US20180317391A1 - Self-aligning apparatus and methods for gathering bales - Google Patents
Self-aligning apparatus and methods for gathering bales Download PDFInfo
- Publication number
- US20180317391A1 US20180317391A1 US16/033,868 US201816033868A US2018317391A1 US 20180317391 A1 US20180317391 A1 US 20180317391A1 US 201816033868 A US201816033868 A US 201816033868A US 2018317391 A1 US2018317391 A1 US 2018317391A1
- Authority
- US
- United States
- Prior art keywords
- bale
- set forth
- sensor
- conveyor
- loading
- 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.)
- Abandoned
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000000284 resting effect Effects 0.000 claims description 2
- 229920001169 thermoplastic Polymers 0.000 claims description 2
- 239000000463 material Substances 0.000 description 8
- 229920000742 Cotton Polymers 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 4
- 240000008042 Zea mays Species 0.000 description 3
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 3
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 3
- 238000013459 approach Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 235000005822 corn Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000004459 forage Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 239000010907 stover Substances 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 241000219823 Medicago Species 0.000 description 2
- 235000017587 Medicago sativa ssp. sativa Nutrition 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000012787 harvest procedure Methods 0.000 description 2
- 239000010908 plant waste Substances 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000002551 biofuel Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012272 crop production Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011152 fibreglass Substances 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
- A01D90/02—Loading means
-
- 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
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
- A01D90/02—Loading means
- A01D90/08—Loading means with bale-forming means additionally used for loading; with means for picking-up bales and transporting them into the vehicle
- A01D90/083—Round-bale trailers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
- A01D90/12—Vehicles for carrying harvested crops with means for selfloading or unloading with additional devices or implements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/36—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon
- B60P1/38—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon forming the main load-transporting element or part thereof
Definitions
- the field of this disclosure relates to apparatus for gathering bales that aligns bales during bale pick-up and to methods for transferring bales that use such an apparatus.
- Crop forages such as hay are periodically cut in the field, dried and compacted into bales for transport and storage of the forage material.
- hay e.g., alfalfa and/or grass hay
- Recent improvements in row crop production and in technology for processing these materials have led to changes in the scale and economics of harvest and to increasing potential for harvest of crop residues like corn stover.
- Corn stover is also baled in the field and used as livestock feed, bedding or production of biofuels.
- harvest technology for cotton has been developed, that includes the step of baling the cotton in the field. Due to these relatively recent changes, the scale at which this type of harvest process is conducted in some instances is different than the traditional process.
- the density of the bales, in terms of the number of bales per acre, is higher in some instances, the labor availability is less in some instances and the criticality of timing is higher in some instances.
- Materials may be baled into relatively large round, rectangular or square (in cross-section) bales which may be tied by twine, netting or plastic wrap depending on the type of material, the type of storage and the intended use of the material.
- the bales are typically left in the field, near the location where the bale was formed, to minimize labor and time required for the harvest process including the baling operation.
- an apparatus for gathering bales includes a chassis.
- a forward-looking sensor is mounted on the chassis for sensing a bale.
- the apparatus includes a controller for adjusting the position of the apparatus based on signals from the sensor.
- Another aspect of the present disclosure is directed to a method for gathering bales resting on a surface by use of an apparatus for gathering bales.
- the apparatus is guided toward a bale.
- a bale is sensed and the position of the apparatus is adjusted in response to sensing the bale.
- FIG. 1 is a perspective view of an apparatus for gathering bales
- FIG. 2 is a perspective view of a portion of the apparatus showing a hydraulic cylinder for tilting the chassis of the apparatus;
- FIG. 3 is a perspective view of the apparatus prior to loading a round bale
- FIG. 4 is a perspective view of the apparatus after the round bale has been loaded onto the bed
- FIG. 5 is a perspective view of the apparatus after being loaded with bales
- FIG. 6 is a top view of a pulling vehicle and the apparatus in the traveling position
- FIG. 7 is a top view of a hydraulic cylinder attached to the chassis and tongue of the apparatus.
- FIG. 8 is a top view of a pulling vehicle and the apparatus in the loading position
- FIG. 9 is a top view of a pulling vehicle and another embodiment of the apparatus in the traveling position.
- FIG. 10 is a top view of another embodiment of the apparatus that is self-propelled in the traveling position
- FIG. 11 is a top view of a pulling vehicle and another embodiment of the apparatus having a steerable axle assembly in the traveling position;
- FIG. 12 is a top view of a pulling vehicle and another embodiment of the apparatus having a sliding off-set hitch in the traveling position;
- FIG. 13 is a top view of a pulling vehicle and the apparatus of FIG. 12 in the loading position.
- FIG. 14 is a perspective view of the apparatus during unloading of bales.
- FIG. 1 An embodiment of an apparatus for gathering bales is generally referred to as 5 in FIG. 1 .
- the apparatus 5 includes a bed 25 for holding one or more bales and a loading assembly 15 for lifting a bale off the ground and conveying it to the bed.
- the apparatus 5 includes a tongue 1 for pulling the apparatus by use of for example, a tractor or other pulling vehicle.
- the apparatus 5 includes its own propulsion mechanism (i.e., powered front wheels) rather than being pulled by a pulling vehicle.
- the apparatus may be guided toward bales by a user or may be partially or fully guided by a global positioning system (GPS).
- GPS global positioning system
- the apparatus 5 is suitable for picking up cylindrical bales commonly referred to as “round” bales.
- Round bales are used for harvesting any material capable of being formed into a cylindrical bale such as traditional hay crops (e.g., alfalfa or grass), corn stover or other crop residues, cotton, or wood products like small diameter trees.
- the apparatus 5 shown in FIG. 1 is configured for loading up to five bales.
- the apparatus 5 may be modified to carry more or less bales without departing from the scope of the present disclosure.
- the apparatus may be modified to carry square or rectangular bales, or any compacted form of crop material, without departing from the scope of the present disclosure.
- the apparatus 5 includes wheels 3 attached to a bed chassis 6 .
- the bed 25 tilts between various positions, to a forward tilted position for loading the bales or unloading to the front, to a middle position used after bales have been loaded for transportation of the loaded bales ( FIG. 5 ) and to a rearward tilted position for unloading and re-loading of bales to the rear ( FIG. 14 ).
- the apparatus 5 may be tilted hydraulically through manual or automatic control by use of a hydraulic cylinder 17 ( FIG. 2 ) or by any other method available to those of skill in the art. Tracks (not shown) may be used as an alternative to the wheels 3 .
- the loading assembly 15 includes two arms 4 , 24 that are the first portion of the apparatus 5 to contact the bale during loading.
- Each arm 4 , 24 includes an endless conveyor belt 16 , 18 .
- the endless conveyor belts 16 , 18 may include various drive, idler and/or support rollers (not shown) for rotating the conveyor belt. In some cases the drive roller is positioned at the front, and in some cases at the rear.
- Each belt 16 , 18 includes upper portions 16 u, 18 u ( FIG. 1 ) that are capable of carrying the weight of a bale.
