WO2017201466A1 - Véhicule de mise en balles avec réglage automatique de la hauteur du dispositif de ramassage - Google Patents

Véhicule de mise en balles avec réglage automatique de la hauteur du dispositif de ramassage Download PDF

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Publication number
WO2017201466A1
WO2017201466A1 PCT/US2017/033631 US2017033631W WO2017201466A1 WO 2017201466 A1 WO2017201466 A1 WO 2017201466A1 US 2017033631 W US2017033631 W US 2017033631W WO 2017201466 A1 WO2017201466 A1 WO 2017201466A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
baling
controller
bale
pickup device
Prior art date
Application number
PCT/US2017/033631
Other languages
English (en)
Inventor
Gary J. Burns
Nathan D. DOCKTER
Original Assignee
Vermeer Manufacturing Company
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Vermeer Manufacturing Company filed Critical Vermeer Manufacturing Company
Publication of WO2017201466A1 publication Critical patent/WO2017201466A1/fr

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Classifications

    • 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
    • A01F15/10—Feeding devices for the crop material e.g. precompression devices
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D89/00—Pick-ups for loaders, chaff-cutters, balers, field-threshers, or the like, i.e. attachments for picking-up hay or the like field crops
    • A01D89/004—Mountings, e.g. height adjustment, wheels, lifting devices

Definitions

  • the field of the disclosure relates to baling vehicles and, in particular, baling vehicles that include automated pickup device height adjustment.
  • Baling of forage or crop material typically involves a baling vehicle (also sometimes referred to as a baler).
  • the baling vehicle may be a baling implement that is towed by a tractor or a self-propelled baling vehicle.
  • Both types of baler typically include a rotating pickup device that picks up material to be baled off of the ground and directs it into a baling chamber.
  • the pickup device is typically either fixed in position or may be manually raised and lowered by the operator of the baler.
  • a baling vehicle for forming a bale of material includes a baling system for forming a bale and a control system.
  • the baling system includes a rotatable pickup device coupled to a pickup lift system.
  • the control system is communicatively coupled to the baling system.
  • the control system includes a controller. The controller is configured to determine whether the baling vehicle is in a baling mode or a transportation mode, and operate the pickup lift system to control the vertical position of the pickup device based at least in part on the determined mode of the baling vehicle.
  • the control system includes a controller including a processor and a memory device.
  • the memory device stores instructions that when executed by the processor cause the processor to determine whether the baling vehicle is in a baling mode or a transportation mode, and operate the pickup lift system to control a vertical position of the pickup device based at least in part on the determined mode of the baling vehicle.
  • a computer readable medium contains non-transitory instructions that, when executed by a processor, cause the processor to determine whether a baling vehicle is in a baling mode or a transportation mode, and operate a pickup lift system of the baling vehicle to control a vertical position of a pickup device based at least in part on the determined mode of the baling vehicle.
  • Figure 1 is a side view of a self-propelled baling vehicle
  • Figure 2 is a front view of the self-propelled baling vehicle
  • FIG. 3 is a perspective view of the self-propelled baling vehicle
  • Figure 4 is a perspective view of a caster assembly of the self- propelled baling vehicle
  • Figure 5 is cross-sectional side view of the self-propelled baling vehicle showing the baling chamber
  • Figure 6 is cross-sectional side view of the self-propelled baling vehicle showing a portion of the baler drive system
  • Figure 7 is perspective view of the self-propelled baling vehicle showing the engine mounting brackets
  • Figure 8 is block diagram of a portion of the self-propelled baling vehicle including a portion of its control system
  • FIG. 9 is block diagram of the controller of the self-propelled baling vehicle's control system
  • Figures 10A-10E are a flow diagram of a method of operating a self-propelled baling vehicle
  • Figures 1 lA-1 1C are a flow diagram of a method of automated bale ej ection from a self-propelled baling vehicle
  • Figure 12 is a sensor for monitoring the pitch of the ground behind the self-propelled baling vehicle
  • Figure 13 is a simplified cross-sectional side view of a portion of the baling vehicle with a pickup device in a lowered position
  • Figure 14 is a simplified cross-sectional side view of a portion of the baling vehicle with the pickup device in a raised position
  • Figure 15 is a simplified cross-sectional side view of a portion of the towed baling vehicle with the pickup device in a raised position.
  • the present disclosure relates to baling vehicles and, in particular, baling vehicles that include automated pickup device height adjustment.
  • the baling vehicles may be self-propelled baling vehicles or towed baling vehicles.
  • the example baling vehicles adjust the height of the baling vehicle pickup device automatically based on the operational state (e.g., baling or transporting) of the baling vehicle.
  • the operational state e.g., baling or transporting
  • aspects of this disclosure will be described with reference to a self-propelled baling vehicle, it should be understood that various aspects (including the automated pickup height adjustment) may be included in towed baling vehicles.
  • a self-propelled baling vehicle for forming a bale of crop or forage material is generally referred to as "1 " in Figure 1.
  • the vehicle 1 includes a baling device 5 that is supported by a chassis 9.
  • a pick-up device 11 (Fig. 2) rotates to feed crop or forage material to the baling device 5.
  • the vehicle 1 is controlled from an operator station 13 and is powered by an engine 101 (Fig. 1).
  • Each of the operator station 13, engine 101 and baling device 5 are supported by the chassis 9 (i.e., the engine 101 is not part of a towed vehicle such as a tractor that releasably connects to the baling device 5 by a hitch assembly attached to an implement tongue).
  • the vehicle 1 includes first and second rear drive wheels 17 that are driven by first and second motors that are disposed within the drive wheels.
  • the rear drive wheels 17 each have a rotational axis Rn about which the drive wheels 17 rotate.
  • the wheels 17 have a common rotational axis Rn.
  • the wheels 17 are offset from each other and have different axes of rotation.
  • the drive wheels 17 are attached to the chassis 9.
  • the rear wheels 17 are fixed to the chassis 9 such that the wheels 17 maintain parallel alignment with a longitudinal axis A (Fig. 3) of the vehicle 1 (i.e., do not pivot with respect to the chassis 9). In some embodiments, the rear drive wheels 17 are not suspended from the chassis 9. In other embodiments, the rear drive wheels 17 are suspended.
  • the longitudinal axis A (Fig. 3) of the vehicle 1 extends from a front 55 (Fig. 1) to a rear 57 of the vehicle 1.
