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  • 专利说明
  • 权利要求
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    • 专利摘要:
    AGRICULTURAL MATERIAL BALLER SYSTEM, AND AGRICULTURAL MATERIAL CLEARING MACHINE An agricultural material baling system comprises, in one example, a bale forming component configured to form a bale of agricultural material from a terrain and a control system configured to determine that the bale must be released from the baling system onto the ground, determine that a current location of the bale system has a slope above a threshold, determine a different location, which is spaced from the current location, to release the burden on the terrain and provide an output indicative of the different location. In one example, the control system is configured to receive yield data indicative of a volume of agricultural material in a baler path and to control the baling system based on the yield data. In one example, yield data is obtained from a clearing operation that clears agricultural material on a haystack.
    公开号:BR102016025339B1
    申请号:R102016025339-0
    申请日:2016-10-28
    公开日:2022-01-25
    发明作者:Nathan A. Chaney；Craig E. Wenzel；Alex D. Foessel；Henry D. Anstey；Jeremy M. Erdmann；Rodrigo H. Nomura；Anand Gupta
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    CROSS REFERENCE TO RELATED REQUEST
    [001] The present application is based on and claims the benefit of provisional patent application US 62/247,983, filed October 29, 2015, the contents of which are incorporated herein by reference in their entirety. DESCRIPTION FIELD
    [002] The present description refers to the preparation and baling of agricultural material. More specifically, but not by limitation, the present disclosure relates to a system for controlling an agricultural baler. FUNDAMENTALS
    [003] There is a wide variety of different types of agricultural baled material. For example, this material may include cotton, hay and plant biomass material, among a wide variety of others. Some examples of baled plant biomass material include corn stalks, sugarcane residue, grass, etc.
    [004] Agricultural balers can be configured to form bales with a variety of different form factors (different sizes and shapes). For example, some balers create square or rectangular bales and other balers create cylindrical bales.
    [005] Typically, a baler has pick-up and transport mechanisms to collect agricultural material from the ground and transport it into a bale forming chamber, such as a compression chamber. Then, once formed, the bale is released onto the ground for subsequent picking by another machine. During these operations, the baler may become clogged. Rectifying a clogged baler is time consuming and can be labor intensive (ie the operator is forced to stop the baling operation to remove the clogged material which reduces the overall baling rate (hectares/hour)).
    [006] Also, depending on the terrain, placing a released burden can be problematic. For example, in the case of cylindrical bales, placing the bale on a slope may result in the bale rolling down the slope. Not only can retrieval of such a bale be time consuming as it requires the picking machine to travel further to retrieve the bale, but the rolling bale can result in significant damage to structures or equipment and/or serious injury to humans or animals. .
    [007] The above discussion is merely given for general historical information and is not intended to be used as an aid in determining the scope of the claimed matter. SUMMARY
    [008] An agricultural material baler system comprises, in one example, a bale forming component configured to form a bale of agricultural material from a field and a control system configured to determine which bale is to be released from the ground. of the baling system over ground, determine that a current location of the baling system has a slope above a threshold, determine a different location, which is spaced from the current location, to release the ground bale and provide an output indicative of the different location.
    [009] This summary is given to introduce a selection of concepts in a simplified form which are further described below in the detailed description. This Sumerian is not intended to identify key features or essential features of the claimed matter, nor is it intended to be used as an aid in determining the scope of the claimed matter. The claimed subject matter is not limited to implementations that address any or all of the drawbacks noted in the fundamentals. BRIEF DESCRIPTION OF THE DRAWINGS
    [0010] FIG. 1 is a block diagram of an example of an agricultural material processing operation.
    [0011] FIG. 2 is a flowchart of an example of a method for preparing and baling agricultural material.
    [0012] FIG. 3 is a block diagram illustrating an example of an environment in which an agricultural material preparation machine and bale forming machine operate.
    [0013] FIG. 4 illustrates an example of an agricultural material clearing machine.
    [0014] FIG. 5 illustrates an example of a bale forming machine.
    [0015] FIG. 6 is a flowchart of an example of a method for operating an agricultural material preparation machine.
    [0016] FIGS. 7A and 7B are a flowchart of an example of a method for operating a bale forming machine.
    [0017] FIG. 8 is a block diagram showing an example of the environment illustrated in FIG. 3, where components are implemented in a remote server architecture.
    [0018] FIGS. 9-12 show examples of mobile devices that can be used in the environments shown in the previous figures.
    [0019] FIG. 13 is a block diagram of an example computing environment that can be implemented on any of the machines, systems, and/or architecture shown in the preceding figures. DETAILED DESCRIPTION
    [0020] FIG. 1 is a block diagram of an example of an agricultural material processing operation 100 that forms bales 102 from agricultural material 104 in a field 106. The agricultural material can be any of a variety of types including, but not limited to, , cotton, hay and plant biomass material, among a wide variety of others.
    [0021] As illustrated, a preparation operation is performed by an agricultural material preparation machine 108 which prepares material 104 for baling by a bale forming machine 110. Examples of preparation operations include mowing, cutting, and/or trimming the material in a form that is acceptable to bale forming machine 110. In the present example, but not by limitation, machine 108 comprises a mowing machine that mows, cuts or mows material into hay heaps 112.
    [0022] In one example, each of the machines 108 and 110 comprises a single implement or self-propelled vehicle e.g. a self-propelled bale forming machine includes both bale forming functionality and a drive motor or other drive mechanism to make the machine cross the field. Similarly, a self-propelled mower includes both mowing functionality and a drive mechanism, and a self-propelled brushcutter includes both mowing functionality and a drive mechanism.
    [0023] In one example, each of machines 108 and 110 may include a towed implement that is towed by a towing vehicle. For example, machine 108 may comprise a brushcutting machine pulled by an agricultural tractor and machine 110 may comprise a baling machine pulled by the same or a different agricultural tractor.
    [0024] Depending on the type of material, hay stacks 112 may be allowed to dry for a period of time (eg, several days) before being collected and formed into bales 102 by machine 110. In another example where hay stacks hay 112 do not require drying (e.g. sugarcane residue and the like), machine 110 can closely follow machine 108 to bale the material. In other words, the preparation operation and the baling operation can be performed in the same pass through field 106 or in separate passes that occur at or around the same time. In a single pass example, the same towing machine, such as an agricultural tractor, can pull both a brushcutter and a baler. In another example, different towing machines (or the same towing machine in different passes) separately tow the brushcutter and baler through field 106. As used here, a “pass” refers to a single instance of a drive machine or tug machine traversing a path across field 106. Thus, multiple separate passes are made even if the dressing machine 108 and bale forming machine 110 are independently driven across field 106, but are operating simultaneously within the same hay heap. 112.
    [0025] In the illustrated example, the machine 108 comprises a towing implement 109 (e.g., an agricultural tractor) and a towed implement 111. The implement 111 comprises an agricultural brushcutter which may include any device that uses a mowing mechanism or type of clearing to form agricultural material in a pile of hay or row. Examples include, but are not limited to, rotary brushcutters, finger wheel brushcutters, parallel bar brushcutters, combination brushcutters/spreaders, and hay balers. An example of a hay bale gatherer comprises a belt gatherer.