- the movement of the belt, around the front roller and backward along the upper portion of the belt path, has been found to be effective to lift a bale off the ground and for simultaneously causing the bale to move toward the bed 25 . This lifting and transporting action occurs after the two conveyor belts contact the bale.
- the bed 25 includes a number of bed conveyors 35 , each having an endless belt routed around a front idler roller and a rear powered roller that may be rotated to cause the belt to move which results in moving bales away from the loading assembly and toward the end 27 of the bed.
- Each conveyor 35 may have an effective length, the distance between the idler roller and the drive roller. This effective length may be the length of about one bale. Typical bale lengths for forage products may be between about 40 and 60 inches and bales of cotton are in the range of 100 inches in length. It should be noted that the apparatus 5 and the effective length of the conveyor belts 16 , 18 and bed conveyors 35 are not limited by bale size or to a particular length.
- the bed 25 may have one bed conveyor 35 on each side (not shown) that extends from the first end 32 to the second end 27 rather than a series of bed conveyors on each side.
- the bed 25 has a single conveyor belt (not shown) that forms a floor of the bed upon which the bales rest for moving bales toward the second end 27 .
- the conveyor belts 16 , 18 of the first and second arms 4 , 24 of the loading assembly 15 and the conveyor belts 35 of the bed 25 may be driven by hydraulics, as discussed above, or alternately by any type of rotary power device such as an electric motor.
- the position of the loading assembly 15 and bed 25 relative to the pull vehicle 78 may be adjusted by any suitable method or combination of methods including, for example, by manipulating the angle between the tongue 1 and the bed chassis 6 ( FIG. 1 ) by use of hydraulics or by any other suitable method.
- the position of the loading assembly 15 and bed 25 relative to the pull vehicle 78 is adjusted by use of a steerable axle assembly 85 ( FIG. 11 ).
- the position of the loading assembly 15 and bed 25 relative to the pull vehicle 78 is adjusted by use of a sliding offset hitch 84 as shown in FIGS. 12-13 .
- the tongue 1 is attached to the sliding offset hitch 84 at the loading position (i.e., closer to the loading side of the pull vehicle 78 ) and in FIG. 13 the tongue 1 is attached at the non-loading position of the sliding offset hitch (i.e., opposite the loading position).
- the bed conveyors may be constructed from the same basic components used in the loading assembly conveyors, with an endless conveyor belt, an idler roller, a drive roller and supports.
- the embodiments illustrated herein show an alternative construction for the bed conveyors 35 , each including an endless conveyor belt of a slightly different construction than the belts 16 and 18 , routed around a drive pulley and an idler pulley.
- the drive pulley is positioned at the front or, in other embodiments, at the rear of the conveyor.
- the surface characteristics of the conveyors 16 , 18 may affect the frictional engagement between the conveyor belt and the bale.
- the conveyor belts 16 , 18 may include a surface that will adequately engage the bale to enhance the capability for the loading assembly to reliably lift the bales while also minimizing potential for damage to the bale and any bale wrapping.
- conveyer belts or conveyor systems may be included in the apparatus.
- a conveyor belt composed of a carcass of nylon or fiberglass fibers covered by a wide variety of materials including rubber, PVC, thermoplastic polymer or the equivalent may be used.
- Chain conveyor systems may also be used without departing from the scope of the present disclosure.
- “conveyor belt” as used herein includes any arrangement in which a belt, chain, track or the like is moved around a series of pulleys to cause movement of the belt, chain or track.
- the apparatus 5 is pulled by the pull vehicle (not shown) toward a bale as shown in FIG. 3 .
- the vehicle may provide the power for running the various conveyors and positioning systems (e.g., by use of hydraulics) or the apparatus 5 may include its own independent power system (e.g., hydraulic system).
- the apparatus 5 may be described herein with reference to a hydraulic system. It should be noted that the present disclosure should not be limited to a hydraulic system as the principles would apply to other power transfer technologies such as an electrical system.
- the bale B 1 should be oriented such that the ends 40 of the cylindrical bale are perpendicular to the apparatus 5 as the apparatus 5 approaches the bale B 1 .
- the chassis 6 and tongue 1 are pivotally connected and are caused to be at an angle ⁇ relative to one another such that the loading assembly 15 and bed 25 travel outside of the path of the pull vehicle (not shown) to allow the pull vehicle to travel “outside of” and parallel to the bales B targeted for loading.
- the first and second conveyor belts 16 , 18 are driven or actuated to cause the belt to move while the apparatus 5 travels toward the first bale B 1 .
- the conveyor belts 16 , 18 of the arms 4 , 24 contact the first bale causing the bale to be lifted and simultaneously moved toward the bed 25 .
- the first bale B 1 may be loaded onto the loading assembly 15 without stopping the apparatus 5 such that the apparatus 5 and the vehicle that pulls the apparatus may continually move forward during bale pick-up.
- belt conveyors 35 move to transfer the bale B 1 from the loading assembly 15 to the position on the bed 25 as illustrated in FIG. 4 .
- the bed conveyors 35 are stopped to position the first bale B 1 adjacent the end of the loading assembly.
- each bale subsequent to the first bale B 1 may be loaded until it nears or contacts the previously loaded bale which causes the bale to stop.
- the apparatus 5 is directed to a second bale B 2 .
- the conveyor belts 16 , 18 of the arms 4 , 24 are in motion and move the second bale B 2 toward the bed 25 and toward the first bale B 1 .
- the loading assembly 15 grasps the second bale B 2 and carries the second bale B 2 toward the bed 25 until it nears or contacts the first bale B 1 .
- one or more sets of bed conveyors 35 are then actuated to move the first and second bales B 1 , B 2 partially down the bed 25 toward the second end 27 . This process is repeated to load additional bales.
- the apparatus 5 includes an alignment control system electronically coupled to a bale sensing system.
- the alignment control system includes a sensor that is used to sense a bale and/or to sense an edge of the bale to align the apparatus 5 with the bale during bale pick-up. Suitable sensors include lasers, cameras and acoustic sensors such as an ultrasonic sensor.
- the alignment control system adjusts the angle A formed between the tongue 1 and the bed chassis 6 ( FIG. 6 and FIG. 8 ).
- the alignment control system steers an axle assembly 85 ( FIG. 11 ).
- the alignment control system adjusts the position of the apparatus 5 by use of the sliding offset hitch 84 ( FIGS. 12-13 ).
- the apparatus 5 begins in a traveling position relative to the pulling vehicle 78 ( FIG. 6 ) in which the apparatus is partially behind the pulling vehicle.
- a sensor 70 (which may also be referred to herein as a “forward looking sensor”) located on the side of the apparatus opposite where the tongue 1 is connected to the chassis 6 senses the presence of a bale.
- the sensor 70 is mounted to the first arm 4 .
- the sensor 70 may be directly mounted to the first arm 4 or mounted indirectly to the first arm 4 by mounting to one or more intermediate parts.
- the sensor 70 is directly or indirectly mounted to the chassis 6 which supports the bed conveyors 35 .