  • the "front” of the vehicle 1 refers to a leading portion or end of the vehicle 1 relative to the longitudinal axis during bale formation.
  • the “rear” refers to the trailing portion or end relative to the longitudinal axis A during bale formation.
  • the terms “front caster wheels” and “rear wheels” refer to the relative position of the wheels relative to the direction of travel of the vehicle 1 during baling.
  • the vehicle 1 also includes a lateral axis B (Fig. 3) that extends from a first side 58 to a second side 59 of the vehicle 1 and that is transverse to the longitudinal axis A.
  • the vehicle 1 also includes a vertical axis C (Fig. 2).
  • the first and second drive wheels 17 are each driven and controlled by separate drive systems.
  • Each drive system has a drive motor for rotating the drive wheel forward or backward.
  • the drive motors may be hydraulic motors that are driven by a pump that is powered by the engine 101. In other embodiments, the drive motors are electric motors powered by one or more generated or stored sources of energy.
  • Each drive wheel 17 may be controlled by a separate circuit (i.e., separate hydraulic pumps).
  • the first and second pumps may be hydrostatic, variable displacement pumps. In some embodiments, fixed displacement or variable displacement motor(s) may be used.
  • the wheels 17 are powered and rotated independently. Each drive wheel 17 is capable of being driven forward or in reverse independent of the speed and direction of the other wheel (i.e., the drive wheels 17 may be operated in counter-rotation).
  • the vehicle 1 is steered by creating a differential speed between the first and second rear drive wheels 17 (i.e., a differential between the first drive wheel rotational speed and the second drive wheel rotational speed). This configuration allows the vehicle to be turned with various turn radii depending on the differential speed. This configuration also allows the vehicle to be turned within its own footprint, i.e., in a "counter-steer" arrangement in which each drive wheel turns in an opposite direction which allows the vehicle to pivot around the midpoint of the centerline of the drive wheels.
  • the vehicle may also operate in a zero-turn mode of operation in which one rear wheel 17 is held stationary while the other wheel rotates to turn the vehicle 1.
  • the first and second drive wheels 17 are controlled together.
  • the speed of the vehicle 1 and direction of the vehicle may be controlled from the operator station 13.
  • the speed and steering of the vehicle 1 may be controlled by any of the known methods available to those of skill in the art.
  • the vehicle 1 may include a directional speed control device (e.g., lever) to control the vehicle speed by controlling the output of hydraulic pumps that drive the rear wheels 17.
  • the directional speed control device may direct forward or rear modes of operation and the relative speed of the vehicle.
  • the directional speed control device may be an electric throttle or joystick that sends a signal to the controller and/or hydraulic pumps.
  • the speed may also be controlled by a throttle that controls the engine speed.
  • the vehicle 1 may be stopped by moving the directional speed control device to a zero-speed setting and/or by operating foot brake levers.
  • Steering may be performed by a steering wheel (i.e., drive-by-wire system) which regulates the relative rotational speeds of the first and second drive wheels 17.
  • the steering wheel may provide an input to a controller that controls the hydraulic motors and/or supply pumps.
  • speed and/or steering are controlled by different operator controls such as wheel levers or digital inputs, joysticks, dual sticks, virtual reality headsets and the like.
  • the self-propelled vehicle 1 is operated autonomously.
  • the vehicle 1 may include sensors (e.g., cameras, GPS sensors, previous pass data, and the like) that sense the position of the windrow and/or that may sense the position of the vehicle in the field.
  • the vehicle 1 may also include a controller that sends signals to the first and second rear wheel pumps or to various actuators to independently control the first and second rear drive wheels.
  • the field in which the vehicle is propelled is mapped and the field map is used to autonomously control the operation of the vehicle in the field.
  • the vehicle may include a riding station to carry an operator or the operator station may be eliminated.
  • the self-propelled vehicle 1 includes first and second front caster wheels 27 that are pivotally connected to the chassis 9 about a vertical pivot axis (which may be offset from the vertical axis at a caster angle).
  • the first and second caster wheels 27 swing below a portion of the chassis 9.
  • the front caster wheels 27 are spaced to allow the windrow of crop or forage material to pass between the front caster wheels 27 and engage the pickup device 1 1.
  • teeth 29 of the pick-up device 11 are positioned between the front caster wheels 27 relative to a lateral axis B (Fig. 3) of the vehicle 1.
  • the front caster wheels 27 are separated by at least five feet or at least about seven feet.
  • the rear wheels 17 are spaced to allow the baling device 5 (Fig. 1) to be positioned between the rear wheels.
  • the vehicle 1 includes a single front caster wheel (e.g., one front caster wheel centered relative to the lateral axis of the vehicle).
  • the front caster wheels 27 are independently suspended from the chassis to absorb forces transmitted during travel over uneven terrain.
  • the front caster wheels 27 pivot with respect to the chassis 9 about their pivot axis to allow the wheels 27 to be aligned with the direction of travel of the vehicle 1 and as a response to the differential speed of the first and second drive wheels 17.
  • the front caster wheels 27 are freely pivotal and turn only as a response to the differential speed of the rear drive wheels 17.
  • the front caster wheels 17 are steered (e.g., controlled to coordinate turning with rear drive wheels or steered independently of the rear drive wheels 17).
  • Each front caster wheel 27 has a rotational axis R27 (Fig. 3) about which the front caster wheels 27 rotate.
  • the wheels 27 have a common rotational axis R27.
  • the front caster wheels 27 may be part of first and second swivel caster assemblies 31.
  • first and second swivel caster assemblies 31 and subframes 41 described below are symmetric and description herein of an assembly or subframe also applies to the second assembly or subframe (e.g., description of a hub of the assembly indicates that the first assembly has a first hub and that the second assembly has a second hub).
  • Each assembly 31 includes a hub 35 (Fig. 4) and a caster shaft 37 (which may be referred to as a "kingpin") that rotates within the hub 35.
  • the swivel caster assemblies 31 may include bushings or bearings within the hub 35 that allow for rotation of the shaft 37 within the hub 35.
  • Each caster shaft 37 is connected to a leg assembly 42 that connects to the front caster wheel axle.
  • the leg assembly 42 includes a single leg that attaches to an inner side of the wheel axle.
