METHOD OF OPERATING A BALER SYSTEM
A method for operating a baler system including a combination of a tractor and a baler implement includes generating an adaptation signal with an input and output unit and sending the adaptation signal to a tractor control unit. The tractor control unit adapts a driving rotational speed of the drive shaft of the baler implement when the tractor control unit receives the adaptation signal.
This application claims priority to and the benefit of German Patent Application No. 102022111005.2, filed on May 4, 2022, and German Patent Application No. 102022111006.0 filed on May 4, 2022, the disclosures of which are hereby incorporated by reference.
TECHNICAL FIELDThe disclosure generally relates to a method of operating a baler system including a tractor and a baler implement.
BACKGROUNDBalers, in particular round balers, are used for picking up and compressing agricultural crop, for example straw, hay or the like. The harvested crop lying on the ground is picked up in this case with a pick-up unit, in particular a pick-up. The picked-up crop is conducted with a conveying unit, for example a rotor or a conveying unit, into a baling chamber having one or more compression means. The conveying unit can be designed as part of the pick-up unit or arranged downstream of the pick-up unit, in particular arranged downstream in the conveying direction. The bale, in particular the round bale, is formed in the baling chamber.
The shaped and finished bale is subsequently wrapped in the baling chamber with a wrapping material, for example mesh, film or binding twine, and can be unloaded preferably via a discharge flap or a rear part of the baler, in particular via the baling chamber which is provided with a discharge flap or a rear part. In order, however, to be able to bind or wrap the bale, the supply of crop to the baling chamber has to be stopped, which is only possible, in the case of conventional balers, by interrupting the picking-up of crop. This means that the driver of the combination has to continuously monitor the baling operation or the parameters provided by the baler, for example the bale size, in order accordingly to stop or to start the tractor. It is proposed in EP 1 813 146 A2 to solve this problem by a connection of a baler control unit, which is connected to a bale sensor, i.e. to a sensor sensing the size of the bale, to a tractor control unit which transmits a stop signal at a predetermined size of the bale such that the tractor stops or halts, in particular automatically stops or halts. The automatic control and/or regulation of this operation relieves the strain on the driver. EP 2 526 759 B1 discloses adapting the rotational speed of a drive shaft of the baler in order to shorten the stoppage times of the tractor. In this case, the tractor control unit is provided by the baler control unit with a rotational-speed desired value signal depending on the various wrapping phases in the baling chamber of the baler, whereupon the rotational speed of the drive shaft of the baler is adapted by means of the tractor control unit.
One disadvantage in this connection is the long stoppage times of the combination since it is not possible for any crop to be compressed in all of the wrapping phases. Another disadvantage is that the adaptation of the driving rotational speed of the drive shaft is coupled to the wrapping operation, in particular the wrapping phases, which leads to a loss of time during the wrapping operation.
SUMMARYA method for operating a combination of a tractor and a baler is proposed. The combination comprises an input and output unit and a tractor control unit and a baler control unit, wherein the tractor control unit is connected, in particular in signal-exchanging fashion, to the input and output unit and to the baler control unit. The baler is connected, and/or in particular coupled, to the tractor. The tractor comprises a drive motor which is connected, preferably driveably connected and/or mechanically coupled, to a drive shaft of the baler. The baler comprises a pick-up unit for picking up crop, and a baling chamber in order to compress the picked-up crop to form a bale, in particular a round bale.
An adaptation signal is generated, in particular produced, by means of or with the input and output unit and sent to the tractor control unit. The adaptation signal can be generated from or by an operator of the combination. The adaptation signal can be generated in particular by an input into the input and output unit by the operator, for example by pressing of a key or a button or by a speech command. The input and output unit can send the adaptation signal to the tractor control unit, in particular immediately after the adaptation signal has been generated. However, the adaptation signal can also be generated by the input and output unit, for example if the input and output unit receives a different signal. In other words, the input and output unit can be operated in such a manner that the input and output unit generates the adaptation signal and sends it to the tractor control unit. The tractor control unit adapts, in particular automatically, a driving rotational speed of the drive shaft of the baler when the tractor control unit receives the adaptation signal. In other words, the tractor control unit can be operable to the effect that a driving rotational speed of the drive shaft of the baler has to be adapted. In addition, the driving rotational speed of the drive shaft can be adapted with the tractor control unit in a stopping phase of the combination. The stopping phase is the phase before the beginning of the wrapping operation or of the wrapping phase. The expression which is used “adapting a driving rotational speed of the drive shaft of the baler” is intended to be understood in this connection not as meaning switching the drive shaft on and off, but rather increasing or reducing the driving rotational speed of the drive shaft.