- the sensor 70 sends a signal to a controller (not shown) and the controller causes a hydraulic system to supply fluid to the cylinder 75 ( FIG. 7 ) between the tongue 1 and chassis 6 of the apparatus to be actuated to increase the angle A to further off-set the apparatus 5 from the pull vehicle 78 .
- the controller continues to increase the off-set until the sensor 70 no longer senses the bale. This change, from sensing a bale to not sensing a bale, occurs when the sensor is aligned with the edge of the bale B 1 (i.e., the sensor extends past the far edge of the bale) as shown in FIG. 8 . Once the edge of the bale B 1 is sensed, the off-set is maintained constant.
- the pull vehicle passes by the bale B 1 while maintaining the apparatus 5 centered with the bale B 1 (i.e., with the apparatus at the “loading position” relative to the pull vehicle).
- the controller actuates the cylinder such that angle A is decreased and the apparatus 5 returns to its traveling position relative to the pulling vehicle 78 .
- the apparatus 5 includes a second sensor 80 directly or indirectly mounted to the chassis 6 for sensing a bale.
- the second sensor 80 may be a laser, camera or an acoustic sensor such as an ultrasonic sensor.
- the second sensor 80 is offset from the first forward-looking sensor 70 .
- the second sensor 80 is mounted on the side opposite the first sensor 70 and angled toward the loading side of the pulling apparatus 78 . In this position the sensor 80 is able to sense the presence of an approaching bale during loading.
- the chassis 6 of the apparatus 5 has a lengthwise axis C that extends through the center of the apparatus from the first and second arms 4 , 24 to the second end 27 of the bed conveyor 35 .
- the center axis C defines a first side 6 a of the apparatus that extends furthest from the pulling vehicle 78 during bale loading and a second side 6 b of the apparatus that is more near the pulling vehicle during bale loading.
- the first sensor 70 may be mounted to the first side 6 a of the apparatus and the second sensor 80 is mounted to the second side 6 b of the apparatus.
- the second sensor 80 is mounted on the same side as, but offset from, the first sensor 70 .
- the controller causes a hydraulic system to supply pressurized fluid to the cylinder 75 ( FIG. 7 ) to actuate the cylinder to move the apparatus 5 from the traveling position to the loading position relative to the pull vehicle 78 (i.e., to increase the angle A between the tongue and the chassis) when both sensors 70 , 80 concurrently sense the bale B 1 .
- the first sensor 70 and/or second sensor 80 may be used to sense the edge of the bale B 1 (i.e., when the loading position of the apparatus 5 has been reached).
- the first sensor 70 is used alone to sense the edge of the bale B 1 . In some embodiments, the first sensor 70 is used to sense the edge and the second sensor 80 is used to validate or confirm the presence of a bale. In such embodiments, in addition to the second sensor 80 , the first sensor 70 may also be used to validate or confirm the presence of a bale as noted above.
- the apparatus 5 includes a sensor 69 for detecting the loading of a bale B 1 on the apparatus.
- the loading sensor 69 may be a photoelectric-type (i.e., photo-eye) sensor which includes transmitter and receiver ends.
- the bale B 1 passes through the line-of-sight of the sensor 69 which indicates that a bale has been loaded.
- the controller actuates the cylinder 75 ( FIG. 7 ) causing the angle A between the chassis and tongue to decrease and the apparatus to travel from the loading position ( FIG. 8 ) to the traveling position ( FIG. 6 ).
- the apparatus 5 may be adjusted to promote ease of travel to the unloading site.
- the bed chassis 6 of the apparatus 5 may be leveled by use of hydraulic cylinder 17 ( FIG. 2 ) and the relative position between tongue 1 and the bed 15 may be adjusted (e.g., the tongue may be adjusted to be more parallel to the bed).
- the bed chassis 6 is tilted by use of the hydraulic cylinder 17 ( FIG. 2 ).
- the bed conveyors 35 are operated and the apparatus 5 is caused to move forward while the bales are unloaded.
- the apparatus 5 described above has several advantages. For example, by including an alignment control system, the apparatus may properly align itself with bales for bale loading without precise alignment control by the user. Further, upon bale loading, the apparatus 5 is able to return to a traveling position without user control in preparation of further bale loading. The user is able to guide the apparatus toward a bale in a general path with the apparatus itself performing lateral adjustment which results in reliable and precise loading of bales.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Soil Sciences (AREA)
- Mining & Mineral Resources (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Loading Or Unloading Of Vehicles (AREA)
- Preliminary Treatment Of Fibers (AREA)
- Storage Of Harvested Produce (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
Abstract
Apparatus for gathering bales that aligns itself during bale pick-up. Methods for transferring bales that use such an apparatus are also provided.
Description
- The present application is a continuation of U.S. patent application Ser. No. 14/996,586, filed Jan. 15, 2016, which is a continuation of U.S. patent application Ser. No. 13/918,250, filed Jun. 14, 2013, now U.S. Pat. No. 9,271,446, which claims the benefit of U.S. Provisional Patent Application No. 61/665,757, filed Jun. 28, 2012, each of which is incorporated herein by reference in its entirety.
- The field of this disclosure relates to apparatus for gathering bales that aligns bales during bale pick-up and to methods for transferring bales that use such an apparatus.
- Crop forages such as hay (e.g., alfalfa and/or grass hay) are periodically cut in the field, dried and compacted into bales for transport and storage of the forage material. Recent improvements in row crop production and in technology for processing these materials have led to changes in the scale and economics of harvest and to increasing potential for harvest of crop residues like corn stover. Corn stover is also baled in the field and used as livestock feed, bedding or production of biofuels. In addition, harvest technology for cotton has been developed, that includes the step of baling the cotton in the field. Due to these relatively recent changes, the scale at which this type of harvest process is conducted in some instances is different than the traditional process. The density of the bales, in terms of the number of bales per acre, is higher in some instances, the labor availability is less in some instances and the criticality of timing is higher in some instances.
- Materials may be baled into relatively large round, rectangular or square (in cross-section) bales which may be tied by twine, netting or plastic wrap depending on the type of material, the type of storage and the intended use of the material. The bales are typically left in the field, near the location where the bale was formed, to minimize labor and time required for the harvest process including the baling operation.
- A continuing need exists for an apparatus for gathering and transporting bales in the field after baling, one that allows the bales to be gathered relatively quickly and reliably and in a way to minimize demands on the operator, and that consistently positions the bales adjacent one another to minimize the area required for storage. A need also exists for methods for gathering bales that use such apparatus.
- This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the disclosure, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art.
- In one aspect of the present disclosure, an apparatus for gathering bales includes a chassis. A forward-looking sensor is mounted on the chassis for sensing a bale. The apparatus includes a controller for adjusting the position of the apparatus based on signals from the sensor.
- Another aspect of the present disclosure is directed to a method for gathering bales resting on a surface by use of an apparatus for gathering bales. The apparatus is guided toward a bale. A bale is sensed and the position of the apparatus is adjusted in response to sensing the bale.