  • the leg assembly includes two legs that connect to the axle of the front caster wheel on each side of the wheel (as with a caster fork).
  • the hub 35 and shaft 37 form a swivel joint 43.
  • the first and second front caster wheels 27 of the caster assemblies 31 are each connected to a subframe 41 by a swivel joint 43.
  • the subframes 41 are suspended from the chassis 9 by a mechanism having a suspension element 49, shown as a hydraulic cylinder in the illustrated embodiment.
  • the cylinder may be connected to an accumulator in the suspension system.
  • Other suspension elements such as shock absorbers may be used in other embodiments.
  • Each subframe 41 is also pivotally attached to the chassis 9 at an outer pivot point Pi and an inner pivot point P 2 . In this arrangement, the chassis 9 is supported by the subframes 41 and the chassis 9 and components carried by the chassis (e.g., operator station) may move up and down relative to the subframes 41 as the vehicle 1 travels over uneven terrain.
  • the subframe 41 has two arms 45, 47 that extend from the chassis 9.
  • the swivel joint 43 is at the point at which the arms 45, 47 meet and is forward of the inner and outer pivot points Pi, P2 relative to a longitudinal axis A (Fig. 3) of the vehicle 1.
  • the swivel joint 43 is also outward to both the inner and outer pivot points Pi, P2 relative to the lateral axis B (Fig. 3) of the apparatus 1 (i.e., the outer pivot point Pi of each subframe 41 is positioned between the inner pivot point P2 and the point of attachment of the suspension element 49 relative to the lateral axis B).
  • the first and second front caster wheels 27 are offset from the swivel joint 43 relative to the longitudinal axis A (Fig. 3) of the vehicle.
  • the offset allows the first and second front caster wheels 27 to self-align with the direction of travel of the vehicle 1 as the vehicle is steered by differences between the speeds of the rear wheels 17.
  • the front caster wheels 27 are steered. In such embodiments, the offset may be eliminated.
  • the caster assemblies 31 allow the first and second front caster wheels 27 to self-align with the direction of travel of the vehicle while it is steered by the difference in the speed of rotation of the rear wheels 17.
  • the first and second front caster wheels 27 pivot independently from each other.
  • the first and second front caster wheels 27 are connected through linkages (e.g., as in an Ackerman steering arrangement).
  • the front caster wheels 27 are freely pivotable (i.e., are not steered or otherwise controlled) during baling operation. In other embodiments, the front caster wheels are steered.
  • the vehicle 1 may be selectively steered in certain modes of operation (e.g., travel/highway modes).
  • the rear wheels 17 have a diameter larger than the front caster wheels 27.
  • the ratio of the diameter of the rear wheels 17 to the diameter of the front caster wheels 27 is at least about 1.25: 1 or at least about 1.5: 1 or even at least about 3: 1.
  • the vehicle includes a baling device 5 that includes an expandable baling chamber 62 for forming a bale.
  • the baling device 5 is cylindrical to form cylindrical bales (i.e., round bales).
  • the baling device 5 operates by utilizing a series of bale forming belts 64 routed around a series of rollers 66a-l.
  • the baling device 5 includes a drive gear 65 that is driven by a baler motor.
  • the drive gear 65 is connected to several rollers 66 to rotate the belts 64 during bale formation and during bale wrapping sequences.
  • the bale forming belts 64 may be directly driven by the baler motor without a drive gear or chains.
  • the baling device 5 also includes at least one belt tightener 72 (Fig. 5). It should be noted that any of the known round baler device arrangements may be used as baler device 5 including, variable chamber balers (as shown) and fixed chamber balers.
  • the baler device may include a single drive motor as shown or may include two or more drive motors.
  • the baler device 5 includes a pick-up device 11 (Fig. 2) to pick-up crop or forage material.
  • the pick-up device 11 is shown in a raised position.
  • the pick-up device 11 is in a lowered position in which the rotating teeth 29 of the device 1 contact the crop or forage material and direct it toward the baling chamber 62.
  • the pick-up device 11 As material is picked up by the pick-up device 11, and deposited in the baling chamber 62, the material is compressed by the plurality of bale forming belts 64.
  • Rotation of the pick-up device 11 is driven by separate motor (e.g., hydraulic motor).
  • Tension is maintained in the bale forming belts 64 by one or more belt tighteners 72 to ensure a properly compressed bale.
  • a wrapping mechanism 82 is configured to apply one or more layer of wrap material to the outer circumference of the completed bale.
  • the wrap material is spooled on a roll.
  • a linear actuator directs wrap material into contact with the outer perimeter of the completed bale.
  • the bale device drive motor powers the belts to cause the bale to continue to rotate to pull the wrap material from the supply roll and onto the circumference of the bale. After the wrap sequence is complete, the wrap material is cut.
  • the wrap material may include a variety of materials suitable for retaining the shape of the bale, protecting the bale and for limiting exposure of the bale to moisture.
  • Rope-like twine, sheet-type netwrap, plastic or fabric sheets, or film-type sheets are just some examples of commonly used wrap material.
  • the completed bale is ejected from the baling chamber 62 by initiating opening of a tailgate 74.
  • the baling device 5 includes a discharge ramp 90 that causes the bale to roll away from the vehicle 1 to clear the tailgate 74 as the tailgate closes.
  • the ramp 90 may be lowered as the tailgate 74 opens and raised before the tailgate closes to push the bale further away from the tailgate. Some embodiments do not include the ramp 90 and the vehicle is moved by the vehicle control system during ejection to achieve similar results.
  • the baling chamber 62 has a central axis B that is transverse to the longitudinal axis A of the vehicle and that intersects the center of mass of a completed bale (i.e., the rotational axis of the bale as in round bales) after the bale is formed in the chamber 62.
  • the central axis B of the baling chamber 62 may be separated from the rotational axis Rn of the rear drive wheels 17 relative to the longitudinal axis A of the vehicle 1 by a distance D3.
  • the vehicle 1 includes an engine 101 (e.g., gas or diesel powered engine) that drives one or more hydraulic pumps which in turn power the various hydraulic motors and cylinders (e.g., first and second drive wheel motors, baling chamber motor, pick-up device motor, pick-up device lift cylinder, tailgate cylinder and/or ramp cylinder).
  • the engine 101 also provides power for the electrical systems of the vehicle 1.