    [0026] In the illustrated example, the machine 110 includes a towing implement 113 (eg, an agricultural tractor) and a towed implement 115 comprising a baler. In one example, implement 115 may further include a bale accumulator (not shown in FIG. 1) that retains one or more bales after they are formed by and ejected from the baler. A bale accumulator allows the machine to collect and transport one or more bales to a desired location in field 106 before depositing them on the ground.
    [0027] According to an example, FIG. 2 is a flowchart of an example of a method 120 for preparing and baling agricultural material. For purposes of illustration, but not limitation, method 120 will be described in the context of operation 100 shown in FIG. 1.
    [0028] In block 122, agricultural material 104 is prepared in field 106 during a first pass. For example, this may comprise a mowing or mowing operation (represented by block 124) and/or a mowing operation (represented by block 126). In one example, the preparation comprises harvesting with biomass/waste separation.
    [0029] In block 128, data indicative of operations in the first pass are obtained. For example, this may include obtaining agricultural material data (represented by block 130), machine orientation data (represented by block 132) and/or obtaining machine position data (represented by block 134). In one example, agricultural material data comprises a measured or estimated yield. As discussed in more detail below, this may include information indicative of a volume of hay heaps 112.
    [0030] An example of machine orientation data at block 132 includes pitch, roll and/or yaw data obtained from corresponding sensor(s) on the machine 108. This information is indicative of a terrain slope within of field 106. Machine position data in block 134 is used to identify the position of machine 108 within field 106. For example, machine position data in block 134 can be obtained using a global positioning system sensor (GPS), an estimate location sensor, or a wide variety of other sensors. This, of course, is by way of example only.
    [0031] In block 136, position-referenced yield data and/or position-referenced terrain slope data are generated using the data obtained in block 128. In this example, the agricultural material data in block 130 and the orientation data of the machine at block 132 are obtained in a plurality of discrete times (i.e. periodically or after a predefined number of meters traversed within field 106). The plurality of discrete data points are correlated with the corresponding position data in block 134. In this way, information in block 136 can be used to generate a terrain slope map that identifies a terrain slope in field 106 and/or a yield map showing the volume of hay piles 112 expected at a plurality of points along the hay piles.
    [0032] Position referenced data can be obtained in any appropriate way. In the illustrated example, data is referenced to position by linking, tagging, or otherwise associating position information with the data. In one particular example, the data is geotagged by assigning a tag or other piece of information to the data. This, of course, is by way of example only. Other means of geolocating or referencing the data may be used.
    [0033] In block 138, a baling operation is performed. In the present example, this includes having the baler cross the field during a second pass. Of course, the baling operation at block 138 can be performed during the first pass as well. In either case, the baler crosses the field in a similar path to the preparation machine in block 122. This is represented in block 140. That is, the bale forming machine 110 follows the hay heaps 112 formed by the machine 108.
    [0034] In block 142, the baler is controlled based on yield data to discourage clogging. An example of this is discussed in more detail below. In short, however, at block 142 the baler is controlled to keep the feed rate or throughput rate in the baler below a threshold to discourage material from clogging the baler. This may include adjusting the baler speed and/or the baler pick-up height.
    [0035] In block 144, bales are deposited in field 106 controlling the baler based on terrain slope data. The terrain slope data may comprise position-referenced terrain slope data generated in block 136, as well as data obtained from other sources. For example, terrain slope data can be obtained by topographic mapping tools such as a LIDAR system (that is, a remote sensor technology that measures distance by illuminating a target with a laser and analyzing the reflected light) and a geographic information (GIS), to name a few. An example of this is discussed in more detail below. In short, however, block 144 operates to discourage or prevent bales from being placed on terrain having a slope which is likely to result in cylindrical bales rolling down the slope and/or difficulty in subsequent bale picking (i.e. even in the case of square or rectangular bales can be difficult for bale picking equipment to cross terrain with a large angle of inclination).
    [0036] In one example, block 144 automatically controls bale forming machine 110 to move the bale ejector mechanism of machine 110 to a position and orientation based on terrain slope data and a slope threshold. The slope threshold can be preset, user defined, and/or user adjustable. For example, the threshold can be based on an acceptable slope angle (eg 20 degrees, 25 degrees, 30 degrees, etc.) below which bales can be placed on the ground in any orientation. In another example, the threshold may be based on a combination of the slope angle of the slope and a difference between the axis of the cylindrical bale when it is laid on the ground and the direction of the slope. For example, but not by way of limitation, for slope slope angles between 25-30 degrees the control requires the bale axis to be within 15 degrees of a slope direction and for slope slope angles between 20-25 degrees the control requires the bale axis to be within 20 degrees of the slope. This, of course, is by way of example only.
    [0037] In another example of block 144, the bale forming machine can be controlled to provide background information or instructions to the operator based on terrain slope data. An example of this is discussed in more detail below. In short, however, instructions can be provided to the operator as to how the machine 110 can be maneuvered to deposit the bale in an acceptable location and orientation in field 106. In block 146, bales are collected from field 106 and transported to a storage location.
    [0038] FIG. 3 is a block diagram illustrating an example of an environment 200 in which the agricultural material preparation machine 108 and bale forming machine 110 operate. FIG. 3 illustrates examples of components, modules, and/or functionality of machines 108 and 110. For purposes of illustration, but not limitation, environment 200 will be described in the context of FIG. 1.
    [0039] As shown in FIG. 3, one or more of the machines 108 and 110 include a drive mechanism for moving the respective machines through the field 106. That is, as mentioned above, it is noted that the machines 108 and 110 may comprise or utilize the same towing implement, or different towing implements, for transporting the machines across the field 106. Thus, although FIG. 3 illustrates machines 108 and 110 as having separate drive mechanisms 202 and 204, the same drive mechanism can be used for both machines 108 and 110.
    [0040] As shown in FIG. 3, the drive mechanism 204 may include a drive and propulsion system 206 for controlling a speed of the machine(s) and a direction of travel. In one example, the steering and propulsion system 206 is controlled by an operator using steering and throttle controls and other speed controls.
    [0041] Machines 108 and 110 may each include a data store. As shown in FIG. 3, machine 108 includes a data store 208 and machine 110 includes a data store 210. Machines 108 and 110 can communicate with one another over a network 212. Machines 108 and 110 can also communicate with a remote data store 214 in the same way.
    [0042] Before describing the operation of the machines 108 and 110 in more detail, one or more examples of each of the items in the environment 200 will first be described with respect to FIG. 3. Machine 108 includes agricultural material preparation functionality 216 and one or more other agricultural sensors 218. Machine 108 may also include one or more processors 220, a communication system 222, a user interface component 224, a or more user interface devices 226, a location system 228, and a map generator 230. Machine 108 may include other items 232 as well.
    [0043] Preparation functionality 216 includes all functionality (such as mechanical, hydraulic, pneumatic, electrical, etc.) that is used by machine 108 to prepare agricultural material for bale forming machine 110.