- Various refinements exist of the features noted in relation to the above-mentioned aspects of the present disclosure. Further features may also be incorporated in the above-mentioned aspects of the present disclosure as well. These refinements and additional features may exist individually or in any combination. For instance, various features discussed below in relation to any of the illustrated embodiments of the present disclosure may be incorporated into any of the above-described aspects of the present disclosure, alone or in any combination.
-
FIG. 1 is a perspective view of an apparatus for gathering bales; -
FIG. 2 is a perspective view of a portion of the apparatus showing a hydraulic cylinder for tilting the chassis of the apparatus; -
FIG. 3 is a perspective view of the apparatus prior to loading a round bale; -
FIG. 4 is a perspective view of the apparatus after the round bale has been loaded onto the bed; -
FIG. 5 is a perspective view of the apparatus after being loaded with bales; -
FIG. 6 is a top view of a pulling vehicle and the apparatus in the traveling position; -
FIG. 7 is a top view of a hydraulic cylinder attached to the chassis and tongue of the apparatus; -
FIG. 8 is a top view of a pulling vehicle and the apparatus in the loading position; -
FIG. 9 is a top view of a pulling vehicle and another embodiment of the apparatus in the traveling position; -
FIG. 10 is a top view of another embodiment of the apparatus that is self-propelled in the traveling position; -
FIG. 11 is a top view of a pulling vehicle and another embodiment of the apparatus having a steerable axle assembly in the traveling position; -
FIG. 12 is a top view of a pulling vehicle and another embodiment of the apparatus having a sliding off-set hitch in the traveling position; -
FIG. 13 is a top view of a pulling vehicle and the apparatus ofFIG. 12 in the loading position; and -
FIG. 14 is a perspective view of the apparatus during unloading of bales. - Corresponding reference characters indicate corresponding parts throughout the drawings.
- An embodiment of an apparatus for gathering bales is generally referred to as 5 in
FIG. 1 . Theapparatus 5 includes abed 25 for holding one or more bales and aloading assembly 15 for lifting a bale off the ground and conveying it to the bed. Theapparatus 5 includes atongue 1 for pulling the apparatus by use of for example, a tractor or other pulling vehicle. In some embodiments and as shown inFIG. 10 theapparatus 5 includes its own propulsion mechanism (i.e., powered front wheels) rather than being pulled by a pulling vehicle. The apparatus may be guided toward bales by a user or may be partially or fully guided by a global positioning system (GPS). - Generally, the
apparatus 5 is suitable for picking up cylindrical bales commonly referred to as “round” bales. Round bales are used for harvesting any material capable of being formed into a cylindrical bale such as traditional hay crops (e.g., alfalfa or grass), corn stover or other crop residues, cotton, or wood products like small diameter trees. Theapparatus 5 shown inFIG. 1 is configured for loading up to five bales. Theapparatus 5 may be modified to carry more or less bales without departing from the scope of the present disclosure. The apparatus may be modified to carry square or rectangular bales, or any compacted form of crop material, without departing from the scope of the present disclosure. - The
apparatus 5 includeswheels 3 attached to abed chassis 6. Thebed 25 tilts between various positions, to a forward tilted position for loading the bales or unloading to the front, to a middle position used after bales have been loaded for transportation of the loaded bales (FIG. 5 ) and to a rearward tilted position for unloading and re-loading of bales to the rear (FIG. 14 ). Theapparatus 5 may be tilted hydraulically through manual or automatic control by use of a hydraulic cylinder 17 (FIG. 2 ) or by any other method available to those of skill in the art. Tracks (not shown) may be used as an alternative to thewheels 3. - The
loading assembly 15 includes twoarms apparatus 5 to contact the bale during loading. Eacharm endless conveyor belt endless conveyor belts - Each
belt upper portions FIG. 1 ) that are capable of carrying the weight of a bale. The movement of the belt, around the front roller and backward along the upper portion of the belt path, has been found to be effective to lift a bale off the ground and for simultaneously causing the bale to move toward thebed 25. This lifting and transporting action occurs after the two conveyor belts contact the bale. - Referring again to
FIG. 1 , thebed 25 includes a number ofbed conveyors 35, each having an endless belt routed around a front idler roller and a rear powered roller that may be rotated to cause the belt to move which results in moving bales away from the loading assembly and toward theend 27 of the bed. Eachconveyor 35 may have an effective length, the distance between the idler roller and the drive roller. This effective length may be the length of about one bale. Typical bale lengths for forage products may be between about 40 and 60 inches and bales of cotton are in the range of 100 inches in length. It should be noted that theapparatus 5 and the effective length of theconveyor belts bed conveyors 35 are not limited by bale size or to a particular length. - Alternatively, the
bed 25 may have onebed conveyor 35 on each side (not shown) that extends from thefirst end 32 to thesecond end 27 rather than a series of bed conveyors on each side. In some embodiments, thebed 25 has a single conveyor belt (not shown) that forms a floor of the bed upon which the bales rest for moving bales toward thesecond end 27. - The
conveyor belts second arms loading assembly 15 and theconveyor belts 35 of thebed 25 may be driven by hydraulics, as discussed above, or alternately by any type of rotary power device such as an electric motor. - The position of the
loading assembly 15 andbed 25 relative to the pull vehicle 78 (i.e., whether the apparatus is pulled directly behind the pull vehicle or at an offset position such as when bales are being gathered from the field) may be adjusted by any suitable method or combination of methods including, for example, by manipulating the angle between thetongue 1 and the bed chassis 6 (FIG. 1 ) by use of hydraulics or by any other suitable method. In other embodiments, the position of theloading assembly 15 andbed 25 relative to thepull vehicle 78 is adjusted by use of a steerable axle assembly 85 (FIG. 11 ). In other embodiments, the position of theloading assembly 15 andbed 25 relative to thepull vehicle 78 is adjusted by use of a sliding offsethitch 84 as shown inFIGS. 12-13 . InFIG. 12 thetongue 1 is attached to the sliding offsethitch 84 at the loading position (i.e., closer to the loading side of the pull vehicle 78) and inFIG. 13 thetongue 1 is attached at the non-loading position of the sliding offset hitch (i.e., opposite the loading position). - The bed conveyors may be constructed from the same basic components used in the loading assembly conveyors, with an endless conveyor belt, an idler roller, a drive roller and supports. The embodiments illustrated herein show an alternative construction for the
bed conveyors 35, each including an endless conveyor belt of a slightly different construction than thebelts - The surface characteristics of the
conveyors conveyor belts - It should be noted that any suitable type of conveyer belts or conveyor systems may be included in the apparatus. For instance, a conveyor belt composed of a carcass of nylon or fiberglass fibers covered by a wide variety of materials including rubber, PVC, thermoplastic polymer or the equivalent may be used. Chain conveyor systems may also be used without departing from the scope of the present disclosure. In this regard, “conveyor belt” as used herein includes any arrangement in which a belt, chain, track or the like is moved around a series of pulleys to cause movement of the belt, chain or track.