  • the engine 101 is between the rotational axes Rn of the rear drive wheels 17 and the rotational axes R-27 of the front caster wheels 27.
  • the engine 101 is arranged transverse to the longitudinal axis A of the vehicle 1.
  • the engine 101 is supported by engine isolators and mounting brackets 11 1 (Fig. 7) that are attached to the chassis 9.
  • the engine 101 includes a radiator 105 (Fig. 1) and a cooling fan 109 (Fig. 5) that forces air across the radiator 105.
  • the fan 109 directs air in a direction transverse to the longitudinal axis A.
  • the engine 101 is between the baling chamber 62 and the operator station 13.
  • the "operator station” refers to the seat and controls for steering and controlling the speed of the vehicle 1.
  • the operator station 13 is enclosed in a cab 121 (Fig. 1).
  • the operator station 13 is forward of the baling device 5, forward of the rotational axis Rn of the rear drive wheels 17 and is also forward to the engine 101.
  • the operator station 13 is partially aligned with the rotational axis R27 of the front caster wheels 27 (the steering wheel is aligned with the rotational axis R27 while the other controls and operator seat are rearward to the rotational axis R 27 ).
  • a distance Di (Fig. 1) separates the rotational axis Rn of the rear drive wheels and the rotation axis R27 of the front caster wheels 27.
  • the distance D 2 between the rear wheel rotational axis Rn and the operator station 13 is at least about 0.4*Di (i.e., the operator station is at least about 40% forward of the distance between the axis Rn, R 27 ), or at least about 0.5*Di or even at least about 0.6*D 1 .
  • the cab 121 may also be least about 0.4*Di or at least about 0.5*Di forward of the rotational axis Rn of the rear drive wheels 17.
  • the central axis B of the baling chamber 62 may be positioned on the vehicle such that at least about 60% or even at least about 70% (e.g., 75% to about 85%) of the weight of the vehicle is supported by the rear wheels 17. In various embodiments, this may be achieved by positioning the center axis C of the baling chamber 62 at or behind the rotational axis Rn of the rear drive wheels 17 relative to the
  • the center axis C of the baling chamber 62 may be forward to the rotational axis Rn of the rear drive wheels 17 with the distance between the central axis B of the baling chamber 62 and the rotational axis Rn being less than about 0.25*Di even less than about 0.15*Di or even less than about 0.10*Di.
  • the central axis of a completed bale may be determined by any suitable manner.
  • the central axis is determined by determining the outer circumference of the bale as defined by the position of the baler rollers 66 and/or belts 64.
  • Some embodiments of the self-propelled baling vehicle 1 are configured for autonomous or semiautonomous operation. Baling and wrapping can be controlled by the control system of the vehicle 1. Moreover, the system is configured to automatically position the vehicle 1 to control bale orientation and bale position after bale ejection. Because the vehicle 1 is a self-propelled machine capable of full and independent control of ground speed and the tailgate of the vehicle 1, the vehicle 1 is capable of automatically moving itself to intelligently place an ejected round bale, for example to limit the likelihood of rolling.
  • Figure 8 is a system level block diagram of part of the vehicle 1, including a portion of the control system 200 of the vehicle 1.
  • the control system 200 includes a controller 202, sensors 204, and a user interface 206.
  • the controller is communicatively coupled to the ground drive system 208 and the baler system 210 of the vehicle 1.
  • the ground drive system 208 includes the components for maneuvering the vehicle 1 along the ground, such as motors for driving wheels 17, steering components, and the like.
  • the controller 202 is operable to control operation of the components of the ground drive system 208 to control movement of the vehicle.
  • the controller 202 may control movement of the vehicle based on instructions stored in a memory device (not shown in FIG. 8), input received from sensors 204, input from the user via the user interface 206, feedback received from the ground drive system and/or the baler system, and/or input received from any other suitable data source.
  • controller 202 is not connected to ground drive system 208, because the towed baling vehicle does not include a ground drive system.
  • the baler system 210 includes the components for forming, wrapping, and ej ecting a bale, such as the baling device 5.
  • the controller is configured to operate the baler system 210 to form, wrap, and eject a bale.
  • the controller 202 controls the baler system based on instructions stored in a memory device (not shown in FIG. 8), input received from sensors 204, input from the user via the user interface 206, feedback received from the ground drive system and/or the baler system, and/or input received from any other suitable data source.
  • the sensors 204 detect characteristics of the operation, position, location, ground speed, and the like of the vehicle 1.
  • the sensors 204 include sensors that detect the pitch or the pitch and roll of the vehicle 1 or the ground.
  • the pitch of the vehicle 1 refers to the a difference in height between the front 55 and rear 57 of the vehicle 1 , with a pitch of zero indicating that the vehicle is level.
  • the pitch of the ground refers to a difference in the height of the ground along the line of travel of the vehicle.
  • the roll of the vehicle 1 refers to a difference in height between the left and right sides of the vehicle 1
  • the roll of the ground refers to a difference in height of the ground in a direction perpendicular to the line of travel of the vehicle.
  • Some embodiments include sensors 204 that detect the pitch and roll of the ground behind the rear 57 of the vehicle 1, to the sides of the vehicle 1 , and/or in front of the vehicle 1.
  • an incline and a slope each may refer to pitch and/or roll of the vehicle 1 or the ground.
  • An example sensor for detecting the inclination of the ground behind the vehicle 1 is described below with reference to Figure 12.
  • the sensors 204 may include GPS sensors to detect a location of the vehicle 1, sensors configured to detect one or more terrestrial geolocation markers to permit the location of the vehicle 1 relative to the markers to be determined by the controller 202, detect topographical features, obstructions, and the like.
  • the controller 202 is programmed to determine the location of the vehicle 1 and correlate the location to stored topographical maps to determine the terrain around the vehicle 1.
  • the user interface 206 allows the operator of the vehicle to interface with the controller. For example, the user interface displays operational information to the operator of the vehicle 1 , requests input from the operator, and receives instructions and selections from the operator. In the example embodiment, the user interface is displayed on a touch screen display device allowing both output to the operator and input from the operator. Alternatively, the user interface may include a display to output data to the user and one or more separate input devices (such as keyboards, a mouse, joysticks, console controls, foot pedals, and the like) to receive input from the operator.
  • the user interface may include a display to output data to the user and one or more separate input devices (such as keyboards, a mouse, joysticks, console controls, foot pedals, and the like) to receive input from the operator.