    [0044] The 218 sensors can include a wide variety of different types of sensors. For example, sensors may include material sensors 234 configured to detect and provide information indicative of agricultural material being prepared by machine 108. Material sensors 234 illustratively include a yield sensor, such as a haystack, which detects an expected yield for the agricultural material. In one example, a hay stack sensor obtains data indicative of a volume of hay stack being formed by machine 108. Sensors 218 may also include machine position sensors 236 configured to detect a position of machine 108. For example, the machine position sensors 236 can detect a tilt, yaw, and/or roll of the machine 108. Other examples of sensors 218 include, but are not limited to, weather sensors, quality sensors, fuel consumption sensors. fuel, etc.
    [0045] The processor(s) 220 is (are), in one example, a computer processor with associated memory and timing circuitry (not shown separately). It(s) is(are) illustratively a functional part of the machine 108 and is(are) activated by various other items on the machine 108 to facilitate its operation.
    [0046] Communication system 222 illustratively allows machine 108 to communicate with other items in environment 200. For example, communication system 222 may be a cellular communication system, a communication system that allows machine 108 to access a wide area network (such as the Internet), a local area network communication system, a near-field communication system, and/or a wide variety of other wired and wireless communication systems. In one example, communication system 222 is used by machine 108 to communicate data to machine 110, other machines, and/or to store data in data store 214.
    [0047] User interface component 224 illustratively generates (either by itself or under the control of other items on machine 108) user interfaces on or through user interface device(s) 226 for an operator of machine 108. User interface device 226 can be a display device that generates user interface displays, an audible device that generates audible user interfaces, a haptic device that generates haptic user interfaces, or a wide variety of other types of user interface devices. user interface.
    [0048] The location system 228 illustratively detects a location of the machine 108. By way of example, the location system 228 may be a GPS system, a cell triangulation system, an estimate location system, or a wide variety of others. systems that allow the machine 108 to identify a location where the machine 108 is during the agricultural material preparation operation.
    [0049] Data store 208 may be used to store any of the data detected, generated or otherwise obtained by machine 108. In one example, data store 208 may store maps generated by map generator 230. The maps may include, but are not limited to, yield or haystack maps, terrain slope maps, topographical maps, or any other type of map.
    [0050] An example of operation of the machine 108 is described in greater detail below with respect to FIG. 6. In short, however, the machine 108 prepares agricultural material for the bale forming machine 110 and obtains data which is position referenced and can be used by the bale forming machine 110 during the bale forming operation. For example, machine 108 may generate position-referenced yield data 238, position-referenced slope data 240, and/or one or more topographical maps 242. This data may be made available to multiple machines and systems in the environment 200 at a time. variety of different media. For example, yield data 238, slope data 240, and/or map(s) 242 may be stored in data storage 208 and/or data storage 210. Alternatively, or additionally, they may be stored in data storage 208 and/or data storage 210. data 214, which is remote from and accessible by machines 108 and 110, as shown in FIG. 3.
    [0051] Machines and systems can access remote data storage 214 using any of a wide variety of different networks, depicted in FIG. 3. Network 212, for example, may be one or more of a cellular network, a wide area network such as the Internet, a local area network, or other networks. In addition, machines and systems can access data by having the data transmitted directly from one machine or system to another and having it stored locally on each machine's or system's data stores. Even more data can be transmitted using store-and-forward techniques where a machine that has no access to the cellular or other network or the internet stores the data records locally. Then, when it comes within range of a given communication network, it transmits the data to other machines or systems within that network's service area. In another example, data may be transmitted to remote data store 214 where it is later accessed by other machines and systems. Furthermore, the data can be made available to the various machines and systems by first storing it on machine 108 and then transmitting it manually. As an example, data may first be stored on machine 108 and then manually transmitted to machine 110 using a removable storage device, such as a flash drive, removable disk, or a variety of other removable storage mechanisms. The data can then be manually transmitted to the machine 110 where it is stored locally in the data store 210. All these and other types of mechanisms and architectures for making the data available to the various machines and systems in the environment 200 are contemplated here.
    [0052] The bale forming machine 110 includes bale forming functionality 244, bale ejection functionality 246 and one or more agricultural or other sensors 248. The machine 110 may also include a bale accumulator 250, one or more processors 252, a communication system 254, a user interface component 256, one or more user interface systems 258, and a location system 260. The machine 110 may also include other items 262. The bale forming machine 110 operates using a series of baler settings 282, which can be stored in data store 210. Alternatively, or in addition, settings 282 can be stored in data store 214, as illustrated in FIG. 3.
    [0053] Bale forming functionality 244 illustratively includes all functionality (such as mechanical, hydraulic, pneumatic, electrical, etc.) that are used by the machine 110 in order to form a bale of agricultural material. For example, the bale forming feature 244 is configured to pick up agricultural material from a hay heap and transport that material to a compression chamber or other type of bale forming feature. Once the bale is complete, the bale eject feature 246 is configured to deposit the bale onto field 106 or bale accumulator 250, if present.
    [0054] The 248 sensors can include a wide variety of different sensor types. In the illustrated example, sensors 248 include material sensors 264 and machine position sensors 266. In one example, sensors 264 and 266 are similar to sensors 234 and 236 discussed above.
    [0055] The processor(s) 252 is (are), in one example, a computer processor with associated memory and timing circuitry (not shown separately). It(s) is (are) illustratively a functional part of the machine 110 and is (are) activated by various other items on the machine 110 to facilitate its operation.
    [0056] Communication system 254 illustratively allows machine 110 to communicate with other items in environment 200. For example, communication system 254 may be a cellular communication system, a communication system that allows machine 108 to have access to a wide area network communication system (such as the Internet), a local area network communication system, a near-field communication system, and/or a wide variety of other wired and wireless communication systems wire. In one example, communication system 254 is used by machine 110 to communicate data to machine 108, to other machines, and/or to store data in data store 214.
    [0057] User interface component 256 illustratively generates (either by itself or under the control of other items on machine 110) user interfaces on or through user interface device(s) 258 for a machine operator 110. User interface device 258 can be a display device that generates user interface displays, an audible device that generates audible user interfaces, a haptic device that generates haptic user interfaces, or a wide variety of other types of user interface devices. user interface.
    [0058] Location system 260 illustratively detects a machine location 110. By way of example, location system 260 may be a GPS system, a cell triangulation system, an estimate location system, or a wide variety of other systems which allow the machine 110 to identify a location where the machine 110 is during the agricultural material preparation operation.