- In operation, the
apparatus 5 is pulled by the pull vehicle (not shown) toward a bale as shown inFIG. 3 . The vehicle may provide the power for running the various conveyors and positioning systems (e.g., by use of hydraulics) or theapparatus 5 may include its own independent power system (e.g., hydraulic system). Theapparatus 5 may be described herein with reference to a hydraulic system. It should be noted that the present disclosure should not be limited to a hydraulic system as the principles would apply to other power transfer technologies such as an electrical system. - As shown in
FIG. 3 , the bale B1 should be oriented such that the ends 40 of the cylindrical bale are perpendicular to theapparatus 5 as theapparatus 5 approaches the bale B1. Thechassis 6 andtongue 1 are pivotally connected and are caused to be at an angle λ relative to one another such that theloading assembly 15 andbed 25 travel outside of the path of the pull vehicle (not shown) to allow the pull vehicle to travel “outside of” and parallel to the bales B targeted for loading. - The first and
second conveyor belts apparatus 5 travels toward the first bale B1. As theapparatus 5 approaches the bale B1, theconveyor belts arms bed 25. The first bale B1 may be loaded onto theloading assembly 15 without stopping theapparatus 5 such that theapparatus 5 and the vehicle that pulls the apparatus may continually move forward during bale pick-up. - Once the bale B1 is loaded on the
loading assembly 15,belt conveyors 35 move to transfer the bale B1 from theloading assembly 15 to the position on thebed 25 as illustrated inFIG. 4 . Once loaded onto thebed 25, thebed conveyors 35 are stopped to position the first bale B1 adjacent the end of the loading assembly. - In accordance with the present disclosure, each bale subsequent to the first bale B1 may be loaded until it nears or contacts the previously loaded bale which causes the bale to stop. Once the first bale B1 is loaded, the
apparatus 5 is directed to a second bale B2. Theconveyor belts arms bed 25 and toward the first bale B1. Theloading assembly 15 grasps the second bale B2 and carries the second bale B2 toward thebed 25 until it nears or contacts the first bale B1. Once the second bale B2 nears or contacts the first bale B1, one or more sets ofbed conveyors 35 are then actuated to move the first and second bales B1, B2 partially down thebed 25 toward thesecond end 27. This process is repeated to load additional bales. - The
apparatus 5 includes an alignment control system electronically coupled to a bale sensing system. The alignment control system includes a sensor that is used to sense a bale and/or to sense an edge of the bale to align theapparatus 5 with the bale during bale pick-up. Suitable sensors include lasers, cameras and acoustic sensors such as an ultrasonic sensor. In some embodiments, the alignment control system adjusts the angle A formed between thetongue 1 and the bed chassis 6 (FIG. 6 andFIG. 8 ). Alternatively or in addition, the alignment control system steers an axle assembly 85 (FIG. 11 ). Alternatively or in addition, the alignment control system adjusts the position of theapparatus 5 by use of the sliding offset hitch 84 (FIGS. 12-13 ). In this regard, while the relative position between theapparatus 5 and the pullingvehicle 78 during the bale loading process may be described herein with reference to an adjustable angle A formed between thetongue 1 and thebed chassis 6, these principles should be understood to apply to other methods for adjusting the position of the apparatus including use of the steerable axle assembly 85 (FIG. 11 ) and/or the sliding offset hitch 84 (FIGS. 12-13 ). - The
apparatus 5 begins in a traveling position relative to the pulling vehicle 78 (FIG. 6 ) in which the apparatus is partially behind the pulling vehicle. As theapparatus 5 approaches a bale B1, a sensor 70 (which may also be referred to herein as a “forward looking sensor”) located on the side of the apparatus opposite where thetongue 1 is connected to thechassis 6 senses the presence of a bale. As shown inFIG. 6 , thesensor 70 is mounted to thefirst arm 4. In this regard, thesensor 70 may be directly mounted to thefirst arm 4 or mounted indirectly to thefirst arm 4 by mounting to one or more intermediate parts. In other embodiments, thesensor 70 is directly or indirectly mounted to thechassis 6 which supports thebed conveyors 35. - The
sensor 70 sends a signal to a controller (not shown) and the controller causes a hydraulic system to supply fluid to the cylinder 75 (FIG. 7 ) between thetongue 1 andchassis 6 of the apparatus to be actuated to increase the angle A to further off-set theapparatus 5 from thepull vehicle 78. The controller continues to increase the off-set until thesensor 70 no longer senses the bale. This change, from sensing a bale to not sensing a bale, occurs when the sensor is aligned with the edge of the bale B1 (i.e., the sensor extends past the far edge of the bale) as shown inFIG. 8 . Once the edge of the bale B1 is sensed, the off-set is maintained constant. The pull vehicle passes by the bale B1 while maintaining theapparatus 5 centered with the bale B1 (i.e., with the apparatus at the “loading position” relative to the pull vehicle). - After bale pick-up, the controller actuates the cylinder such that angle A is decreased and the
apparatus 5 returns to its traveling position relative to the pullingvehicle 78. - In some embodiments and as shown in
FIG. 9 , theapparatus 5 includes asecond sensor 80 directly or indirectly mounted to thechassis 6 for sensing a bale. Thesecond sensor 80 may be a laser, camera or an acoustic sensor such as an ultrasonic sensor. Thesecond sensor 80 is offset from the first forward-lookingsensor 70. As shown inFIG. 9 , thesecond sensor 80 is mounted on the side opposite thefirst sensor 70 and angled toward the loading side of the pullingapparatus 78. In this position thesensor 80 is able to sense the presence of an approaching bale during loading. - The
chassis 6 of theapparatus 5 has a lengthwise axis C that extends through the center of the apparatus from the first andsecond arms second end 27 of thebed conveyor 35. The center axis C defines afirst side 6 a of the apparatus that extends furthest from the pullingvehicle 78 during bale loading and asecond side 6 b of the apparatus that is more near the pulling vehicle during bale loading. As shown inFIG. 9 , thefirst sensor 70 may be mounted to thefirst side 6 a of the apparatus and thesecond sensor 80 is mounted to thesecond side 6 b of the apparatus. In some embodiments, thesecond sensor 80 is mounted on the same side as, but offset from, thefirst sensor 70. - The controller (not shown) causes a hydraulic system to supply pressurized fluid to the cylinder 75 (
FIG. 7 ) to actuate the cylinder to move theapparatus 5 from the traveling position to the loading position relative to the pull vehicle 78 (i.e., to increase the angle A between the tongue and the chassis) when bothsensors cylinder 75 until bothsensors first sensor 70 and/orsecond sensor 80 may be used to sense the edge of the bale B1 (i.e., when the loading position of theapparatus 5 has been reached). In some embodiments, thefirst sensor 70 is used alone to sense the edge of the bale B1. In some embodiments, thefirst sensor 70 is used to sense the edge and thesecond sensor 80 is used to validate or confirm the presence of a bale. In such embodiments, in addition to thesecond sensor 80, thefirst sensor 70 may also be used to validate or confirm the presence of a bale as noted above. - The
apparatus 5 includes asensor 69 for detecting the loading of a bale B1 on the apparatus. Theloading sensor 69 may be a photoelectric-type (i.e., photo-eye) sensor which includes transmitter and receiver ends. As the bale B1 is loaded on theapparatus 5, the bale B1 passes through the line-of-sight of thesensor 69 which indicates that a bale has been loaded. Upon sensing the loading of the bale B1 and transmitting a signal to the controller, the controller actuates the cylinder 75 (FIG. 7 ) causing the angle A between the chassis and tongue to decrease and the apparatus to travel from the loading position (FIG. 8 ) to the traveling position (FIG. 6 ). - Bales may continue to be loaded onto the
apparatus 5 until the apparatus becomes fully loaded. Once fully loaded, theapparatus 5 may be adjusted to promote ease of travel to the unloading site. As shown inFIG. 5 , thebed chassis 6 of theapparatus 5 may be leveled by use of hydraulic cylinder 17 (FIG. 2 ) and the relative position betweentongue 1 and thebed 15 may be adjusted (e.g., the tongue may be adjusted to be more parallel to the bed). - As shown in
FIG. 14 , once theapparatus 5 is pulled to the desired unloading site for the bales, thebed chassis 6 is tilted by use of the hydraulic cylinder 17 (FIG. 2 ). Thebed conveyors 35 are operated and theapparatus 5 is caused to move forward while the bales are unloaded. - Compared to conventional apparatus for gathering bales, the
apparatus 5 described above has several advantages. For example, by including an alignment control system, the apparatus may properly align itself with bales for bale loading without precise alignment control by the user. Further, upon bale loading, theapparatus 5 is able to return to a traveling position without user control in preparation of further bale loading. The user is able to guide the apparatus toward a bale in a general path with the apparatus itself performing lateral adjustment which results in reliable and precise loading of bales. - When introducing elements of the present disclosure or the embodiment(s) thereof, the articles “a”, “an”, “the” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” “containing” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. The use of terms indicating a particular orientation (e.g., “top”, “bottom”, “side”, etc.) is for convenience of description and does not require any particular orientation of the item described.