  • Controller 202 the various logical blocks, modules, and circuits described herein may be implemented or performed with a general purpose computer, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Exemplary general purpose processors include, but are not limited to only including, microprocessors, conventional processors, controllers, microcontrollers, state machines, or a combination of computing devices.
  • Controller 202 includes a processor 212, e.g., a central processing unit (CPU) of a computer for executing instructions. Instructions may be stored in a memory area 214, for example.
  • processor 212 may include one or more processing units, e.g., in a multi-core
  • the instructions may be executed within a variety of different operating systems on the controller 202, such as UNIX, LINUX, Microsoft Windows®, etc. It should also be appreciated that upon initiation of a computer- based method, various instructions may be executed during initialization. Some operations may be required in order to perform one or more processes described herein, while other operations may be more general and/or specific to a particular programming language e.g., and without limitation, C, C#, C++, Java, or other suitable programming languages, etc.
  • Processor 212 is operatively coupled to a communication interface 216 such that controller 202 is capable of communicating with remote devices such as the ground drive system 208, the baler system 210, sensors 204, a remote computing device (not shown), and the like.
  • Processor 212 is also operatively coupled to an input/output interface 218 that connects to one or more input/output devices used by a user to control operation of controller 202.
  • Input/output devices may include, without limitation, one or more of a keyboard, mouse, microphone, touchpad, keypad, stylus, speakers, or any device configured to provide user input to a human user and transmit output.
  • Processor 212 is also operatively coupled to a display processing component 220 and a display interface 222.
  • display processing component 220 is a dedicated computer processor for image processing and rendering tasks, e.g., and without limitation, a graphics processing pipeline.
  • Display interface 222 represents any display device used to render images for viewing by user, including, and without limitation, computer monitors, mobile device screens, touch-enabled screens, LCD displays, TFT displays, dot-matrix displays, and the like.
  • Processor 212 is configured to send some or all of its image processing tasks to display processing component 220, receive processed images to display processing component 220, and display the processed images via display interface 222 to a user.
  • Processor 212 may also be operatively coupled to a storage device 226.
  • Storage device 226 is any computer-operated hardware suitable for storing and/or retrieving data.
  • storage device 226 is integrated in controller 202.
  • storage device 226 is external to Controller 202 and is similar to database 120 (shown in FIG. 1).
  • Controller 202 may include one or more hard disk drives as storage device 226.
  • storage device 226 is external to controller 202.
  • storage device 226 may include multiple storage units such as hard disks or solid state disks in a redundant array of inexpensive disks (RAID) configuration.
  • Storage device 226 may include a storage area network (SAN) and/or a network attached storage (NAS) system.
  • SAN storage area network
  • NAS network attached storage
  • processor 212 is operatively coupled to storage device 226 via a storage interface 228.
  • Storage interface 228 is any component capable of providing processor 212 with access to storage device 226.
  • Storage interface 228 may include, for example, an Advanced Technology Attachment (ATA) adapter, a Serial ATA (SAT A) adapter, a Small Computer System Interface (SCSI) adapter, a RAID controller, a SAN adapter, a network adapter, and/or any component providing processor 212 with access to storage device 226.
  • ATA Advanced Technology Attachment
  • SAT A Serial ATA
  • SCSI Small Computer System Interface
  • RAID controller a SAN adapter
  • network adapter operatively coupled to storage device 226 via a storage interface 228.
  • Memory area 214 may include, but are not limited to, random access memory (RAM) such as dynamic RAM (DRAM) or static RAM (SRAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and non-volatile RAM (NVRAM).
  • RAM random access memory
  • DRAM dynamic RAM
  • SRAM static RAM
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • NVRAM non-volatile RAM
  • Figures 10A-10E are a flow diagram of a method of operating a self-propelled baling vehicle, such as the vehicle 1. Although, the method will be described with reference to the vehicle 1, the method is not so limited and may be performed by any other suitable self-propelled baler.
  • the operator selects, such as via the user interface 206, whether to operate the baler in the standard mode or the ground speed operating mode. If the user selects the standard mode, the controller starts the baler subsystem 210 at preset standard speeds.
  • the standard speed of the bale forming belts 64 is 200 RPM and the standard speed of the pickup device 11 is 250 RPM. The operator can adjust the RPM at any time.
  • the speed of belts 64 may be varied between 0 and 250 RPM, while the speed of the pickup device 11 may be varied between 0 and 275 RPM. Alternatively, the speed may be varied across any other suitable range of speeds.
  • the controller 202 starts the baler subsystem 210 at preset initial slow speeds. As the vehicle starts to move, the speeds will be increased based on the ground speed of the vehicle 1. At a ground speed of about 8 MPH, the speed of the bale forming belts 64 is 200 RPM and the speed of the pickup device 11 is 250 RPM. The speeds increase or decrease proportionally as the ground speed of the vehicle 1 increases or decreases. The operator can select to change the percentage of the ground matching, for example to change the relationship between the ground speed of the vehicle 1 and the RPM of the belt 64 and/or pickup device 11. [0075] Next the operator is requested to select standard bale ejection automation or tilt assist automation.
  • the operator selects the initial standard bale position at which the bale is to be ejected, e.g., behind the baler, to the left of the baler, or to the right of the baler.
  • the position is infinitely selectable, such as by selection of a user selectable degree relative to the rear of the vehicle.
  • the controller 202 presents the operator a limited number of predetermined positions from which to select.
  • the controller 202 receives information from sensors (such as a GPS sensor, a compass, etc.) to allow the controller 202 to know its location in the field.
  • the vehicle may be programed to follow a predetermined route after the operator has positioned the vehicle 1 at the start of the route.
  • the operator positions the vehicle at the start of a pass through a field (for example at the start of a windrow) and instructs the vehicle to begin baling.
  • the controller 202 drives the vehicle 1 in a straight line until the operator instructs the vehicle 1 to stop or a full bale is created.
  • the controller 202 When the controller 202 detects, such as via one or more of sensors 204, that the baling chamber 62 is holding a full bale, the controller 202 stops the vehicle 1. The controller 202 begins wrapping the completed bale using the netwrap portion of the baler system 210. In some embodiments, the controller 202 can increase the speed of the rotation of the bale in the bale forming chamber to speed-up the netwrap process.