    [0059] As shown in FIG. 3, the machine 110 also includes a control system 268 for controlling the operation of the machine 110. The control system 268 includes a maximum (or target) feed rate determining component 270, a target baler speed calculation component 272, a target baler pick height calculation component 274, a position calculation component 276, a machine navigation path calculation component 278, and a machine control component 280. The operation of the control system 268 and other items of machine 110 is described in greater detail below with respect to FIG. 7. In summary, however, in one example, the control system 268 determines a maximum or target feed rate for material in the machine 110 and, using yield data or other information indicative of a volume of material in a machine path 110 , calculates the baler pick-up speed and/or height to control the actual feed rate within the target feed rate. Then, once a bale is formed and ready to be released onto the terrain, the control system 268 calculates a position to release the bale based on slope data such as a terrain slope map or topographic map. The control system 268 may also calculate a navigation path to navigate the machine 110 to the calculated bale release position.
    [0060] FIG. 4 illustrates an example of an agricultural material clearing machine 300 that includes one or more sensors for detecting yield or volume of the hay heap. Before discussing the 300 mowing machine in more detail, a brief overview of hay-heap detection will be discussed.
    [0061] One type of hay stack sensor system attempts to predict yield using a LIDAR sensor, or other sensor, when material is cut or mown. That is, this sensor array detects material that is scattered through the soil in a relatively thin, broad-band layer. The sensor must therefore have a wide angular range and fine angular resolution, which results in a large set of discrete measurements or data points across the width of the combine. This large amount of data points is then processed to estimate a cross-sectional area between consecutive data points, for example by casting the data in a complex formula. Of course, this process is complex and requires significant storage and processing bandwidth. Additionally, it may still require presumptions and be susceptible to error.
    [0062] According to an example, a sensor configuration is employed that uses the structure of and operation of mowing performed by the mowing machine 300 to obtain an indication of the volume of hay heap. The machine 300 includes a towing implement 302 and a mowing implement 304 which is towed behind the towing implement 302. The mowing implement 304 is illustratively a wheel mower having a set of mowing wheels 306. The mowing wheels 306 are positioned to form a brushing channel or gap 308. The brushing channel 308 has a known width, as defined by a spacing width 310 between the wheels 306. Within this brushing channel 308, the hay heap (e.g. , the hay heap 112 in Figure 1) is formed by constraining the width of the material through the skid channel 308. That is, the material is mechanically forced into the narrow width of the skid channel 308. After the implement 304 passes, the material falls, to a certain extent, on the profile of the real hay heap that will be fed into the baling machine. In other words, the end profile of the hay heap that is collected during the baling operation is greater than the width of the material within channel 308.
    [0063] In the example of FIG. 4, the mowing implement 304 includes a hay heap sensor 312 configured to obtain data indicative of a volume of the hay heap that is formed by the machine 300. In the illustrated example, the sensor 312 is positioned above the mowing channel 308 and configured to detect a height of agricultural material within the mowing channel 308. Since the width of mowing channel 308 is known (i.e., it is fixed during the mowing operation), a relatively accurate indication of the volume of the heap of hay can be obtained with just a few data points. For example, in the example of FIG. 4, sensor 312 obtains a single data point value indicative of a hay heap height in one half of channel 308. the indication of the volume of the hay pile. Of course, in other examples, more than one data point may be obtained by sensor 312, or by using one or more additional sensors on machine 300.
    [0064] In one example, the sensor 312 may comprise an electrical sensor using an ultrasonic or light sensor, or other type of sensor, to measure the height of hay heap between the mowing wheels 306. In another example, a sensor The hay stack may comprise a mechanical sensor which mechanically engages the top of the hay stack to provide an indication of the height of the hay stack. For example, the mechanical sensor may comprise an arm that is pivotally connected to the mowing implement 304 and supports a wheel, shovel or other element that engages and follows a top of the hay heap. By detecting a device location, an indication of the height, and thus the volume, of the haystack can be obtained.
    [0065] In one example, the sensor 312 outputs a value indicative of units in a particular standard measurement standard (eg inches, centimeters, etc.). In another example, the signal can be normalized to provide a determination of relative height (for example, on a scale of 0-10, with 0 representing a minimum height of the haystack and 10 representing a maximum height of the haystack) .
    [0066] The machine 300 also includes a locating system (not shown in FIG. 4) that can be mounted on one or more of the towing implement 302 or the clearing implement 304.
    [0067] Advantageously, compared to another sensor configuration such as the exemplary LIDAR system discussed above, the sensor system of FIG. 4 has reduced processing load and storage requirements. Furthermore, in some scenarios, a more accurate haystack indication can be obtained without requiring an expensive and complex sensor and data processing system.
    [0068] FIG. 5 illustrates an example of a bale forming machine 320. The machine 320 illustratively includes a towing implement 322 and a towed implement in the form of a baler 324. The machine 320 may also include a bale accumulator 326.
    [0069] The machine 320 includes a frame 328 on a chassis 330, which is supported on the ground by wheels 332. The wheels 332 follow a slope of the ground that extends transverse to the direction of operation. Baler 324 includes bale ejection functionality that is configured to release a bale into a bale forming chamber 334 onto accumulator 326 (or onto the ground if accumulator 326 is not used). In one example, the bale eject functionality is configured to operate a gate in an elevated position to release the bale from chamber 334.
    [0070] Baler 324 is connected to towing implement 322 by a tow bar 336. Baler 324 includes a machine position sensor 338 configured to sense a relative position of baler 324. For example, sensor 338 may be configured to detect a pitch, roll and/or yaw of the baler 324. The baler 324 also includes a locating system mounted thereon. Alternatively, or in addition, towing implement 322 may include machine location and/or position sensor system 338.
    [0071] FIG. 6 is a flowchart of an example method 350 for operating an agricultural material preparation machine. For purposes of illustration, but not limitation, method 350 will be described in the context of operating machine 108 to perform a trimming operation.
    [0072] In block 352, the brushing operation is started. During the mowing operation, sensors on the machine 108 detect hay stack height, machine, and/or machine position. Other operation characteristics can also be detected. This is represented in block 354.
    [0073] In one example, the height of the hay pile can be detected using mechanical sensors 356, ultrasonic sensors 358, optical sensors 360, microwave sensors 362, and/or other sensors 364. Machine orientation can be detected. using one or more 366 pitch, roll, and yaw sensors. Other sensors to detect machine orientation can also be used. The machine's position can be detected using a 368 GPS receiver, a 370 estimate location system, or other 372 devices in the same way.
    [0074] Using the data detected from block 354, the hay pile height is correlated with the location in the field from which the hay pile height was detected, in block 374. This hay pile height gives an estimate of the volume of material per unit length of the hay heap at a particular location within the field.
    [0075] In block 376, a yield map can be generated based on correlated information from block 374. For example, the yield map may indicate a series of hay pile heights along the hay piles in the field .
    [0076] In block 378, a terrain slope map can be generated by correlating the machine orientation detected in block 354 with the corresponding machine position. The terrain slope map provides an indication of the terrain slope at a plurality of positions in the field. Slope information can include, but is not limited to, a slope angle as well as a slope direction.
    [0077] In block 380, maps are issued for a wide variety of different locations and can be used in a wide variety of different modes. For example, maps may be output for local display at block 382 or for local storage at block 384. Furthermore, maps may be output for remote display at block 386, remote analysis at block 388, and/or remote storage at block 390. Maps can be output to other machines at 392. For example, maps can be output to bale forming machine 110 to use yield maps and terrain slope map during the baling operation. Maps can also be issued to third parties in block 394. Maps can be issued to other locations as well. This is represented by block 396.
    [0078] FIGS. 7A and 7B (collectively referred to as FIG. 7) are a flowchart of an example of a method 400 for operating a bale forming machine. For purposes of illustration, but not limitation, method 400 will be described in the context of bale forming machine 110 illustrated in FIG. 3.
    [0079] In block 402, a target feed rate is determined. In one example, the target feed rate may be a maximum feed rate set for the baling equipment and may be preset (block 404) or user defined (block 406), and/or may be calculated based on settings 282 For example, the target feed rate can be adjusted based on a crop-type adjustment (block 408) and/or user preference adjustments (block 410).
    [0080] In block 412, the position of the baler is determined using, for example, GPS (block 414), an estimate location system (block 416), or another system (block 418).
    [0081] In block 420, yield data are obtained that are indicative of a volume of agricultural material in a path of the baler. This data may be stored locally (e.g. data store 210) and/or accessed from a remote data store (e.g. data store 208 and/or 214). In one example, the yield data comprises a hay pile height referenced to the position obtained from a mowing operation. This is represented by block 422.
    [0082] In block 424, baler operation is controlled based on the target feed rate and yield data obtained in block 420. This may include control related to a baler speed (block 426), a baler (block 428), or other functionality (block 430). Before discussing this in more detail, it is noted that the target feed rate can be adjusted in block 432. For example, based on yield data indicating the volume of agricultural material entering the baler and operating characteristics of the baler (e.g. , a load on bale forming equipment, should the baler become clogged at a given feed rate, etc.) the target feed rate can be increased or decreased for subsequent baler operation.
    [0083] Referring again to block 426, in one example the baler speed can be automatically controlled based on the target feed rate and yield data. For example, if the yield data indicates that the expected yield on the hay heap ahead of the baler increases to a point where the actual feed rate is likely to exceed the target feed rate, the speed calculation component 272 can calculate a new speed. for the baler that is used by a machine control component 280 to automatically control the propulsion system 206.
    [0084] Alternatively, or in addition, the target speed may be displayed to the operator as a suggested speed modification. For example, a visual display on the towing implement can instruct the operator to increase or decrease tractor speed, and/or display the particular target speed, to discourage baler clogging.
    [0085] With respect to block 428, the baler pick-up height can be adjusted in addition to or instead of the baler speed. For example, at block 438 the pick-up height of the baler can be automatically controlled by control component 280. Alternatively, or additionally, at block 440 a suggested pick-up height can be displayed to the operator whereby the operator can manually control the pick-up height. baler pick-up, if desired. As mentioned above, the baler pick-up height defines the positioning of the baler's inlet mechanisms in relation to the ground and thus the amount of material that is obtained from the hay heap.
    [0086] In one example, in block 442, the method determines whether machine 110 includes an accumulator and how many are contained in the accumulator. If so, the method determines whether to deposit bales from the accumulator at block 444. This may include identifying terrain slope data on a machine path at block 446 and/or determining an expected completion of the current or next bale at block 448 Based on this information, the machine can be controlled to automatically deposit a bale from the accumulator and/or instruct the operator to do so. By way of example, block 444 may determine that the accumulator is currently full and that there is a relatively long patch of field that has a significant slope. In this case, block 444 may suggest to the operator to deposit one or more of the bales from the accumulator before reaching the slope even if the current bale in the baler is not fully formed.
    [0087] At block 450, the method determines whether the current bale in bale forming method 244 is complete. If not, the method returns to block 412. If so, the method proceeds to block 452 where it is determined whether the completed bale can be deposited at the current baler location. In one example, this includes accessing data from sensors 266 to determine a baler's current yaw pitch and/or roll which indicates the slope of the current terrain on which the baler resides. If this information indicates that the bale can be deposited with little or no risk of the bale rolling down a slope, the method proceeds to block 454 where the bale is deposited on the ground. For example, current terrain slope and/or bale axis orientation are compared to a threshold.
    [0088] At block 456, the method determines a different position, which is spaced from the current position, on which to deposit the bale. In one example, block 456 accesses terrain slope data for the terrain near the baler and selects an optimal or near-optimal location to deposit the bale. For example, the selected bale may comprise a location that has a slope angle below a threshold and is closest to the current baler position. In one example, block 456 considers the paths where material is still to be baled. This is represented by block 460. For example, using information obtained during the mowing operation, block 456 can determine that the baler must still pass over a hay heap that is located on one side of the baler. Thus, block 456 selects a location on the field that has already been baled (i.e., so the bale does not fall on unbaled material).
    [0089] In block 462, the method determines both the location and the orientation for accessing the bale in relation to the slope. In one example, block 462 computes a latitude and longitude to position the bale as well as the bale axis orientation. For example, an acceptable bale axis position may be based on the slope angle of the slope. That is, for a given slope (ie 20 degrees), the bale can be positioned within a particular angular range (eg 15 degrees) of the slope direction. It is understood that as the slope angle of the slope increases, the difference between the bale axis and the slope direction should decrease to discourage the bale from rolling.
    [0090] In one example, block 462 uses the settings defined in block 402 (eg, settings 282). That is, block 462 may utilize a slope threshold that is based on one or more of the crop type and user preferences. For example, a bale formed from one crop type (eg corn stalks) may be less likely to roll down a hill than a bale formed from a different crop type (eg hay). In this way, if the baler is baling with corn stalks as opposed to hay, the slope threshold can be increased. Similarly, in one example a user preference setting might be indicative of how aggressive or conservative the user wants to be when selecting the location. For example, if the field is located close to people, livestock, equipment or structures, the user may wish to be more conservative in bale placement as a bale rolling down the slope has a higher chance of damage or injury than a bale rolling downhill. placed on a field that is not close to any structures, livestock, equipment or people. In one example, these settings can be launched via the UI component 256 and stored in the settings 282.
    [0091] In block 464, the machine is controlled based on the determined position. In one example, in addition to calculating the position to deposit the bale, component 278 can calculate a path to navigate the machine to that location. At block 466, control component 280 can automatically control drive mechanism 204 to navigate machine 110 to that location. In another example, semi-automatic navigation may be performed at block 468. For example, the steering mechanism may be automatically controlled, but the propulsion system is user-controlled.
    [0092] In another example, at block 470, the user manually navigates the machine 110 to the determined navigation with the help of instructions provided by the control system 268. For example, instructions can be visually and/or audibly sent to the user as which tell the user which direction to turn the steering wheel and which direction to move the machine to reach the desired position. Alternatively, or additionally, at block 472, feedback on the current and target orientation of the baler can be provided to the operator. For example, a visual display can show the current baler orientation along with the baler target position along with the baler target position to assist the operator in moving the machine 110.