- As various changes could be made in the above constructions and methods without departing from the scope of the disclosure, it is intended that all matter contained in the above description and shown in the accompanying drawing[s] shall be interpreted as illustrative and not in a limiting sense.
Claims (15)
1. An apparatus for gathering bales from a surface, the apparatus comprising:
a loading assembly for lifting a bale off the surface and onto the apparatus, the loading assembly including a first arm and a second arm which are configured to be the first portion of the apparatus to contact the bale during loading;
a forward-looking sensor mounted on the apparatus to sense the bale prior to the apparatus contacting the bale, the sensor being a laser, camera or an acoustic sensor; and
a control system configured to adjust the position of the apparatus, wherein the control system includes the forward-looking sensor.
2. The apparatus as set forth in claim 1 wherein the sensor is a laser.
3. The apparatus as set forth in claim 1 further comprising a chassis and a tongue pivotally connected to the chassis for connecting to a pull vehicle.
4. The apparatus as set forth in claim 3 in combination with a pull vehicle.
5. The apparatus as set forth in claim 1 wherein the apparatus does not include a pull vehicle.
6. The apparatus as set forth in claim 1 wherein the first and second arms comprise rubber, PVC or a thermoplastic polymer to grasp the bale upon rotation.
7. The apparatus as set forth in claim 1 wherein:
the first arm comprises a first conveyor, the first conveyor comprising a first roller; and
the second arm comprises a second conveyor, the second conveyor comprising a second roller.
8. The apparatus as set forth in claim 1 wherein the forward-looking sensor is configured to sense an edge of the bale when the apparatus is in a loading position.
9. A method for pick-up of a bale resting on a surface by use of an apparatus, the apparatus comprising a loading assembly for lifting a bale off the surface and onto the apparatus, the loading assembly comprising a first arm and a second arm, the method comprising:
propelling the apparatus toward a bale;
sensing a bale with a forward-looking sensor prior to the apparatus contacting the bale, wherein the forward-looking senor forms part of a control system for adjusting the position of the apparatus;
adjusting the position of the apparatus; and
using the first and second arms to load the sensed bale on the apparatus, the first and second arms each contacting a bale to lift the bale onto the apparatus.
10. The method as set forth in claim 9 wherein the sensor is a laser.
11. The method as set forth claim 9 wherein the apparatus is attached to a pull vehicle for propelling the apparatus toward a bale.
12. The method as set forth in claim 9 wherein:
the first arm comprises a first conveyor, the first conveyor comprising a first roller; and
the second arm comprises a second conveyor, the second conveyor comprising a second roller.
13. The method as set forth in claim 9 wherein the control system adjusts the position of the apparatus to a loading position.
14. The method as set forth in claim 9 wherein the control system determines the position of the loading assembly relative to a bale.
15. The method as set forth in claim 9 wherein the forward-looking sensor senses the edge of the bale.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/033,868 US20180317391A1 (en) | 2012-06-28 | 2018-07-12 | Self-aligning apparatus and methods for gathering bales |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201261665757P | 2012-06-28 | 2012-06-28 | |
US13/918,250 US9271446B2 (en) | 2012-06-28 | 2013-06-14 | Self-aligning apparatus and methods for gathering bales |
US14/996,586 US10028439B2 (en) | 2012-06-28 | 2016-01-15 | Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus |
US16/033,868 US20180317391A1 (en) | 2012-06-28 | 2018-07-12 | Self-aligning apparatus and methods for gathering bales |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/996,586 Continuation US10028439B2 (en) | 2012-06-28 | 2016-01-15 | Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus |
Publications (1)
Publication Number | Publication Date |
---|---|
US20180317391A1 true US20180317391A1 (en) | 2018-11-08 |
Family
ID=48794164
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/918,250 Active 2033-10-04 US9271446B2 (en) | 2012-06-28 | 2013-06-14 | Self-aligning apparatus and methods for gathering bales |
US14/996,586 Active US10028439B2 (en) | 2012-06-28 | 2016-01-15 | Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus |
US16/033,868 Abandoned US20180317391A1 (en) | 2012-06-28 | 2018-07-12 | Self-aligning apparatus and methods for gathering bales |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/918,250 Active 2033-10-04 US9271446B2 (en) | 2012-06-28 | 2013-06-14 | Self-aligning apparatus and methods for gathering bales |
US14/996,586 Active US10028439B2 (en) | 2012-06-28 | 2016-01-15 | Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus |
Country Status (7)
Country | Link |
---|---|
US (3) | US9271446B2 (en) |
EP (2) | EP2866547B1 (en) |
CN (1) | CN104378969A (en) |
AU (2) | AU2013281335B2 (en) |
BR (1) | BR112014032558A8 (en) |
PL (1) | PL3241425T3 (en) |
WO (1) | WO2014003560A2 (en) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9271446B2 (en) * | 2012-06-28 | 2016-03-01 | Forage Innovations B.V. | Self-aligning apparatus and methods for gathering bales |
GB2527574A (en) * | 2014-06-26 | 2015-12-30 | Kuhn Geldrop Bv | Pick-up device |
KR20170131687A (en) * | 2015-03-31 | 2017-11-29 | 무타빌리스 | Heterocycle compounds for the prevention or treatment of bacterial infections and uses thereof |