  • the controller 202 If the operator selected the tilt assist automation, the controller 202 presents a suggested bale position based on the pitch or the pitch and roll of the ground around the vehicle 1. The operator can accept the suggested position or select a different position. After the operator accepts or selects the position, the controller 202 moves the vehicle 1, if necessary, to position it so that the bale may be ejected at the
  • the controller 202 moves the vehicle 1 , if necessary, to position it so that the bale may be ej ected at the selected location without requiring an additional confirmation/selection step. [0079] After the controller 202 has positioned the vehicle, and the wrap cycle is completed, the controller can also reduce the speed of rotation of the bale in the bale forming chamber and can operate the tailgate to be raised quickly. Reducing the speed of rotation reduces the chance of damage to the net wrap on the bale while in the chamber.
  • the controller lowers the ramp and raises the tailgate of the vehicle to eject the bale. After the bale is ejected, the ramp is raised and the tailgate is lowered. The controller 202 then operates the drive system 208 to maneuver the vehicle 1 back to the position it occupied when the bale was completed. The controller 202 then returns the baler and pickup to the appropriate standard or ground matching speeds and prompts the operator to begin the next bale.
  • the controller 202 automatically positions the vehicle at a distance from where it stopped and opens the tailgate to drop the bale. The controller 202 then automatically moves the vehicle forward, back to the position where it previously stopped, while simultaneously closing the tailgate after the vehicle has moved far enough so that the tailgate can close without hitting the bale.
  • Figures 1 lA-11 C are a flow diagram of a method of automated bale ejection from a self-propelled baling vehicle, such as the vehicle 1 , performed during a baling operation, such as the operation shown in Figure 10.
  • a self-propelled baling vehicle such as the vehicle 1
  • a baling operation such as the operation shown in Figure 10.
  • the method will be described with reference to the vehicle 1 and the operation of Figure 10, the method is not so limited and may be performed by any other suitable self-propelled baler and as part of any suitable baling operation.
  • the method follows the left side of the diagram in Figure 11.
  • the selected location for bale ejection (relative to the vehicle 1) is shown to the operator on the user interface 206 as a bale is being formed.
  • the controller 202 stops the vehicle due to a completed bale, the operator can change the selected ejection location from the user interface.
  • the controller 202 detects, such as via one or more of sensors 204, that the baling chamber 62 is holding a full bale, the controller 202 stops the vehicle 1.
  • the controller 202 begins wrapping the completed bale using the netwrap portion of the baler system 210.
  • the controller 202 moves the vehicle 1 , if necessary, to position it so that the bale may be ej ected at the selected location. During movement, of the vehicle, the controller 202 counts pulses from wheel rotation sensors (not shown) in each wheel 17 to determine how far the vehicle 1 has moved and to determine an angle of rotation of the vehicle. After the controller 202 has positioned the vehicle 1, the controller 202 ejects the bale and operates the drive system 208 to maneuver the vehicle 1 back to the position it occupied when the bale was completed based on the computed angle of rotation. The controller 202 then returns the baler and pickup to the appropriate standard or ground matching speeds and prompts the operator to begin the next bale.
  • the method proceeds down the right side of Figure 11.
  • the controller 202 continuously determines a suggested placement of the bale relative to the vehicle 1 based on the topography around the vehicle.
  • the controller 202 attempts to identify the location relative to the vehicle at which the ej ected bale is least likely to roll (either away from or into the vehicle 1) using a tilt algorithm.
  • the suggested location may be determined by monitoring the pitch and roll of the vehicle as it moves across the field and storing the measurements.
  • the tilt algorithm uses the output of a CAN based 2 axis inclinometer (e.g., one of sensors 204) to make decisions about the angle the vehicle 1 is at, and what suitable locations a bale might be deposited at.
  • the two axes used are the pitch and roll of the vehicle 1.
  • the essence of the tilt algorithm is to turn the vehicle to a zero pitch location on a slope.
  • the angles of each axis are read and compared to zero. If the angles are within 2 degrees of zero, they are considered zero. If the pitch axis angle is less than 4 degrees, tilt is not active. All of these settings are adjustable by the operator. In other embodiments, any other suitable threshold may be used for the default.
  • Basic bale position signals are created from looking at the x-axis (roll) and the y-axis (pitch) in a four quadrant manner.
  • the suggested general location for the bale is interpreted as south-east.
  • the nose of the vehicle is always thought of as north by the control system, no matter which actual direction it is pointing.
  • the concepts of north, south, east and west are only relative directions or orientation in this aspect of the vehicle 1.
  • the distance the vehicle 1 is from a particular measured location can be determined based on the speed that the vehicle traveled and the amount of time since the measurement.
  • the controller 202 assumes that the ground immediately behind the vehicle has substantially the same pitch and roll as the ground underneath the vehicle and the controller 202 uses the measurement of the pitch and roll of the vehicle as the measurement of the pitch and roll of the ground behind the vehicle 1.
  • a dual axis MEMS inclinometer which has DSP capabilities for filtering out vibration and for temperature compensation is used to detect the pitch and roll of the vehicle 1.
  • Data from the inclinometer is encoded into a J1939 CAN message and broadcast to one of the CAN bus systems (not shown) in the vehicle.
  • the topography around the vehicle 1 may be determined using radar, Lidar, Sonar, GPS correlation to a stored topographical map, or using any other suitable technique.
  • the ground behind the vehicle may be directly measured.
  • One example sensor 300 for directly measuring the pitch of the ground behind the vehicle is shown in Figure 12.
  • the sensor 300 can be positioned in a lowered position 302 for use and positioned in a raised position 304 when not in use.
  • the sensor 300 extends behind and to the side of the vehicle 1 so that an ejected bale will not contact it.
  • a counterweight with an attached laser is mounted on a pivot point.
  • a sensor 308 is positioned on the vehicle 1 such that the light from the laser will strike the sensor if the ground is generally level between the wheels 17 and the sensor 300.
  • the controller 202 receives the signal from the sensor 308 as one of the sensors 204 and uses its presence or absence to determine whether the ground behind the vehicle is level or not.
  • the controller continuously updates the suggested ejection position on the user interface 206.
  • the controller 202 stops the vehicle 1 and begins wrapping the bale.
  • the controller 202 also prompts the operator to either accept the current suggested bale position or select a different position.