The tractor can be an agricultural tractor, in particular a tractor or a hauler. The tractor can be arranged in a direction of travel in front of the baler. The tractor can pull the baler. The tractor can also comprise steering means for steering the tractor. The tractor can be driven by the drive motor. In addition, the drive motor is connected, in particular mechanically coupled, to the drive shaft. The drive shaft can be driven by the drive motor. As a result, the drive motor can transmit a rotational speed and/or a torque to the baler via the drive shaft. The baling chamber and/or a wrapping device and/or the pick-up unit and/or a conveying unit can be driven, in particular, the rotational speed and/or the torque can be transmitted thereto, via the drive shaft. The baler can be connected, in particular coupled, to the tractor via the drive shaft and/or via a towing device, for example a drawbar and/or a coupling. For example, a frame of the tractor can be connected to a frame of the baler via the or with the towing device. The tractor can comprise the tractor frame. In addition, the tractor can comprise one or more ground engagement means. The ground engagement means can support and/or carry the tractor on the ground. The ground engagement means can be wheels or tracks. The ground engagement means can be connected, in particular mechanically coupled, to the drive motor directly or via a drive train. The ground engagement means can be driven by the drive motor directly or via the drive train, such that the tractor, for example, is driven in a forwards and/or backwards direction over a field. Mechanically coupled can be understood as meaning a driveable connection and/or a mechanical coupling of two components of the combination, which makes it possible to transmit a force or a moment, in particular a torque, from the one component to the other mechanically. Between the two components, further components permitting such a transmission of force or moment, in particular transmission of torque, between the two components can be provided here. The tractor control unit can set and/or adjust, in particular control and/or regulate, the drive motor and/or the drive train, which can comprise in particular a transmission block, and/or the ground engagement means. The tractor control unit can adapt the driving rotational speed of the drive shaft of the baler, for example by the tractor control unit causing the drive train or the transmission block to adapt the rotational speed thereof and therefore the driving rotational speed of the drive shaft.
The baler can be a square baler or a round baler for forming round bales of crop. The baler can comprise the baler frame. The baler can also be integrated in the tractor, i.e. the combination can be designed as a self-propelling baler. The baling chamber can compress crop picked up by the pick-up unit to form a bale, in particular to form a round bale. The baler can be designed with a size-variable baling chamber or as a baler with a variable baling chamber. The baler with a size-variable baling chamber can comprise one or more compression means, wherein the compression means can be designed in particular as a belt or strap or chain arrangement or band. The baler can equally also comprise a size-invariable baling chamber. In this case, a compression means can be designed as a compression roller, in particular a multiplicity of compression rollers running parallel to one another, for compressing the crop. The axes of rotation of the compression rollers can lie on an arc of a circle when the discharge flap is closed and at least one of the compression rollers can be driven. The arrangement of the compression rollers in the baling chamber can correspond to a cylindrical shape, and therefore the compression rollers are arranged cylindrically around the round bale and form a cylindrical circumferential surface. The baling chamber can be arranged on the baler frame, preferably connected to the latter and/or fastened to the latter. The pick-up unit for picking up or for collecting crop lying or standing in a field, and/or for conveying the crop into the baling chamber, can likewise be arranged on the baler frame, preferably connected to the latter and/or fastened to the latter. The baler control unit can be arranged on the baler or on the tractor.
In one aspect of the disclosure, the driving rotational speed of the drive shaft can be adapted with or by the input and output unit by means of the method according to the disclosure with little outlay. The tractor control unit can adapt the driving rotational speed of the drive shaft, in particular with an operator intervention at the input and output unit. In other words, the disclosure provides a method making it possible for the operator to adapt the driving rotational speed at any time. A substantial advantage of the combination according to the disclosure is the time saving by adapting the driving rotational speed of the drive shaft. It is thus advantageously possible, preferably before the beginning or start of the binding or wrapping operation and/or independently of the binding or wrapping operation, to adapt the driving rotational speed of the drive shaft at any time and thus to accelerate the subsequent wrapping operation.