US9904290B2 (en) * | 2015-04-19 | 2018-02-27 | Deere & Company | Geometry-based monitoring and control of coupled mobile machines |
CN104871737B (en) * | 2015-06-11 | 2018-04-10 | 张家口创鑫机械科技有限公司 | A kind of field harvests luffing conveying device |
EP3459011A1 (en) | 2016-05-19 | 2019-03-27 | Vermeer Manufacturing Company | Bale detection and classification using stereo cameras |
US20190069491A1 (en) * | 2016-05-19 | 2019-03-07 | Vermeer Manufacturing Company | Systems for encasing articles in a protective wrap |
GB2562463B (en) * | 2017-03-30 | 2019-11-27 | Dominic Johnson Paul | Customisable disposable tableware |
CN107128236A (en) * | 2017-06-23 | 2017-09-05 | 山东交通学院 | A kind of orchard fruit case transport vehicle |
US10674669B2 (en) * | 2017-09-06 | 2020-06-09 | Champion Mulcher 2000, LLC | Bale unroller |
US11208023B2 (en) * | 2018-03-26 | 2021-12-28 | Randall Boyd Marble | Trailer loading and unloading system |
CN108749697A (en) * | 2018-05-31 | 2018-11-06 | 重庆穗丰汽车救援有限公司 | Breakdown trailer draft gear |
CN112047092B (en) * | 2020-09-03 | 2021-10-22 | 安徽思嘉瑞机械设备有限公司 | Bale collector and bale collecting vehicle with same |
US11267521B1 (en) * | 2020-09-28 | 2022-03-08 | Manuel Ramirez | Powered trailer unit |
US20220225571A1 (en) * | 2021-01-18 | 2022-07-21 | Cnh Industrial America Llc | Autonomous bale retrieval system |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4044906A (en) * | 1975-08-11 | 1977-08-30 | Hesston Corporation | Multiple round bale mover |
US4566032A (en) * | 1982-12-20 | 1986-01-21 | Nippon Yusoki Co., Ltd. | Visually guided vehicle |
US4832553A (en) * | 1985-09-12 | 1989-05-23 | Donald Martin Grey | Apparatus for loading and palletizing boxes and cartons, especially from an agricultural field |
US4888890A (en) * | 1988-11-14 | 1989-12-26 | Spectra-Physics, Inc. | Laser control of excavating machine digging depth |
US4968209A (en) * | 1989-07-03 | 1990-11-06 | Chrysler Corporation | Automated material handling system for a cargo trailer |
US6704619B1 (en) * | 2003-05-24 | 2004-03-09 | American Gnc Corporation | Method and system for universal guidance and control of automated machines |
US6736216B2 (en) * | 2000-05-05 | 2004-05-18 | Leica Geosystems Gr, Llc | Laser-guided construction equipment |
US6997663B2 (en) * | 2001-01-05 | 2006-02-14 | Pro Ag Designs (Usa) Inc. | Hay bale stacker |
US20060276958A1 (en) * | 2005-06-02 | 2006-12-07 | Jervis B. Webb Company | Inertial navigational guidance system for a driverless vehicle utilizing laser obstacle sensors |
US20080189005A1 (en) * | 2004-05-03 | 2008-08-07 | Jervis B. Webb Company | Automatic transport loading system and method |
US9271446B2 (en) * | 2012-06-28 | 2016-03-01 | Forage Innovations B.V. | Self-aligning apparatus and methods for gathering bales |
Family Cites Families (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2367970A (en) * | 1943-10-14 | 1945-01-23 | Isaac Z Smoker | Bale loader |
US2397570A (en) * | 1944-09-05 | 1946-04-02 | Isaac Z Smoker | Bale loader |
US2724517A (en) * | 1953-04-27 | 1955-11-22 | Earl M Hall | Loading apparatus with axle supported conveyors |
US3952895A (en) | 1974-12-05 | 1976-04-27 | Sperry Rand Corporation | Large round bale handling apparatus |
US3951288A (en) * | 1974-12-05 | 1976-04-20 | Sperry Rand Corporation | Large round bale handling apparatus |
US4184581A (en) * | 1977-04-01 | 1980-01-22 | Canadian Mine Services Limited | Loading apparatus for mines |
US4249850A (en) * | 1978-05-30 | 1981-02-10 | Lummus Industries, Inc. | Apparatus for loading, transporting and unloading modules of seed cotton and the like |
US4248561A (en) | 1979-02-06 | 1981-02-03 | Graves Clarence C | Round bale handling device |
DE2912715C2 (en) * | 1979-03-30 | 1983-08-04 | Klöckner-Humboldt-Deutz AG Zweigniederlassung Fahr, 7702 Gottmadingen | Pulled harvester |
US4287692A (en) * | 1979-06-12 | 1981-09-08 | Peabody Coal Company | Safety apparatus for a mining machine |
US4355713A (en) * | 1981-03-02 | 1982-10-26 | Adam Richard E | Device for lifting and loading boxes and cartons, especially from an agricultural field |
EP0060956B1 (en) * | 1981-03-25 | 1984-10-03 | JOHN DEERE (Société Anonyme) | Baling press |
US4769700A (en) * | 1981-11-20 | 1988-09-06 | Diffracto Ltd. | Robot tractors |
US4396330A (en) * | 1981-06-29 | 1983-08-02 | Donald Disselkoen | Hay bale retriever |
DE3684538D1 (en) * | 1985-08-13 | 1992-04-30 | Edelhoff Polytechnik | SYSTEM FOR DETERMINING THE LOCATION OF AN OBJECT RELATIVE TO A HANDLING DEVICE. |
US5010719A (en) * | 1986-06-18 | 1991-04-30 | Korvan Industries, Inc. | Method and system for automatically steering along row crops |
US5256021A (en) * | 1991-06-04 | 1993-10-26 | Wolf James M | Telescope vehicle loading and unloading system |
US5639199A (en) * | 1995-10-23 | 1997-06-17 | Connell, Jr.; Carey Bascom | Hay pickup, delivery system for round bales |
EP0801885B1 (en) * | 1996-04-19 | 2002-01-09 | Carnegie-Mellon University | Vision-based crop line tracking for harvesters |
US5829238A (en) * | 1996-08-08 | 1998-11-03 | Branson; Harlan Richard | Bale accumulator |
JPH1088625A (en) * | 1996-09-13 | 1998-04-07 | Komatsu Ltd | Automatic excavation machine and method, and automatic loading method |
US5851100A (en) | 1997-04-11 | 1998-12-22 | Mcneilus Truck And Manufacturing, Inc. | Auto cycle swivel mounted container handling system |
DE19719939A1 (en) * | 1997-05-13 | 1998-11-19 | Claas Ohg | Automatically steerable harvesting machine |
DE19819600A1 (en) | 1998-05-02 | 1999-11-04 | Krone Bernhard Gmbh Maschf | Agricultural pick-up, transport and deposit unit |
US6082466A (en) * | 1998-10-28 | 2000-07-04 | Caterpillar Inc. | Rowcrop machine guidance using ground penetrating radar |
