresponding to a maximal quantity of crop material per unit length of
swath; and (d) a control apparatus that operates in dependence on at least one output of
the one or more sensors to operate the steering mechanism of the tractor such that the
baler follows a said swath line in a manner optimising the ingestion of crop material into
the baler for baling, wherein the at least one said sensor is mounted on the tractor and
wherein at least one said sensor is at least temporarily operable to sense a swath line that
is laterally offset from a direction of forward movement of the tractor (herein a laterally
offset swath line), the method including causing the said sensor to sense a laterally offset
swath line while the baler is not following a line of a swath; and using the output of the
said sensor as an input to the control apparatus whereby to operate the steering
mechanism so that the alignment of the baler becomes optimised with respect to the
laterally offset swath line before the ingestion of crop material commences.
Thus the invention extends to a method of operating the apparatus also forming
part of the invention, together with any programming needed to implement the method
and any media on which e.g. relevant program instructions may be stored.
In particular the method of the invention optionally is such that one or more said
sensor is moveable between a first orientation in which it points forwardly of the tractor
and a second orientation in which it points to one side of the tractor, the method including
effecting movement of the said sensor between the first and second orientations.
Alternatively however the method may be implemented such that at least the
orientation of the second sensor is fixed relative to the tractor, as explained above in
relation to the apparatus aspects of the invention.
When one or more said sensor is moveable between a first orientation in which it
points forwardly of and a second orientation in which it points sideways of the tractor the
method may include pivotably mounting at least one said sensor relative to the tractor so
as to permit one or more degrees of freedom of movement of the sensor.
More generally the method of the invention may be practised so as to embody
method analogues of the apparatus features described herein.
There now follows a description of embodiments of the invention, by way of non-
limiting example, with reference being made to the accompanying drawings in which:
Figure 1 shows in schematic plan view a number of trajectories and locations of a
tractor-baler combination according to the invention during regular baling and headland
manoeuvring activity; and
Figures 2a to 2c show in more detail the trajectory of the tractor and trailer of a
tractor-trailer combination according to the invention, during one particular headland turn;
Figures 3a and 3b show exemplary arrangements for effecting pivoting adjustment
of a sensor forming part of the invention.
Detailed Description of the Drawings
Referring to the drawings there is shown a tractor-trailer combination 10
comprising an agricultural tractor 11 that in use tows a baler 12. The tractor 11 in many
respects is conventional, and therefore includes supported by a vehicle frame a diesel
engine, transmission and other components that constitute a drive train together with four
ground-engaging members in the form of front and rear pairs of left and right tyred wheels
13, 14, 16, 17.
The vehicle frame and drive train elements are not visible by reason of being
concealed beneath an engine hood 18 secured on an upper side of the front part of the
engine frame. Mounted on the vehicle frame rearwardly of the hood 18 is a driver’s cab
19 including a weatherproof roof 21 that is fixed atop an array of glazed windows 22 set
in an approximately square pattern so as to provide a good view all around the tractor 11.
In the example shown the drive train is configured to provide via one or more
clutches, a multi-ratio transmission and respective front and rear differential axles
powered, rotary drive to all four wheels 13, 14, 16, 17 but in other tractor designs within
the scope of the invention only the rear wheels 16, 17 are powered to rotate, with the front
wheels 13, 14 being freewheeling as is known in the art.
Also the wheels 13, 14, 16, 17 may be replaced by endless ground-engaging
tracks or belts as is known in some tractor designs; or only the rear wheels 16, 17 (or
conceivably only the front wheels 13, 14) may be so replaced. All such ground-engaging
members and other variants on ground engaging member design as will be known to the
person of skill in the art are within the scope of the invention.
Regardless of the exact arrangement of ground-engaging members the tractor 11
is capable of powered movement in forward and, depending on the transmission ratio
selected, reverse directions as is well known.
The front wheels 13, 14 are steerable as best illustrated in Figure 2. To this end
the tractor 11 includes a pivoting mounting of each front wheel 13, 14 that allows the
respective wheel 13, 14 to pivot about an upwardly extending axis. A steering mechanism
including a steering rod, steering box, steering column and steering wheel are provided,
with the steering wheel being located in the cab 19 and the steering column extending
from the steering wheel to connect with the steering box.