In a refinement of the disclosure, the baler comprises a bale sensor, wherein a size of a bale in the baling chamber is sensed, for example is detected, with the bale sensor. The baler control unit is connected to the bale sensor, in particular in signal-exchanging fashion. The baler control unit can therefore receive the size of the bale in the form of a bale signal from the bale sensor. The bale sensor can be arranged on or in the baling chamber in such a manner that the bale sensor can sense a size of the bale, i.e. a bale size. The bale sensor can also be assigned to the baling chamber, in particular can be arranged and/or fastened on/to or inside or outside the baling chamber. The bale sensor can sense a size of the bale in the baling chamber and in particular can convert it into the bale signal. The bale signal can therefore be representative of the size of the bale in the baling chamber, for example the bale sensor can sense the distance from the bale surface or from the compression means lying on the bale surface. The bale sensor can thus provide information about the size of the bale, in particular can provide the bale diameter at the respective location along the bale width. The bale sensor can send the bale signal to the baler control unit. The baler control unit can receive the bale signal from the bale sensor. On the basis of the bale signal or with the bale signal, the baler control unit can determine and/or ascertain, in particular calculate and/or compare, what size a bale has reached, in particular whether a bale is greater than or equal to a certain size of the bale.
In a refinement of the disclosure, the baler control unit sends the bale signal to the input and output unit, in particular also via or to the tractor control unit. The input and output unit indicates the size of the bale on the basis of or with the received bale signal, in particular the current size of the bale. The adaptation signal is generated by means of or with the input and output unit depending on the indicated size of the bale and sent to the tractor control unit. The adaptation signal can be generated from or by an operator of the combination. The adaptation signal can be generated in particular by an input into the input and output unit by the operator, for example by pressing of a key or a button or by a speech command, if the operator is of the opinion that the indicated size of the bale is sufficient. In other words, the input and output unit can be operated in such a manner that the input and output unit generates the adaptation signal depending on the indicated size of the bale and sends it to the tractor control unit. The tractor control unit can therefore adapt the driving rotational speed of the drive shaft, in particular with an operator intervention at the input and output unit, depending on the indicated size of the bale. In other words, the disclosure provides a method making it possible for the operator to adapt the driving rotational speed depending on the indicated size of the bale. A substantial advantage of the combination according to the disclosure is the time saving by adapting the driving rotational speed of the drive shaft depending on the indicated size of the bale. It is thus advantageously possible, preferably before the beginning or start of the binding or wrapping operation and/or independently of the binding or wrapping operation, to adapt the driving rotational speed of the drive shaft at any time.
In a refinement of the disclosure, the baler control unit sends a stop signal to the tractor control unit and/or to the input and output unit, in particular to the input and output unit via the tractor control unit, when the bale signal of the bale sensor indicates that a bale has reached a size which is greater than or equal to a first predetermined size. The stop signal can indicate that no additional crop can be introduced into the baling chamber. The tractor control unit displays the stop signal, in particular to the operator, and/or the stop signal is displayed, in particular to the operator, by the input and output unit. The adaptation signal is generated by means of or with the input and output unit depending on the stop signal and sent to the tractor control unit. The adaptation signal can be generated and sent by means of or with the input and output unit from or by an operator of the combination depending on the stop signal. Generated and sent depending on the stop signal can be understood as meaning in particular that the adaptation signal is generated and sent when the stop signal is displayed. The adaptation signal can be generated by an input from or by the operator, for example by pressing of a key or a button or by a speech command, and sent to the tractor control unit when the stop signal is displayed to the operator. Equally, however, the input and output unit can also generate the adaptation signal, in particular automatically, when the input and output unit receives the stop signal and the operator can send the adaptation signal by way of an input to the tractor control unit when the stop signal is displayed to the operator. Equally, however, the input and output unit can also generate the adaptation signal, in particular automatically, and send it to the tractor control unit when the input and output unit receives the stop signal. Advantageously, the adaptation signal can thus be generated manually or automatically with the input and output unit depending on the stop signal and sent to the tractor control unit. The input and output unit can thus be operable in such a manner that the input and output unit generates the adaptation signal depending on the stop signal and sends it to the tractor control unit. The tractor control unit can display the stop signal, in particular to the operator, by, for example, a signal sound or an alarm signal being output. Equally, the stop signal can be displayed with the input and output unit, in particular to the operator, for example as a signal display and/or as a signal sound. In other words, the baler control unit sends a stop signal to the tractor control unit when the baler control unit determines, in particular calculates, by means of the bale signal received by the bale sensor, that a bale has reached a size which is greater than or equal to the first predetermined