  • the operator can select from east, south-east, south, south-west and west (relative to the vehicle 1, with the front of the vehicle being north), as they represent the shortest turning distances from any orientation the vehicle may take.
  • the operator can select from additional positions of north-west, north and north-east.
  • the operator may enter a specific angle at which to eject the bale or select from a greater number of predefined locations.
  • the controller 202 moves the vehicle 1, if necessary, to position it so that the bale may be ejected at the suggested/selected location. In some embodiments, the vehicle 1 moves toward the ejection location while the wrapping is being done. Alternatively, the controller 202 may wait until wrapping is complete before moving the vehicle 1. In the example embodiment, the controller 202 monitors the pitch and roll as the vehicle moves and attempts to find a location with zero pitch. Thus, the actual ejection location may vary depending on the measured pitch and roll. For example, if the operator accepts a suggested location of due east (i.e.
  • the controller 202 rotates the vehicle to the west (moving the rear of the vehicle 1 toward the east) while monitoring the pitch and roll of the vehicle. As soon as the controller 202 locates a zero pitch location, whether at two degrees rotation, ninety degrees rotation, or some rotation in between, the controller 202 will accept that location and eject the bale as described herein. While moving, the controller 202 monitors the pulse count of sensors in the wheels 17, as discussed above, to determine how far the vehicle has moved and uses the calculated angle to determine how far to rotate to get back to the original position. Alternatively, the controller 202 may move the vehicle to the selected/accepted position without confirming that the selected position is a zero pitch location. The controller measures (such as via a compass, GPS, wheel encoders, or the like) the displacement of the vehicle to determine how far to move to get back to the position at which it stopped. The controller 202 then ejects the bale at the
  • the controller 202 then returns the baler and pickup to the appropriate standard or ground matching speeds and prompts the operator to begin the next bale.
  • bales on ejection are used for placement of the bales on ejection.
  • maneuvering of the vehicle 1 to the ejection location is automatically performed by the controller 202, and the controller then moves the vehicle back to the position it occupied when the bale was completed.
  • the controller 202 rotates the vehicle 90 degrees to the direction of travel before ejecting the bales.
  • the controller 202 may always place the bales on one compass direction relative to the vehicle (e.g., always to the north of the baler regardless of whether the vehicle is traveling east or west). Some embodiments place bales from adjacent windrows close together.
  • the controller 202 makes use of mapping logic, a compass, and the ability to identify adjacent windrows. Thus, traveling north along a windrow, all bales are placed to the west of the vehicle 1. When the vehicle reaches the end of the windrow and proceeds south along the adjacent (to the west) windrow, the controller 202 places each bale to the east of the vehicle 1.
  • Some embodiments of the self-propelled baling vehicle 1 are configured for automated control of the height of the pickup device 11.
  • Figure 13 is a simplified cross-sectional view of a portion of the vehicle 1.
  • the pickup device 11 is in a first position relative to the ground 402.
  • the first position is a lowered position in which the rotating pickup device can collect material to be baled from the ground and direct the material into the baling chamber 62.
  • a pickup lift system 400 is coupled to the pickup device 11 and configured to selectively adjust the vertical position of the pickup device 1 1 relative to the ground 402.
  • Figure 14 shows the pickup device 1 1 in a second position after the pickup device 11 has been raised by the pickup lift system.
  • the pickup lift system may be a hydraulic piston system, a motorized lift (in particular a lift powered by a hydraulic motor), a pulley driven lift system, a pivoting mount (driven by a motor, belt/pulley, hydraulic piston, or the like) or any other suitable system for varying the height of the pickup device 1 1.
  • the vehicle 1 includes one or more sensors (not shown) for detecting the vertical position of the pickup device 1 1. In other embodiments, the vehicle 1 does not include any sensors for directly detecting the position of the pickup device. In some sensorless embodiments, for example, the position of the pickup device 1 1 is determined based on a known rate of movement of the pickup device 11 by the lift system 400 and the length of time that the lift system 400 is active. In other embodiments, the position of the pickup device is determined based on a characteristic of another component, such as the pressure experienced by the lift system 400. [0095] The speed of raising/lowering the pickup device 1 1 is variable. In the example embodiment, the speed is automatically varied based on the speed of operation of the vehicle. Accordingly, the pickup device may be raised/lowered more quickly when the vehicle is operated at high RPMs and more slowly when the vehicle is operated at lower RPMs.
  • the controller 202 automatically controls the vertical position of the pickup device 1 1.
  • the controller 202 raises the pickup device 1 1 into a raised position using the pickup lift system 400.
  • the pickup device 11 may be lifted to a position in which it is substantially completely within the vehicle 1 (e.g., as shown in Figure 14), or to a lower position that provides sufficient clearance between the tines of the pickup device 1 1 and the ground 402 and/or debris or other items on the ground 402.
  • the controller 202 When the vehicle 1 is shifted to a baling mode to begin baling operations, the controller 202 lowers the pickup device 11 to the lowered first position ( Figure 13) to allow the pickup device 1 1 to collect the material to be baled from the ground 402. In some embodiments, the controller 202 does not lower the pickup device 1 1 until the vehicle is both in a baling mode and moving forward. In some embodiments in which the baling vehicle is a towed baling vehicle, the controller 202 determines that the vehicle is moving based on input received from one or more of the sensors 204. In particular, the towed baling vehicle controller 202 may determine the vehicle is moving based on input from a ground speed sensor.
  • the controller 202 stops the spinning of the pickup device when the controller 202 stops the vehicle 1 because the baling chamber 62 is holding a full bale.
  • the controller 202 raises the pickup device to the raised second position ( Figure 14).
  • the controller 202 does not lower the pickup device back to the first position ( Figure 13) until after the vehicle 1 has been maneuvered back to the position at which it stopped at bale completion.
  • the controller 202 begins raising the pickup device while bale wrapping is occurring.
  • the controller 202 begins lowering the pickup device 1 1 while traversing back from the ejection position after ejection of the bale.
  • rotation of the pickup device 1 1 is always stopped before being raised from the first position ( Figure 13) to the second position ( Figure 14). In still other embodiments, raising and/or lowering the pickup device 1 1 is prevented when the pickup device 11 is rotating.
  • the operator may select, such as via the user interface 206, to raise or lower the pickup device 1 1 at any time.