    [0093] In an example of block 464, as the machine 110 traverses the field to the different location to deposit the bale, the control system 268 determines the position and relative orientation of the machine 110 using a combination of location system 260 and sensors 266. For example, latitude and longitude coordinates from location system 260 can be used to determine a point on the terrain slope map, and tilt and roll data from sensors 266 can indicate which direction the baler is facing. facing the slope (for example, it is the axis of the bale perpendicular or parallel to the slope at the given latitude and longitude). Then, using this information, the control system 268 can compute and issue another set of control instructions to navigate the baler to the desired location.
    [0094] In block 474, if there is additional material to bale, the method returns to block 412.
    [0095] This discussion has mentioned processors and servers. In one embodiment, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are enabled by and facilitate the functionality of other components or items in those systems.
    [0096] Also, numerous user interface displays were discussed. They can take a wide variety of different forms and can have a wide variety of different user-actuable input mechanisms arranged on top of them. For example, user-activated input mechanisms can be text boxes, check boxes. Icons, links, scrolling menus, search boxes, etc. They can also be actuated in a wide variety of different modes. For example, they can be actuated using a point-and-click device (such as a rolling ball or mouse). They can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. They can also be actuated using a virtual keyboard or other virtual actuators. Also where the screen on which they are displayed is a touchscreen, they can be actuated using touch gestures. Also, where the device that displays them has speech recognition components, they can be acted upon using speech commands.
    [0097] Numerous data stores were also discussed. It will be noticed that each of them will be broken into multiple data stores. All may be local to the systems accessing them, all may be remote, or some may be local while others are remote. All these settings are covered here.
    [0098] Also, the figures show numerous blocks with functionality assigned to each block. It will be noticed that fewer blocks can be used so the functionality is performed by fewer components. Also, more blocks can be used with the functionality distributed among more components.
    [0099] FIG. 8 is a block diagram of the environment 200 shown in FIG. 3, except that it communicates with elements in a remote server architecture 500. In one example embodiment, the remote server architecture 500 may provide compute, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system providing the services. In various embodiments, remote servers can provide services over a wide area network, such as the internet, using appropriate protocols. For example, remote servers can provide applications over a wide area network and they can be accessed through a web browser or any other computing component. Software or components shown in FIG. 3 as well as the corresponding data can be stored on servers at a remote location. Compute resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can provide services across shared data centers, even if they appear as a single point of access to the user. Thus, the components and functions described here can be provisioned from a remote server at a remote location using a remote server architecture. Alternatively, they can be provisioned from a conventional server, or they can be installed on client devices directly, or in other ways.
    [00100] In the mode shown in FIG. 8, some items are similar to those shown in FIG. 3 and they are similarly numbered. FIG. 8 specifically shows that one or more items in the environment 200 may be located at a remote server location 502. For example, map generator 230, data store (e.g., remote store) 214, and/or one or more of components 270, 272, 274, 276, and 278 may be located at a remote server location 502. Therefore, machines 108 and/or 110 access these systems through remote server location 502.
    [00101] FIG. 8 also illustrates another embodiment of a remote server architecture. FIG. 8 shows that it is also contemplated that some elements of FIG. 3 are arranged at remote server location 502 while others are not. By way of example, the data store 214, the map generator 230, and/or one or more of the components 270, 272, 274, 276 and 278 can be arranged at a location separate from the location 502 and accessed through the remote server. on site 502. Regardless of where they are located, they can be accessed directly by machines 108 and/or 110, through a network (either a wide area network or a local area network), they can be hosted at a site remote by a service, or they can be provided as a service, or accessed by a connection service residing at a remote location. Also, data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For example, physical carriers can be used instead of or in addition to electromagnetic wave carriers. In such an embodiment, where cellular coverage is poor or non-existent, another mobile machine (such as a tanker truck) may have an automated information collection system. As the brushcutter or baler approaches the fuel tanker, the system automatically collects the information using any type of ad-hoc wireless connection. The information collected can then be forwarded to the main network when the tanker reaches a location where there is cellular (or other wireless) coverage. For example, the tanker truck may enter a covered location when moving to fuel other machines or when it is at a main fuel storage location. All these architectures are contemplated here. What's more, information can be stored on the mowing or baling machine until it enters a covered location. The mowing or baling machine itself can then send the information to the main network.
    [00102] It will also be noted that the elements of FIG. 3, or portions thereof, can be arranged over a wide variety of different devices. Some of these devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc.
    [00103] FIG. 9 is a simplified block diagram of an illustrative embodiment of a portable or mobile computing device that can be used as a user or client portable device 16, in which the present system (or parts thereof) can be implemented. For example, a mobile device may be implemented in the operator's compartment of the machine 108 and/or 110 for use in generating, processing or displaying consistent width and position data. FIGS. 10-13 are examples of handheld or mobile devices.
    [00104] FIG. 9 provides a general block diagram of the components of a client device 16 that can run some of the components shown in FIG. 3, which interacts with them or both. In the device 16, a communications link 13 is provided that allows the portable device to communicate with other computing devices and, in some embodiments, provides a channel to receive information automatically, such as by scanning. Examples of the communications link 13 include allowing communication over one or more communication protocols, such as wireless services used to establish cellular access to a network, as well as protocols that establish local wireless connections to networks.
    [00105] Under other embodiments, applications may be received on a removable secure digital (SD) card that is connected to an interface 15. The interface 15 and communications link 13 communicate with a processor 17 (which may also incorporate processors 220). and/or 252 of Figure 3) along a bus 19 that is also connected to memory 21 and input/output (I/O) components 23, as well as a clock 25 and a location system 27.
    [00106] The I/O components 23, in one embodiment, are provided to facilitate input and output operations. I/O components 23 for various embodiments of device 16 may include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors, and output components such as a display device, a speaker and or a printer output. Other I/O 23 components can be used in the same way.
    [00107] The clock 25 illustratively comprises a real-time clock component that outputs a time and a date. It may also, illustratively, provide timing functions for the processor 17.
    [00108] Location system 27 illustratively includes a component that outputs a current geographic location of device 16. This may include, for example, a global positioning system (GPS) receiver, a LORAN system, a location estimation system , a cell triangulation system or other positioning system. It may also include, for example, mapping software or navigation software that generate maps, desired navigation routes and other geographic functions.
    [00109] Memory 21 stores operating system 29, network settings 31, applications 33, application configuration settings 35, data storage 37, communication triggers 39, and communication configuration settings 41. Memory 21 can include all types of tangible, volatile and non-volatile computer-readable memory devices. It may also include computer storage media (described below). Memory 21 stores computer-readable instructions which, when executed by processor 17, cause the processor to perform computer-implemented steps or functions in accordance with the instructions. Processor 17 may also be activated by other components to facilitate its functionality.
    [00110] FIG. 10 shows an embodiment where the device 16 is a tablet computer 600. In FIG. 10, computer 600 is shown with a user interface display screen 602. Screen 602 may be a touch screen or a pen-enabled interface that receives input from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it can also be connected to a keyboard or other input device by the user through a suitable connection mechanism, such as a wireless link or USB port, for example. Computer 600 may also illustratively receive voice inputs in the same manner.
    [00111] FIG. 11 provides an additional example of device 16 that may be used, although others may be used in the same way. In FIG. 11, an elementary telephone, a smart telephone or a mobile telephone 45 is provided as the device 16. The telephone 45 includes a set of numeric keypads 47 for dialing telephone numbers, a display 49 capable of displaying images including application images, icons , web pages, photographs and video, and control buttons 51 to select items shown on the display. The telephone includes an antenna 53 for receiving cellular telephone signals. In some embodiments, the phone 45 also includes a secure digital card (SD) slot 55 that accepts an SD card 57.
    [00112] FIG. 12 is similar to FIG. 11 except that the phone is a smart phone 71. The smart phone 71 has a touch-sensitive display 73 that displays icons or tiles or other user input mechanisms 75. The mechanisms 75 can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, the smart phone 71 is built on top of a mobile operating system and offers more advanced computing and connectivity capabilities than an elementary phone.
    [00113] Note that other forms of devices 16 are possible.
    [00114] FIG. 13 is an embodiment of a computing environment in which the elements of FIG. 3, or parts thereof, (for example) can be implemented. With reference to FIG. 13, an exemplary system for implementing some embodiments includes a general purpose computing device in the form of a computer 810. Components of computer 810 may include, but are not limited to, a processing unit 820 (which may comprise processor 220 and/or 252), a system memory 830 and a system bus 821 that couples various system components including system memory to the processing unit 820. The system bus 821 can be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. The memory and programs described with respect to FIG. 3 may be implemented in corresponding portions of FIG. 13.
    [00115] The 810 computer typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by the 810 computer and includes both volatile and non-volatile media, removable and non-removable media. By way of example and not limitation, computer readable media may comprise computer storage media and communication media. Computer readable media are different from, and do not include, a modulated data signal or carrier wave. They include hardware storage media including both volatile and non-volatile, and non-removable media implemented in any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile discs (DVD) or other optical disc storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and that can be accessed by the computer 810. Communication media may incorporate computer-readable instructions, data structures, program or other data in a transport mechanism and includes any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics adjusted or varied in such a way as to encode information in the signal.
    [00116] System memory 830 includes computer storage media in the form of volatile and/or non-volatile memory such as read-only memory (ROM) 831 and random access memory (RAM) 832. A basic input/ output 833 (BIOS), containing the basic routines that help transfer information between elements within the computer 810, such as during startup, is typically stored in ROM 831. RAM 832 typically contains data and/or program modules that are immediately accessible to and/or currently being operated by the processing unit 820. By way of example and not limitation, FIG. 10 illustrates operating system 834, application programs 835, other program modules 836, and program data 837.
    [00117] The 810 computer may also include other volatile/non-volatile removable/non-removable computer storage media. By way of example only, FIG. 13 illustrates a hard disk drive 841 that reads from or writes to non-removable, non-volatile magnetic media, a magnetic disk driver 851, non-volatile magnetic disk 852, an optical disk driver 855, and non-volatile optical disk 856. Hard disk drive 841 is typically connected to system bus 821 through a non-removable memory interface such as interface 840 and magnetic disk driver 851 and optical disk driver 855 are typically connected to system bus 821 by a removable memory interface, such as the 850 interface.
    [00118] Alternatively, or in addition, the functionality described here may be performed, at least in part, by one or more logical hardware components. For example and without limitation, illustrative types of hardware logic components that may be used include field-programmable gate groups (FPGAs), program-specific integrated circuits (e.g., ASICs), program-specific standard products (e.g., ASSPs). ), systems on chip (SOCs), complex programmable logic devices (CPLDs), etc.
    [00119] The drives and their associated computer storage media discussed above and illustrated in FIG. 13, provide computer-readable storage instructions, data structures, program modules, and other data for computer 810. In FIG. 13, for example, hard disk drive 841 is illustrated as storing operating system 844, application programs 845, other program modules 846, and program data 847. Note that these components may either be the same or different as the operating system 834, application programs 835, other program modules 836, and program data 837.
    [00120] A user may input commands and information to computer 810 through input devices such as a keyboard 862, a microphone 863, and a pointing device 861, such as a mouse, roller ball, or touch panel. Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner or the like. These and other input devices are often connected to the processing unit 820 through a user input interface 860 that is coupled to the system bus, but may be connected through other interfaces and bus structures. A visual display 891 or other type of display device is also connected to the system bus 821 via an interface, such as a video interface 890. In addition to the monitor, computers may also include other peripheral output devices such as speakers 897. and an 896 printer, which can be connected via an 895 output peripheral interface.
    [00121] The 810 computer is operated in a network environment using logical connections (such as a local area network - LAN, or wide area network WAN) to one or more remote computers, such as a remote 880 computer.
    [00122] When used in a LAN network environment, the 810 computer is connected to the 871 LAN through an 870 network interface or adapter. When used in a WAN network environment, the 810 computer typically includes an 872 modem or other means to establish communications over WAN 873, such as the Internet. In a networked environment, program modules can be stored on a remote memory storage device. FIG. 13 illustrates, for example, that remote application programs 885 can reside on a remote computer 880.
    [00123] It should also be noted that the different modalities described here may be combined in different ways. That is, parts of one or more modalities can be combined with parts of one or more other modalities. All this is contemplated here.
    [00124] Example 1 is an agricultural material baler system comprising a bale forming component configured to form a bale of agricultural material from a field, a control system configured to determine that the bale is to be released from the system over ground, determine that a current location of the baling system has a slope above a threshold, determine a different location, which is spaced from the current location, to release the overground bale and provide an output indicative of the different location .
    [00125] Example 2 is the agricultural material baler system of any or all of the above examples, wherein the agricultural material baler system comprises a towing implement and a towed baler implement which includes the bale forming component.
    [00126] Example 3 is the agricultural material baler system of any or all of the above examples, wherein the towing implement comprises a tractor and the bale forming member is configured to form substantially cylindrical bales.
    [00127] Example 4 is the agricultural material baler system of any or all of the above examples, where the threshold is adjustable based on one or more input parameters.
    [00128] Example 5 is the agricultural material baler system of any or all of the above examples, wherein the control system is configured to provide output to a baling system drive mechanism to automatically control movement of the baling system through the ground.
    [00129] Example 6 is the agricultural material baler system of any or all of the previous examples where the control system is configured to provide output to a user interface component, the user interface component being configured to give an indication from the different location to a user of the baling system.
    [00130] Example 7 is the agricultural material baler system of any or all of the previous examples, where the user interface component is configured to give at least one of the audible user cues that indicate user-suggested trigger inputs to navigate the baling system to the different location, or visual cues to the user that indicate user trigger input suggested to navigate the baling system to the different location.
    [00131] Example 8 is the agricultural material baler system of any or all of the above examples, where the threshold is based on at least one of a slope angle and a difference between a slope direction and a bale axis after it is ejected from the baling system onto the ground.
    [00132] Example 9 is the agricultural material baler system of any or all of the above examples, wherein the control system is configured to obtain terrain slope information indicative of a terrain slope at a plurality of locations and to determine the position different based on a different position slope, identified from the terrain slope information, relative to the threshold.