US7916898B2 (en) * | 2003-09-15 | 2011-03-29 | Deere & Company | Method and system for identifying an edge of a crop |
UA91239C2 (en) * | 2005-09-14 | 2010-07-12 | АГРОКОМ Фервальтунгс ГмбХ | Method for controlling operation of pickup baler and pickup baler |
US7404355B2 (en) * | 2006-01-31 | 2008-07-29 | Deere & Company | Tractor and baler combination with automatic baling and tractor halt control |
US7887275B2 (en) * | 2007-04-24 | 2011-02-15 | David Verner Anderson | Bale handling vehicle |
US8915692B2 (en) | 2008-02-21 | 2014-12-23 | Harvest Automation, Inc. | Adaptable container handling system |
CN201189834Y (en) * | 2008-03-31 | 2009-02-04 | 山东天鹅棉业机械股份有限公司 | Mould carriage |
GB2463008B (en) | 2008-08-26 | 2013-04-03 | Kuhn Geldrop Bv | Bale wrapper |
US8112202B2 (en) | 2009-05-21 | 2012-02-07 | Cnh America Llc | Automatic control of a large bale loading apparatus |
CA2708231C (en) * | 2009-07-15 | 2015-11-17 | Wrapidrower, Llc | System for handling and wrapping large bales |
EP2470000A4 (en) | 2009-08-26 | 2017-01-25 | NHK-Keskus OY | Procedure and apparatus for handling of fodder bales |
US8408857B2 (en) | 2010-06-28 | 2013-04-02 | Gary L. Kelderman | Bale picking truck |
US8365898B2 (en) * | 2010-09-07 | 2013-02-05 | Marcrest Manufacturing Inc. | Pick-up assembly |
GB2495903A (en) | 2011-09-06 | 2013-05-01 | Kuhn Geldrop Bv | Bale wrapper and method of wrapping a bale |
-
2013
- 2013-06-14 US US13/918,250 patent/US9271446B2/en active Active
- 2013-06-27 PL PL17172647T patent/PL3241425T3/en unknown
- 2013-06-27 EP EP13737688.5A patent/EP2866547B1/en not_active Not-in-force
- 2013-06-27 CN CN201380033164.8A patent/CN104378969A/en active Pending
- 2013-06-27 WO PCT/NL2013/050462 patent/WO2014003560A2/en active Application Filing
- 2013-06-27 EP EP17172647.4A patent/EP3241425B1/en not_active Not-in-force
- 2013-06-27 BR BR112014032558A patent/BR112014032558A8/en not_active Application Discontinuation
- 2013-06-27 AU AU2013281335A patent/AU2013281335B2/en not_active Ceased
-
2016
- 2016-01-15 US US14/996,586 patent/US10028439B2/en active Active
-
2017
- 2017-04-18 AU AU2017202511A patent/AU2017202511C1/en not_active Ceased
-
2018
- 2018-07-12 US US16/033,868 patent/US20180317391A1/en not_active Abandoned
Patent Citations (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4044906A (en) * | 1975-08-11 | 1977-08-30 | Hesston Corporation | Multiple round bale mover |
US4566032A (en) * | 1982-12-20 | 1986-01-21 | Nippon Yusoki Co., Ltd. | Visually guided vehicle |
US4832553A (en) * | 1985-09-12 | 1989-05-23 | Donald Martin Grey | Apparatus for loading and palletizing boxes and cartons, especially from an agricultural field |
US4888890A (en) * | 1988-11-14 | 1989-12-26 | Spectra-Physics, Inc. | Laser control of excavating machine digging depth |
US4968209A (en) * | 1989-07-03 | 1990-11-06 | Chrysler Corporation | Automated material handling system for a cargo trailer |
US6736216B2 (en) * | 2000-05-05 | 2004-05-18 | Leica Geosystems Gr, Llc | Laser-guided construction equipment |
US6997663B2 (en) * | 2001-01-05 | 2006-02-14 | Pro Ag Designs (Usa) Inc. | Hay bale stacker |
US6704619B1 (en) * | 2003-05-24 | 2004-03-09 | American Gnc Corporation | Method and system for universal guidance and control of automated machines |
US20080189005A1 (en) * | 2004-05-03 | 2008-08-07 | Jervis B. Webb Company | Automatic transport loading system and method |
US20060276958A1 (en) * | 2005-06-02 | 2006-12-07 | Jervis B. Webb Company | Inertial navigational guidance system for a driverless vehicle utilizing laser obstacle sensors |
US9271446B2 (en) * | 2012-06-28 | 2016-03-01 | Forage Innovations B.V. | Self-aligning apparatus and methods for gathering bales |
US10028439B2 (en) * | 2012-06-28 | 2018-07-24 | Vermeer Manufacturing Company | Apparatus for gathering bales that include a forward-looking sensor and methods for gathering bales using such apparatus |
Also Published As
Publication number | Publication date |
---|---|
AU2013281335B2 (en) | 2017-01-19 |
EP2866547B1 (en) | 2017-05-31 |
EP3241425B1 (en) | 2019-04-17 |
WO2014003560A3 (en) | 2014-05-30 |
PL3241425T3 (en) | 2019-09-30 |
EP3241425A1 (en) | 2017-11-08 |
AU2013281335A1 (en) | 2014-11-27 |
AU2017202511B2 (en) | 2018-11-08 |
AU2017202511A1 (en) | 2017-05-04 |
AU2017202511C1 (en) | 2019-02-28 |
BR112014032558A8 (en) | 2018-08-14 |
US10028439B2 (en) | 2018-07-24 |
CN104378969A (en) | 2015-02-25 |
US20160128279A1 (en) | 2016-05-12 |
US9271446B2 (en) | 2016-03-01 |
EP2866547A2 (en) | 2015-05-06 |
BR112014032558A2 (en) | 2017-06-27 |
US20140003889A1 (en) | 2014-01-02 |
WO2014003560A2 (en) | 2014-01-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20180317391A1 (en) | Self-aligning apparatus and methods for gathering bales | |
US9560806B2 (en) | Control of conveyor speed in a bale gathering apparatus | |
US20140003887A1 (en) | Hydraulic control systems for regulating transfer of bales | |
US20190069491A1 (en) | Systems for encasing articles in a protective wrap | |
US9554516B2 (en) | Apparatus and methods for gathering bales | |
AU2014278895B2 (en) | Apparatus and methods for gathering and wrapping bales | |
US20140369789A1 (en) | Apparatus having rotatable skids and methods for gathering bales | |
US20190118985A1 (en) | Gathering and sealing systems for encasing articles in a protective wrap |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STPP | Information on status: patent application and granting procedure in general |
Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION |
|
AS | Assignment |
Owner name: VERMEER MANUFACTURING COMPANY, IOWA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BENTZINGER, RUSTIN VAN;THOMPSON, KENT;DUX, DARIN;SIGNING DATES FROM 20130926 TO 20131014;REEL/FRAME:047892/0517 |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |