Abstract: A tractor has a controller and at least one sensor-for sensing at least one swath line of crop material corresponding to a quantity of crop material per unit length of a swath. The controller operates in dependence on at least one output of the at least one sensor to operate a steering mechanism of the tractor such that a baler towed by the tractor follows a said swath line in a manner aligning ingestion of crop material into the baler for baling. The at least one sensor is operable to sense a swath line that is laterally offset from the direction of forward movement of the tractor.

Abstract: A system including a controller associated with an agricultural vehicle. The controller is configured to determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in an agricultural field, based on bale-location-data. The bale-location-data is representative of the location of bales in the agricultural field.

Abstract: A method for determining a quality of an agricultural bale produced by an agricultural baler, the method comprising the steps of: receiving a first bale parameter signal indicative of a first bale parameter of the agricultural bale; receiving a second bale parameter signal indicative of a second bale parameter of the agricultural bale, wherein the first bale parameter and the second bale parameter each represents a different physical property of the agricultural bale; determining, based on the respective first bale parameter signal and the second bale parameter signal, a bale quality parameter indicative of a perceived quality of the agricultural bale; and providing an electronic signal representative of the bale quality parameter.

Abstract: A system including a controller associated with an agricultural vehicle. The controller is configured to: receive other-vehicle-data that is representative of another vehicle that is in an agricultural field; and determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in the agricultural field, based on the other-vehicle-data.

Abstract: A system including: a controller configured to: receive bale-location-data representative of the location of a plurality of bales in a field; receive bale-property-data representative of one or more physical properties of each of the plurality of bales; and determine bale-pick-up-data based on the bale-location-data and the bale-property-data. The bale-pick-up-data is associated with an operation to pick up the bales from the field.

Abstract: A system that includes an agricultural tractor that includes a steering mechanism for steering at least one surface-engaging member so as to cause changes in a direction of movement of the agricultural tractor; and an agricultural implement that is towed behind the agricultural tractor. The system further includes at least one forward sensor for sensing one or more objects or conditions located forwardly of the agricultural tractor and at least one lateral sensor for sensing one or more objects or conditions that when sensed are located laterally of the agricultural tractor or implement. The system further includes a controller that acts in dependence on at least one output of the at least one lateral sensor to take account of a presence of the one or more objects or conditions sensed by the at least one lateral sensor.

Abstract: A movable tractor-trailer combination includes a self-powered tractor having a plurality of ground-engaging members and a steering mechanism for steering at least one the ground-engaging member; and a trailer that is towed behind the tractor and that is connected to the tractor by a drawbar that is pivotably connected at a tractor connection to the tractor. One or more sensors sense a line of a swath of crop material corresponding to a maximal quantity of crop material per unit length of the swath. The tractor-trailer combination includes a control apparatus that operates in dependence on at least one output of the one or more sensors to operate the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.

Abstract: A harvesting method includes the steps of operating a moveable harvesting machine in one or more fields to harvest plant matter and produce a secondarily processable harvest product for subsequent processing using secondary processing machinery; and while operating the harvesting machine to produce the secondarily processable harvest product, recording data that includes information on one or more characteristics of the secondarily processable harvest product. The method further includes transferring the recorded data from the harvesting machine to an external data store; causing moveable secondary processing machinery to retrieve at least some data on the secondarily processable harvest product from the data store; and controlling one or more controllable parameters of the secondary processing machinery based on the retrieved data during operation of the secondary processing machinery to process the secondarily processable harvest product.

Abstract: A tractor has a controller and at least one sensor-for sensing at least one swath line of crop material corresponding to a quantity of crop material per unit length of a swath. The controller operates in dependence on at least one output of the at least one sensor to operate a steering mechanism of the tractor such that a baler towed by the tractor follows a said swath line in a manner aligning ingestion of crop material into the baler for baling. The at least one sensor is operable to sense a swath line that is laterally offset from the direction of forward movement of the tractor.

Abstract: A system including: a controller configured to: receive bale-location-data representative of the location of a plurality of bales in a field; receive bale-property-data representative of one or more physical properties of each of the plurality of bales; and determine bale-pick-up-data based on the bale-location-data and the bale-property-data. The bale-pick-up-data is associated with an operation to pick up the bales from the field.

Abstract: A system having a radar-sensor configured to acquire radar-data representative of swath in an agricultural field; and a controller configured to determine swath-property-data based on the radar-data.

Abstract: A controller for an unloading system. The unloading system includes an unloading vehicle having an unloading apparatus and a collection vehicle having a container. The unloading apparatus is configured to direct material to the container driven in the vicinity of the unloading vehicle. The controller is configured to receive a user input signal representative of user operation of a vehicle input device associated with driving the unloading vehicle or the collection vehicle and set an attribute of the unloading system in accordance with the user input signal in order to direct the material from the unloading apparatus to the container.

Abstract: A system including a controller associated with an agricultural vehicle. The controller is configured to: receive other-vehicle-data that is representative of another vehicle that is in an agricultural field; and determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in the agricultural field, based on the other-vehicle-data.

Abstract: A system including a controller associated with an agricultural vehicle. The controller is configured to determine route-plan-data that is representative of a route to be taken by the agricultural vehicle in an agricultural field, based on bale-location-data. The bale-location-data is representative of the location of bales in the agricultural field.

Abstract: A system that includes an agricultural tractor that includes a steering mechanism for steering at least one surface-engaging member so as to cause changes in a direction of movement of the agricultural tractor; and an agricultural implement that is towed behind the agricultural tractor. The system further includes at least one forward sensor for sensing one or more objects or conditions located forwardly of the agricultural tractor and at least one lateral sensor for sensing one or more objects or conditions that when sensed are located laterally of the agricultural tractor or implement. The system further includes a controller that acts in dependence on at least one output of the at least one lateral sensor to take account of a presence of the one or more objects or conditions sensed by the at least one lateral sensor.

Abstract: A movable tractor-trailer combination includes a self-powered tractor having a plurality of ground-engaging members and a steering mechanism for steering at least one the ground-engaging member; and a trailer that is towed behind the tractor and that is connected to the tractor by a drawbar that is pivotably connected at a tractor connection to the tractor. One or more sensors sense a line of a swath of crop material corresponding to a maximal quantity of crop material per unit length of the swath. The tractor-trailer combination includes a control apparatus that operates in dependence on at least one output of the one or more sensors to operate the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.

Abstract: A forage harvester including a header for picking up a swath from a ground surface. The header includes a first and a second distance sensor adapted to measure a sensor-to-target distance respectively along a first and second sensor axis. The first distance sensor is mounted at a first lateral end of the header, and the second distance sensor is mounted at a second lateral end of the header. The first and second distance sensors are positioned such that, when the forage harvester is placed on an even ground surface, the first sensor axis crosses the second sensor axis before reaching the even ground surface in front of the harvester.

Abstract: A sensor arrangement for a forage harvester. The sensor arrangement includes a frame, a CCD or CMOS camera mounted to the frame in a first position, and a time-of-flight camera mounted to the frame in a second position. The CCD or CMOS camera is mounted to the frame in the first position such that, when a filling wagon is located with respect to the forage harvester in a filling position, a first image of at least a portion of the filling wagon is capturable by the first camera. The time-of-flight camera is mounted to the frame in the second position such that, when the filling wagon is located with respect to the forage harvester in the filling position, a second image of a segment of the portion is capturable by the second camera.

Abstract: Calibrating a distance sensor on an agricultural vehicle provided for measuring the distance between the sensor and a set of points on a ground surface in front of the agricultural vehicle, includes: performing a reference measurement when the agricultural vehicle is standing on a paved and substantially flat ground surface; processing the results of the reference measurement to reference data for use as reference during further measurements; storing the reference data in a memory.

Abstract: A controller for a movable unloading apparatus of an agricultural harvesting machine, wherein the movable unloading apparatus directs crop material from the agricultural harvesting machine to a container driven in the vicinity of the agricultural harvesting machine, and wherein the controller receives image data representative of a stream of crop material as it passes from the unloading apparatus to the container; processes the image data in order to determine a shape of the stream of crop material in the image data; and sets an attribute of the unloading apparatus in accordance with the determined shape of the stream of crop material in order to direct the crop material from the unloading apparatus to the container.