Such steering parts are connected in a per se known manner in order to provide
steerability of the front wheels. This aspect of the steering mechanism does not require
detailed describing herein since it is well known to the person of skill in the art. The
steering components are not visible in the figures by reason of being obscured under the
hood 18 and roof 21.
The steering box additionally includes a steering motor, such as but not limited to
an electric motor that is connected to drive the steering box and thereby effect steering of
the vehicle without a need for the tractor driver to turn the steering wheel. The steering
motor also is not visible in the figures, and is connected to a processing device. This may
be, or may form part of, a processor or processing device 41 (these terms being used
interchangeably herein) described below and forming part of or operatively connected to
the tractor. Other processing device arrangements for controlling conventional functions
of the tractor are also possible within the scope of the invention, as will occur to the person
of skill in the art.
The processing device is programmed or otherwise arranged to generate
commands that cause the motor to effect steering actions based on e.g. the output signals
of one or more sensors also forming part of the tractor 11. The invention relies on the
presence and operation of particular sensors as described below that give rise to such
steering commands.
As explained hereinabove the tractor 11 in use tows the baler 12. The baler 12
includes a machine frame that is obscured by a shroud or body 23 as best seen in Figure
2. The frame supports in the embodiment shown two parallel axles that in turn locate left
and right, front and rear rotatable wheels 26, 27, 28 and 29.
The baler 12 includes a forwardly projecting tongue 31 that is connected to a
(schematically illustrated) drawbar or similar arrangement 32 projecting rearwardly from
the tractor 11. The connection between the tongue 31 and the drawbar 32 includes a
pivot permitting the baler to turn relative to the tractor at least in the plane of the drawbar.
In some versions of the invention the pivot permits more than one degree of freedom
thereby allowing the connection between the baler and the tractor to accommodate e.g.
changes in terrain height as the tractor-baler combination moves forwardly. In more basic
versions only a single degree of freedom of pivoting is possible, such that the orientation
of the baler 12 in a generally horizontal plane may adjust relative to the tractor 11. A
variety of types of connection of the baler 12 to the tractor 11 lie within the scope of the
invention.
A power take-off (PTO) shaft 33 also projects rearwardly from the tractor and
connects to the baler 12. As is well known in the tractor art the PTO shaft 33 may transfer
rotary drive from the engine of the tractor 11 to a towed vehicle such as the baler 12, and
thereby provide rotary power for operating the parts of such a vehicle.
As explained, the torque and rotation speed of the PTO shaft may be set e.g. as
a result of the setting of controls by the tractor driver; as a result of commands generated
by a processing device (such as but not limited to the processing device 41 mentioned
above and described in more detail below); or in some cases in a fixed relation to the
prevailing rotational speed of the engine. When the PTO shaft is connected to power a
baler such as baler 12 it is preferred that the shaft 33 rotates at a set speed that is
independent of the forward speed of the tractor 11, since variations in the PTO shaft speed
might cause inconsistent baling of harvested products.
The baler 12 at its front lower edge includes a pickup 34. Pickup 34 is used to
cause ingestion of harvested plant parts (i.e. crop material) from the swaths, such as
swaths 24 illustrated in the representations, into the interior of the baler, where typically
rotary components powered from the PTO shaft 33 form them into bales. The bales are
ejected from the rear of the baler 12 onto the surface of the field as the baler is drawn
forwardly along a swath 24 by the tractor. During such movement of the baler the PTO
shaft may provide rotary power for powering the internal, bale-forming parts of the baler
as is known in the art.
The tractor 11 includes mounted on e.g. the front of the cab or a forward section
of the engine hood 18 a first sensor 36 that points forwardly of the tractor 11 and therefore
senses objects, terrain and or other features in the path in front of the tractor 11 as it
moves.
First sensor 36 may take a range of forms as will be known to the person of skill
in the art, and in presently preferred embodiments of the invention is an optical device.
Thus first sensor may be e.g. an optical camera such as but not limited to a charge-
coupled device (CCD) that generates electrical outputs based on the image visible in a
field of view 37. During normal use of the particular tractor-baler combination 10 illustrated
field of view 37a is defined by a notional pyramidal or other shape of field of view 37a.
In the embodiment illustrated the field of view 37a may be represented as a
notional two-dimensional plane projecting forwardly from the front of the tractor 11 as
illustrated. It should however be noted that the field of view 37a for a variety of reasons
may not adopt the shape illustrated, and may instead have a range of other forms
depending on the nature of the sensor 36. Moreover the extent to which the field of view
37a extends forwardly of the tractor may be greater or less than the area indicated in the
figures. Although in the figures represented as two-dimensional field of view 37a, in reality
the field of view is three-dimensional and therefore takes account of e.g. the height of a
swath 24 sensed by the first sensor 36.
This is a consequence of the preferred form of sensor 36 generating fixed number
of pixels. These are evenly distributed in the pyramidal field of view originating from the
sensor 36. As a result there exists a fixed angle between all the adjacent pixels in both
the horizontal and vertical directions. It follows that for each pixel three-dimensional
information is constructed because a distance to thee detected object is determined. In
other words the result is a set of horizontal and vertical angles and a distance value
ascribed to each pixel, thus giving rise to three-dimensional information in respect of each
pixel.
The sensor 36 in some embodiments of the invention is secured at a fixed
orientation relative to the tractor 11. In such a case the field of view 37a may also be
fixed, although in some embodiments even when the position of the sensor is fixed it may
be possible to adjust the field of view 37a e.g. by adjusting one or more internal
components of the sensor 36; or by filtering or enhancing the signals generated by the
sensor 36, or processed derivatives of such signals, during use.
One purpose of the first sensor 36 is to assist in optimising the positioning of the
baler relative to the swaths 24, while the tractor-baler combination 10 follows a swath 24
for the purpose of creating bales.
To this end the tractor-baler combination 10 includes a processor illustrated
schematically by reference numeral 41.
Processor 41 is in the figures shown as being located entirely within the tractor 11
but as noted it may in embodiments of the invention be located e.g. in or on the baler 12,
or it may be distributed between the tractor 11 and baler 12, or it may be located partly or
entirely remotely of the tractor-baler combination 10.
Processor 41 is arranged to receive signals output by the first sensor 36 and derive
therefrom one or more command signals for controlling the lateral position of the baler 12
relative to the tractor 11 while the tractor-baler combination 10 travels along a swath 24
during baling.
The connection of the baler 12 to the tractor 11 may be e.g. pivotable and/or
otherwise laterally displaceable relative to the tractor 11. The tractor-baler combination
may include one or baler position motors that when activated cause the lateral position of
the baler 12 relative to the tractor 11 to adjust. The command signals generated in the
processor may be input to the motor to effect changes in the lateral relative position of the
baler in a manner optimising the ingestion of crop material.
In the majority of conditions the optimisation of the lateral position of the baler 12
relative to the tractor 11 will result in the centre of the pickup 34 aligning with the part of
the swath 24 that contains the highest density of crop matter. This is usually the elongate
centre line of the swath 24.
This situation is illustrated with reference to position 10a of the tractor-baler
combination 10 visible in Figure 1 of the representations, and also in Figure 2a. To
achieve the desired purpose of optimising the ingestion of crop material the baler position
motor acting on commands generated in the processor in turn based on the output of the
first sensor 36 as needed adjusts the relative lateral position of the baler 12.
In embodiments of the invention the tractor 11 in which the field of view of the
sensor 36 is fixed, and in several embodiments in which the sensor 36 is fixed but the
field of view 37a is adjustable by adjusting internal parts of the sensor 36 or by filtering its
output signals as indicated, the tractor is equipped with a second sensor 38.
Such a sensor 38 is able to sense a swath profile of at least one swath 24 that is
laterally offset relative to the direction of forward movement of the tractor 11. The purpose
of such a second sensor 38 is to detect swaths 24 when at least the tractor 11, and
typically the entire tractor-baler combination 10, is travelling in the headland approximately
at 90 degrees (or another angle) to the direction in which the swaths 24 extend.
This situation is illustrated in Figure 1 by the orientation 10b of the tractor-baler
combination 10 essentially at 90 degrees to the elongate direction of the swaths 24, as
occurs when the tractor-baler combination is manoeuvring in the headland of a field.
The field of view 39 of the second sensor 38 is illustrated as a two-dimensional
triangular plane extending sideways from the tractor 11 as illustrated. When the tractor-
baler combination 10 is moving as represented by numeral 10b in the headland such that
the swaths 24 extend sideways relative to the tractor 11 the second sensor 38 may detect
the swaths end-on, even though the first sensor 36 is not at such a time aligned to detect
the swaths 24.
Reference 10b illustrates a field of view 39 extending to the right hand side of the
tractor 11 as viewed. The second sensor 38 is likely in embodiments of the tractor-baler
combination 10 to be fixed relative to the tractor 11. As a result in such an embodiment
the orientation of the field of view 39 cannot be altered, except in some embodiments by
adjusting internal parts of the sensor and/or filtering (or other signal processing) as
mentioned in relation to sensor 38. In such a situation a third sensor may be provided
pointing to the left hand side of the tractor 11 (as viewed in Figure 1). Such a sensor is
operable to detect swaths 24 when the swaths extend on the left hand side of tractor-baler
combination 10. The remainder of this description relates predominantly to the situation
of swaths extending away from the tractor 11 on the right hand side as illustrated. This is
purely for ease of explanation. The operation of a left-pointing third sensor would be
analogous to the operation described below.
On detecting a swath (such as swath 24a in Figure 1) that is suitable for baling the
second sensor 38 generates a signal (that typically but not necessarily is an electrical
signal). This signal is transmitted to the processing device 41 that then generates a
command signal. The command signal is transmitted to the motor, described above, that
is secured to and acts on the steering box of the tractor 11. The moving tractor 11 then
steers the tractor-baler combination as represented by numeral 10c in Figure 1 in an
optimal way to commence baling of the selected swath 24a in an optimal way.
Optimisation of the commencement of baling may arise because the baler 12
becomes aligned with the most dense part of the swath 24a before the ingestion of crop
material commences, or it may result from manoeuvring of the tractor 11 so that the baler
12 does not deviate from an optimal trajectory once baling has commenced.
Combinations of such effects are possible.
In other embodiments of the invention the first sensor 36 may be moveably
(typically but not necessarily pivotably) mounted relative to the tractor 11, such that it can
swivel when the tractor-baler combination 10 is moving in the headland as represented
by numeral 10b.
Figure 3a shows one non-limiting form of pivoting arrangement, in which the
sensor 36 is mounted on a rotatably mounted base 51. The outer periphery of base 51 is
formed as a toothed pinion as represented by numeral 52. The teeth of pinion 52 are
engaged by a worm drive 53 formed on or secured to the exterior of a rotatable shaft 54.
Shaft 54 is the output member of a motor such as an electric motor 56. Motor 56 may be
a stepper motor or another motor type and may be controlled e.g. by way of a processing
device forming part of the tractor 11 to rotate in clockwise and anticlockwise directions as
required. This in turn effects a desired degree of controlled rotation of the base 51 and
hence the sensor 36.
In an alternative arrangement for causing controlled swivelling of the sensor 36 a
kinematic linkage may be adopted as shown in Figure 3b.
In Figure 3b the sensor 36 is shown secured to a mounting bracket 57 that is
pivotably secured at one end 58 to e.g. the machine frame of the tractor 11.
At its opposite end 59 the bracket 57 is pivotably secured to a rod 61 forming part
of a linear actuator such as a pneumatic or hydraulic ram 62. The opposite end 63 of ram
62 is pivotably secured to the machine frame. As a result extension and retraction of the
ram 62 causes swivelling of the field of view 37 of the sensor 36 about pivot 58. As in the
case of the Figure 3a arrangement the extent of swivelling of the field of view 37 may be
controlled e.g. using a processing device forming part of or operatively connected to the
tractor 11.
In such embodiments of the invention the second sensor 38 can be dispensed
with. Instead when the tractor moves into a headland such that the first sensor 36 no
longer detects any swaths 24 the first sensor may be swivelled to point to one side of the
tractor 11 as represented by rotated field of view 42.
At such a time the first sensor may then assume the role of the second sensor 38
described above in detecting swaths 24 that are suitable for baling. As a result the first
sensor 36 generates a signal (e.g. an electrical signal) that passes to the processing
device 41. The processing device 41 generates a command signal that is fed to the
steering box motor and effects steering of the tractor-baler combination for example as
represented by numeral 10c in Figure 1.
Swivelling of the first sensor 36 under such circumstances may occur by a variety
of methods. As an example the sensor 36 may rotate from left to right under the power
of a motor once the tractor 11 enters the headland and the sensor 36 ceases to detect
swaths 24. Such scanning of the field may continue until the sensor 36 detects a swath
(such as swath 24a) and as a result generates a swath signal as described.
Alternatively swivelling of the sensor 36 may be effected on the basis of
information on the turn described by the tractor. Thus for example if the tractor 11 turns
to the right when manoeuvring at the end of a field the sensor may be automatically
swivelled (say) 30 degrees to the right during the turn in order to align the field of view 37
of the sensor 36 such that it is likely to detect the next swath to be baled. Siilarly the
sensor 36 can be swivelled automatically to the left on the detection of a turn to the left at
the end of the field. The degree and direction of turn may readily be sensed in a tractor
having an automatic or semi-automatic steering system in which sensor signals
representing the degree of turn of a steering motor may be fed to a processing device.
In many embodiments of the invention it would be desirable for the sensor 36 to
be capable of swivelling to the left or the right in order to capture images or data relating
to swaths on either side of the tractor-baler combination. As an alternative however it is
possible, within the scope of the invention to provide a respective sensor 36 pointing to
either side of the tractor. Such sensors 36 may be swivellable or fixed in the sense
explained herein. It is possible to include various combinations of fixed and swivellable
sensors in one and the same tractor-baler combination 10. As mentioned hereinbelow
one or more of the sensors may be mounted on the baler 12 rather than the tractor.
In Figure 1 the swaths 24 are shown as straight, parallel swaths extending at
approximately 90 degrees to the elongate dimension of the headland. However it may be
the case that the swaths extend at a non-90 degree angle to the headland, or at least at
a non-90 degree angle to the tractor-baler combination 10 when it is manoeuvring in the
headland. The invention however is beneficial even when this is the case.
Figures 2a to 2c show in a non-limiting manner the sequence of movements of the
tractor 11 and baler 12 that may result when the tractor 11 initially turns in accordance
with the method of the invention in order to align the baler with the end of a swath as
illustrated by numeral 10c in Figure 1.
In Figures 2a to 2c the lateral centre of the sensor 36, corresponding to the
direction in which the sensor (e.g. camera) 36 points is represented by numeral 44. As is
apparent from Figures 2a to 2c this line of sight may vary significantly from the line 24 of
the swath as the tractor adjusts its direction in accordance with the method of the
invention. However the centre of the rear axle of the tractor 11, as represented by numeral
45, follows a line that deviates significantly less from the line 24 of the swath. The centre
of the baler pick-up is represented by numeral 48 and the trajectory of the axle of the baler
by numeral 46. As is clear from Figures 2a to 2c the latter trajectories follow the swath
line 24 with very good accuracy, notwithstanding that (as shown by numeral 44) the front
wheels 13, 14 of the tractor steer repeatedly in order to achieve this result. Such steering
of the front wheels 13, 14 is under the control of steering control elements as described
herein.
As explained in some embodiments of the apparatus of the invention one or more
sensor 36 is moveable between a first orientation in which it points forwardly of the tractor
and a second orientation in which it points sideways of the tractor. In such embodiments
the method of the invention optionally may include the step of causing movement of the
said sensor between the first and second orientations.
Typically such movement may occur under the influence of one or more motors
for swivelling or otherwise moving the sensor 36 between the first and second
orientations, but as noted herein other methods of effecting such movement, including
manual adjustment of the sensor orientation, e.g. using levers, handles, link ages and/or
by manually grasping a pivotably mounted housing of the sensor 36, are possible within
the scope of the invention.
When the method of the invention is practised with respect to a tractor-baler
combination 10 in which the sensors 36, 38 are fixedly mounted on the tractor the
processing device 41 may be programmed or otherwise arranged to cause control of the
steering of the tractor to be influenced by the output of the sideways-pointing sensor 38
in preference to the forwardly-pointing sensor 36 when the tractor is moving in a headland.
Such a transition of sensor control may be initiated e.g. when the forwardly-
pointing sensor 36 ceases to detect a swath 24 at the end of a baling operation involving
following such a swath 24. The processing device 41 may be programmed to identify the
transition from baling to headland manoeuvring based on one or more of a number of
factors, including e.g. the output of the sensor 36, the length of time for which the baler
12 has been ingesting crop material since a previous headland manoeuvre, the output of
a GPS module 47 forming part of the tractor 11 or baler 12 or a range of similar parameters
of the baling operation.
In addition to the foregoing the invention is considered to reside in a computer-
readable medium containing instructions for carrying out a method as defined herein.
Such a medium may be in the form of a disk, memory device such as a so-called “memory
stick”, internal parts of a computer or processor such as processing device 41, or a range
of other media as will be known to those of skill in the art.
The invention is described herein with reference to optical sensors but it should be
appreciated that a variety of other sensor types may readily be substituted for the optical
sensors mentioned. Thus acoustic, radar, Doppler effect and a variety of other sensor
types are workable in embodiments of the invention.
Furthermore as indicated the sensors while preferably located on the tractor 11
may alternatively be located on the baler 12, or an arrangement in which e.g. one sensor
employed in the invention is tractor-mounted and another is baler-mounted is possible.
As mentioned the tractor 11 may be of a wide range of types, and the invention is
not limited to the use or presence of any particular size or design of tractor 11. The tractor
11 may include numerous sub-systems and control devices. These may include a GPS
module or other location device. Such a device may be operatively connected to the
processing device 41 and may therefore provide assisting impacts that are used to
enhance the accuracy of positioning of the tractor 11 in a way that optimises alignment of
the trailer 12 in the ways disclosed herein.
The baler 12 may also take a variety of forms. Thus the baler 12 may include
numerous ancillary parts, power sources, sensors and location indicating devices as will
be known to the person of skill in the art. Also the baler 12 may be connected to the
tractor in any of a range of ways as also will be known in the art. All such variants on the
basic version of the invention described herein lie within the scope of the claims hereof,
and the tractor and baler illustrated in the Figures are exemplary only and do not limit the
invention to the types shown.
It furthermore should be noted that references to e.g. swaths 24 being laterally
offset with respect to the direction of forward movement of the tractor 11 may also be
construed as references to such swaths 24 being laterally offset with respect to the
elongate length of the tractor 11 when the tractor 11 is stationary and/or as references to
offsetting of the swaths with respect to the direction of forward movement of the baler 12,
or the elongate length of the baler 12 when the latter is stationary.
Such lateral offsetting of the swaths 24 as mentioned above may be to any
appreciable extent. Thus the invention is not limited to any particular orientation of the
swaths 24 that are to be sensed relative to the direction of forward movement of the tractor
11 and/or the baler 12. Moreover although in the majority of cases a field is likely to
contain a significant number of swaths 24 extending generally parallel with one another
this need not be the case. Thus apparatus and method of the invention are useable in
e.g. a field containing a single swath 24, that may be of any length and orientation.
For the avoidance of doubt, the invention is considered to reside in a
programmable device as described herein; a computer-readable medium containing
instructions for the operation of such a programmable device; and a trailer such as a baler
as defined herein, when considered independently of any towing tractor.
The listing or discussion of an apparently prior-published document in this
specification should not necessarily be taken as an acknowledgement that the document
is part of the state of the art or is common general knowledge.
Preferences and options for a given aspect, feature or parameter of the invention
should, unless the context indicates otherwise, be regarded as having been disclosed in
combination with any and all preferences and options for all other aspects, features and
parameters of the invention.
Claims (16)
1. A moveable tractor-baler combination including (a) a self-powered tractor having a plurality of ground-engaging members and a steering mechanism for steering at least 5 one said ground-engaging member so as to cause changes in a direction of movement of the tractor; (b) a baler that is towed behind the tractor when the tractor moves forwardly and is pivotably connected to the tractor; (c) one or more sensors for sensing one or more lines (herein swath lines) of crop material corresponding to a maximal quantity of crop material per unit length of a swath; and (d) a control apparatus that operates in 10 dependence on at least one output of the one or more sensors to operate the steering mechanism of the tractor such that the baler follows a said swath line in a manner optimising the ingestion of crop material into the baler for baling, wherein the at least one said sensor is mounted on the tractor and wherein one or more said sensors is at least temporarily operable to sense a swath line that is laterally offset from the direction of 15 forward movement of the tractor.
2. A tractor-baler combination according to claim 1 wherein one or more said sensor is moveable between a first orientation in which it points forwardly of the tractor and a second orientation in which it points sideways of the tractor.
3. A tractor-baler combination according to claim 2 including a pivotable mounting securing at least one said sensor relative to the tractor, the pivotable mounting permitting one or more degrees of freedom of movement of the sensor. 25
4. A tractor-baler combination according to claim 2 or claim 3 including one or more motors for effecting movement of at least one said sensor between the first orientation and the second orientation.
5. A tractor-baler combination according to claim 1 wherein the one or more sensors 30 include respective first and second sensors for sensing one or more swath lines, the first sensor pointing forwardly of the tractor and the second sensor pointing sideways of the tractor and the orientations of the first and second sensors being fixed with respect to the tractor. 35
6. A tractor-baler combination according to claim 5 wherein the first sensor is moveable between a first orientation in which it points forwardly of the tractor and a second orientation in which it points laterally with respect to the tractor.
7. A tractor-baler combination according to any preceding claim wherein one or more said sensor is operatively connected to the control apparatus whereby on the said sensor sensing a swath that is laterally offset from the direction of forward movement of the tractor 5 the control apparatus operates the steering mechanism of the tractor to cause steering of the tractor-baler combination such that the baler aligns for ingestion of crop material corresponding to the swath.
8. A tractor-baler combination according to any preceding claim wherein at least one 10 said sensor is an optical device that generates an output derived from a two-dimensional image of the cross-section of a swath captured by the optical device.
9. A tractor-baler combination according to claim 8 wherein the optical device is operatively coupled to a processor that generates a predicted swath line derived from a 15 plurality of two-dimensional images of the cross-section, silhouette or outline of a swath captured sequentially by the optical device as the tractor moves.
10. A tractor-baler combination according to any preceding claim wherein the baler is connected to the tractor by a drawbar that is pivotably connected (a) at a tractor 20 connection to the tractor and (b) at a location spaced along the drawbar to an attachment location on the baler.
11. A method of controlling a moveable tractor-baler combination including (a) a self- powered tractor having a plurality of ground-engaging members and a steering 25 mechanism for steering at least one said ground-engaging member so as to cause changes in a direction of movement of the tractor; (b) a baler that is towed behind the tractor as the tractor moves forwardly and is pivotably connected to the tractor; (c) one or more sensors for sensing one or more lines (herein swath lines) of crop material corresponding to a maximal quantity of crop material per unit length of a swath; and (d) a 30 control apparatus that operates in dependence on at least one output of the one or more sensors to operate the steering mechanism of the tractor such that the baler follows a said swath line in a manner optimising the ingestion of crop material into the baler for baling, wherein the at least one said sensor is mounted on the tractor and wherein at least one said sensor is at least temporarily operable to sense a swath line that is laterally offset 35 from a direction of forward movement of the tractor (herein a laterally offset swath line), the method including causing the said sensor to sense a laterally offset swath line while the baler is not following a line of a swath; and using the output of the said sensor as an input to the control apparatus whereby to operate the steering mechanism so that the alignment of the baler becomes optimised with respect to the laterally offset swath line before the ingestion of crop material commences. 5
12. A method according to claim 11 in which one or more said sensor is moveable between a first orientation in which it points forwardly of the tractor and a second orientation in which it points sideways of the tractor, the method including causing movement of the said sensor between the first and second orientations. 10
13. A method according to claim 11 wherein the tractor-baler combination includes respective first and second sensors for sensing one or more swath lines, the first sensor pointing forwardly of the tractor and the second sensor pointing sideways of the tractor and the orientations of the first and second sensors being fixed with respect to the tractor; and the method including causing the control apparatus to operate the steering 15 mechanism in dependence on the output of the second sensor when the first sensor does not sense a swath line.
14. A computer-readable medium containing instructions for carrying out a method according to claim 11 or claim 12.
15. The moveable tractor-baler combination of claim 1 as hereinbefore described with reference to the figures.
16. The method of controlling a moveable tractor-baler combination of claim 11 as 25 hereinbefore described with reference to the figures.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BE2017/5335 | 2017-05-09 | ||
BE2017/5335A BE1024928B1 (en) | 2017-05-09 | 2017-05-09 | IMPROVEMENTS IN OR RELATING TO TRACTOR / BALER PRESS COMBINATIONS |
PCT/EP2018/062074 WO2018206678A1 (en) | 2017-05-09 | 2018-05-09 | Improvements in or relating to tractor-baler combinations |
Publications (2)
Publication Number | Publication Date |
---|---|
NZ759247A NZ759247A (en) | 2021-06-25 |
NZ759247B2 true NZ759247B2 (en) | 2021-09-28 |
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