    [00133] Example 10 is the agricultural material baler system of any or all of the above examples, wherein terrain slope information is obtained from a mowing operation that causes agricultural material to be mowed into haystacks.
    [00134] Example 11 is the agricultural material baler system of any or all of the above examples, where the baling system comprises a bale accumulator and the control system is configured to calculate different position based on terrain slope information and an expected completion time of a next bale in the bale formation component.
    [00135] Example 12 is the agricultural material baler system of any or all of the previous examples, where the control system is configured to receive yield data indicative of a volume of agricultural material in a path of the baler and to control the system of baling by at least one of giving an indication to the operator indicative of a baling system speed or a bale forming component pick up height and automatically adjust a baling system speed or vary a bale forming component pick up height burden.
    [00136] Example 13 is an agricultural material baler system comprising a bale forming component configured to form a bale of agricultural material and a control system configured to obtain yield data from a clearing operation that clears agricultural material in a haystack, the yield data being indicative of a volume of agricultural material in a path of the bale forming component and controlling the baling system based on the yield data.
    [00137] Example 14 is the agricultural material baler system of any or all of the above examples, wherein the yield data comprises a position-referenced window map indicating hay heap volume at a plurality of locations.
    [00138] Example 15 is the agricultural material baler system of any or all of the above examples, wherein the control system is configured to control the baling system by at least one of: giving an indication to the operator indicative of a suggested speed of the baling system, give a suggested picking height of the bale forming component, automatically adjust a baling system speed, or automatically adjust a picking height of the bale forming component.
    [00139] Example 16 is an agricultural material mowing machine comprising a mowing mechanism configured to mow agricultural material over a terrain in at least one hay heap and a sensor configured to generate a signal indicative of a volume of agricultural material in the hay heap. hay.
    [00140] Example 17 is the agricultural material baler system of any or all of the above examples, wherein the mowing mechanism defines a mowing channel and the sensor is configured to detect a height of agricultural material within the mowing channel.
    [00141] Example 18 is the agricultural material baler system of any or all of the above examples, wherein the mowing mechanism comprises a set of mowing wheels which are spaced apart to form the mowing channel.
    [00142] Example 19 is the agricultural material baler system of any or all of the above examples, further comprising a location system configured to determine a clearing machine location, wherein position-referenced yield data is generated based on the callsign of the volume of agricultural material in the hay pile and in the location of the mowing machine.
    [00143] Example 20 is the agricultural material baler system of any or all of the above examples, where a hay stack map is generated based on position-referenced yield data obtained at a set of locations.
    [00144] Although the matter has been described in language specific to structural features and/or methodological actions, it should be understood that the matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features or actions described above are described as examples of ways to implement the claims.
    权利要求:
    Claims (11)
    [0001]
    1. Agricultural material baler system comprising: a bale forming member (110) configured to form a bale of agricultural material (104) from a field (106); and a control system (268), characterized in that the control system (268) configured to determine that the bale is to be released from the over-ground bale system (106), determines that a current location of the system baling field (106) has a slope above a threshold, accessing position-referenced terrain slope data that indicates a slope of the terrain (106) at a plurality of locations along the terrain (106), based on data from position-referenced terrain slope, determining a different location that is spaced from the current location to release the burden on the terrain (106) and providing an output indicative of the different location; wherein the control system (268) is configured to obtain terrain slope information indicative of a terrain slope (106) at a plurality of locations and to determine the different location based on a slope of the different location identified from terrain slope information, in relation to the threshold; wherein the terrain slope information comprises information obtained from a clearing operation that clears agricultural material (104) into hay piles (112).
    [0002]
    2. Agricultural material baler system, according to claim 1, characterized in that the baling system comprises a bale accumulator (250) and the control system (268) is configured to calculate the different position based on the terrain slope information and an expected completion time of a next bale in the bale formation component (110).
    [0003]
    3. Agricultural material baler system, according to claim 1, characterized in that the control system (268) is configured to receive yield data indicative of a volume of agricultural material (104) in a path of the baler and to control the baling system by at least one of: giving an indication to the operator indicative of a baling system speed or a bale-forming component pick-up height (110); and automatically adjusting a baling system speed or varying a pick up height of the bale forming component (110).
    [0004]
    4. An agricultural material baler system comprising: a bale forming member (110) configured to form a bale of agricultural material (104); and a control system (268), characterized in that the control system (268) is configured to: obtain yield data from a clearing operation that clears agricultural material (104) in a hay stack ( 112), the yield data being indicative of a volume of agricultural material (104) in a path of the bale forming component (110); and control the baling system based on yield data.
    [0005]
    5. Agricultural material baler system according to claim 4, characterized in that the yield data comprises a hay heap map referenced to a position that indicates hay heap volume in a plurality of locations.
    [0006]
    6. Agricultural material baler system according to claim 4, characterized in that the control system (268) is configured to control the baling system by at least one of: giving an indication to the operator indicating a speed suggested baling system; giving a suggested picking height of the bale forming component (110); automatically adjust a baling system speed; or automatically adjust a picking height of the bale forming component (110).
    [0007]
    7. Agricultural material shearing machine comprising: a shearing mechanism configured to shear agricultural material on a field (106) in at least one hay heap (112); and a sensor, characterized in that the sensor is configured to generate a signal indicative of the volume of agricultural material (104) in the hay heap (112).
    [0008]
    8. Agricultural material brushcutter according to claim 7, characterized in that the brushcutting mechanism defines a brushcutting channel and the sensor is configured to detect a height of the agricultural material (104) within the brushcutting channel.
    [0009]
    9. Mowing machine for agricultural material according to claim 8, characterized in that the mowing mechanism comprises a set of mowing wheels that are spaced to form the mowing channel.
    [0010]
    10. Agricultural material brushcutter according to claim 8, characterized in that it further comprises a location system configured to determine a location of the brushcutter machine, in which position-referenced performance data are generated based on the location of the machine mower and the volume of agricultural material (104) on site.
    [0011]
    11. Agricultural material brushcutter according to claim 10, characterized in that a hay heap map is generated based on position-referenced yield data obtained in a set of locations.
    类似技术:
    公开号 | 公开日 | 专利标题
    BR102016025339B1|2022-01-25|Agricultural material baling system and agricultural material brushcutting machine
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    同族专利:
    公开号 | 公开日
    US20170118918A1|2017-05-04|
    US20180184594A1|2018-07-05|
    EP3162189A2|2017-05-03|
    BR102016025339A2|2017-05-02|
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    US9930834B2|2018-04-03|
    US10757865B2|2020-09-01|
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    法律状态:
    2017-05-02| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2019-12-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-09-08| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2021-12-07| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2022-01-25| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 28/10/2016, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201562247983P| true| 2015-10-29|2015-10-29|
    US62/247983|2015-10-29|
    US15/151,153|US9930834B2|2015-10-29|2016-05-10|Agricultural baler control system|
    US15/151153|2016-05-10|
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