  • the user may not manually select to raise and/or lower the pickup device 1 1 during certain times/operations. For example, when the vehicle is moving at a high rate of speed, some embodiments may prevent the operator from changing the vertical position of the pickup device 1 1.
  • the user may be prohibited from raising the pickup device while a wrapping operation is being performed in order to reduce the likelihood of the pickup device interfering with the wrapping process or wrapping material.
  • the controller 202 automatically varies the height of the pickup device 11 between the extreme positions to adapt to the current operating conditions. For example, the controller 202 may raise the pickup device slightly to provide additional clearance when traveling over very rough terrain or terrain with a large amount of debris on the surface. In some embodiments, the operator may manually adjust the height of the pickup device 11 to any value between the extreme first and second positions.
  • FIG 15 is a simplified diagram of a towed baler 500 (also referred to as a towed baling vehicle).
  • the towed baler 500 is a baling vehicle that is configured to be towed behind a tractor (not shown) or other vehicle and does not include its own motive power.
  • the towed baler 500 includes a towing assembly 502 that includes a hitch for connection to the tractor and a power take off (PTO) connection (neither separately illustrated) for receiving power from a corresponding PTO on the tractor to which it is hitched.
  • PTO power take off
  • the towed baler 500 generally includes the same baling and wrapping systems as the self-propelled baling vehicle 1 , but does not include the ground drive systems 208.
  • Similar components in the towed baler 500 are identified by identical reference numerals to the components in the vehicle 1.
  • the controller 202 is illustrated within the towed baler 500, the controller 202 may be external to the towed baler 500, such as in a control panel/device (not shown) located with the operator on the tractor.
  • the towed baler 500 is configured with the same automated and manual vertical adjustment of pickup device 11 as described above with respect to vehicle 1.
  • the automated pickup device 1 1 height adjustment features described do not require operator attention or intervention. They happen automatically based on baler states. This avoids the need for the operator to manually lift and lower the pickup as needed, which may be forgotten in frustration, fatigue, or haste.
  • the self-propelled baling vehicle has several advantages.
  • the baling vehicle is highly maneuverable and is able to turn within its own footprint (i.e., with a zero-turn radius). This allows the vehicle to be tumed quickly such as for repositioning prior to bale discharge to prevent bales from rolling down an incline during bale discharge.
  • the baling chamber toward the rear of the vehicle such that at least about 60% or even at least about 70% (e.g., 75% to about 80%) of the weight of the vehicle is placed on the rear drive wheels, the balance, performance, traction of the vehicle may be improved.
  • the wheelbase may be shortened and chaff to be blown crossway.
  • the operator station By positioning the operator station relatively forward and near the front caster wheels (e.g., forward of the rear wheels by at least about 40% or 50% of the distance between the rotational axes of the front and rear wheels), the operator has a clear field of vision of the windrow. In addition, the operator station is near the suspension system which improves the operator ride and reduces operator fatigue.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Harvester Elements (AREA)

Abstract

On décrit un véhicule de mise en balles servant à former une balle de matériau, qui comprend un système de mise en balles servant à former une balle, et un système de commande. Le système de mise en balles comprend un dispositif de ramassage rotatif couplé à un système de ramassage-levage. Le système de commande est couplé en communication au système de mise en balles. Le système de commande comprend un contrôleur. Le contrôleur est configuré pour déterminer si le véhicule de mise en balles se trouve en mode mise en balles ou en mode transport, et actionner le système de ramassage-levage pour contrôler la position verticale du dispositif de ramassage sur la base, au moins en partie, du mode déterminé du véhicule de mise en balles.
PCT/US2017/033631 2016-05-19 2017-05-19 Véhicule de mise en balles avec réglage automatique de la hauteur du dispositif de ramassage WO2017201466A1 (fr)

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WO2020234840A1 (fr) * 2019-05-22 2020-11-26 Kverneland Group Ravenna S.R.L. Presse à balles rondes
US20210246636A1 (en) * 2020-02-07 2021-08-12 Caterpillar Inc. System and Method of Autonomously Clearing a Windrow
US20210307228A1 (en) * 2018-08-07 2021-10-07 Kverneland Group Kerteminde As Agricultural working apparatus
US11324158B2 (en) * 2019-01-25 2022-05-10 Deere & Company System and method for controlling an implement connected to a vehicle
US11382276B2 (en) * 2018-04-26 2022-07-12 Deere & Company Method for operating an agricultural roundbaler ejection flap

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US20020059787A1 (en) * 2000-11-17 2002-05-23 Deere & Company Device for adjusting the working height of a crop pick-up
US20100287900A1 (en) * 2009-05-18 2010-11-18 Cnh America, Llc Implement height control adjustment on agricultural vehicles
US20150121829A1 (en) * 2013-11-01 2015-05-07 Cnh Industrial America Llc Auxiliary axle for an agricultural harvester during road transport
US20160021824A1 (en) * 2014-07-25 2016-01-28 CNH Industrial America, LLC Single sensor automatic control of a large bale loader

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US20020059787A1 (en) * 2000-11-17 2002-05-23 Deere & Company Device for adjusting the working height of a crop pick-up
US20100287900A1 (en) * 2009-05-18 2010-11-18 Cnh America, Llc Implement height control adjustment on agricultural vehicles
US20150121829A1 (en) * 2013-11-01 2015-05-07 Cnh Industrial America Llc Auxiliary axle for an agricultural harvester during road transport
US20160021824A1 (en) * 2014-07-25 2016-01-28 CNH Industrial America, LLC Single sensor automatic control of a large bale loader

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11382276B2 (en) * 2018-04-26 2022-07-12 Deere & Company Method for operating an agricultural roundbaler ejection flap
US20210307228A1 (en) * 2018-08-07 2021-10-07 Kverneland Group Kerteminde As Agricultural working apparatus
US11324158B2 (en) * 2019-01-25 2022-05-10 Deere & Company System and method for controlling an implement connected to a vehicle
WO2020234840A1 (fr) * 2019-05-22 2020-11-26 Kverneland Group Ravenna S.R.L. Presse à balles rondes
US20210246636A1 (en) * 2020-02-07 2021-08-12 Caterpillar Inc. System and Method of Autonomously Clearing a Windrow
US12024862B2 (en) * 2020-02-07 2024-07-02 Caterpillar Inc. System and method of autonomously clearing a windrow

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