size. Specifically, the baler control unit receives the bale signal from the bale sensor. On the basis of the bale signal or with the bale signal, the baler control unit can determ ine and/or ascertain, in particular calculate and/or compare, whether a bale has reached a size which is greater than or equal to the first predetermined size, i.e. is greater than or equal to a first predetermined bale size. When the baler control unit establishes that the bale has reached a size which is greater than or equal to the first predetermined size, the baler control unit sends the stop signal to the tractor control unit and/or to the input and output unit. Stop signal and bale signal can be identical or different signals. This facilitates the work with the combination, in particular the work of the operator with the combination, since the operator knows that when the tractor control unit displays the stop signal and/or the stop signal is displayed by the input and output unit, the bale has the desired first predetermined size. Subsequently, the adaptation signal can be generated manually or automatically by the input and output unit depending on the stop signal and/or sent to the tractor control unit such that the tractor control unit adapts the driving rotational speed of the drive shaft when the tractor control unit receives the adaptation signal. In addition, the production of bales which are larger than desired is advantageously avoided. A substantial advantage of the combination according to the disclosure is the time saving by simultaneously adapting the driving rotational speed of the drive shaft depending on the stop signal. It is thus advantageously possible to adapt the driving rotational speed before the beginning or start of the binding or wrapping operation or the wrapping phase, i.e. independently of the binding or wrapping operation. It is therefore substantially of advantage that the adaptation of the driving rotational speed of the drive shaft is adapted before the beginning or start of the binding or wrapping operation or the wrapping phase since the resulting time for this purpose is thereby considerably shortened.
In a refinement of the disclosure, a braking operation for stopping the combination, in particular the tractor, is initiated. The braking operation can be initiated before or after the adaptation signal has been sent and/or the tractor control unit displays the stop signal and/or the stop signal is displayed by the input and output unit. Equally, the braking operation can be initiated when the tractor control unit receives the adaptation signal or when the tractor control unit adapts or has adapted the driving rotational speed of the drive shaft of the baler. It is therefore possible by means of the method, with little outlay, to achieve stopping of the combination, in particular of the tractor, and adaptation of the driving rotational speed of the drive shaft when a first predetermined size of the bale has been reached or depending on the indicated size. A braking operation for stopping or halting the tractor is therefore initiated and the driving rotational speed of the drive shaft of the baler adapted. In other words, a method for a combination of a tractor and a baler is advantageously provided, wherein the tractor is braked and/or stopped, in particular stopped automatically, and the driving rotational speed of the drive shaft is adapted, in particular automatically. This can take place, as described above, depending on the indicated size or depending on the stop signal or on the generation of the adaptation signal or sending of the adaptation signal or receiving of the adaptation signal by the tractor control unit. Automatically can be understood as meaning that no operator intervention is required. In this way, the work of the operator of the combination is facilitated. The time saving by simultaneously halting the combination and adapting the driving rotational speed of the drive shaft is of advantage. In an advantageous manner, in the time in which the combination is halted or stopped, the driving rotational speed of the drive shaft can thus be adapted such that the driving rotational speed is adapted before the beginning or start of the binding or wrapping operation or the wrapping phase, i.e. independently of the binding or wrapping operation. At the same time, by halting of the tractor, it is advantageously avoided that further crop is picked up into the baler. It is therefore of advantage that the driving rotational speed of the drive shaft, in particular in the stopping phase, is adapted before the beginning or start of the binding or wrapping operation or wrapping phase since the resulting time for the binding or wrapping operation is thereby considerably reduced and this takes place at the same time as the stopping operation.
In a refinement of the disclosure, a driving speed of the tractor is set and/or adjusted, in particular controlled and/or regulated, with the tractor control unit. In other words, the tractor control unit can be operable in order to set and/or adjust, in particular control and/or regulate, the driving speed of the tractor. Specifically, the tractor control unit can set and/or adjust, in particular control and/or regulate, the drive motor and/or the drive train and/or the ground engagement means. Preferably, the tractor control unit can set and/or adjust, in particular control and/or regulate, the driving speed of the tractor with the drive motor and/or the drive train and/or the ground engagement means. The driving speed here can be the speed at which the combination, in particular the tractor, moves.
In a refinement of the disclosure, the tractor control unit initiates a braking operation for stopping the tractor when the tractor control unit receives the adaptation signal from the input and output unit. Equally, the tractor control unit initiates a braking operation for stopping the tractor, in particular the combination, and/or adapts a driving rotational speed of the drive shaft of the baler when the tractor control unit receives the adaptation signal from the input and output unit, and the tractor control unit and/or the input and output unit receive(s) the stop signal from the baler control unit. The tractor control unit can brake and/or halt the combination, in particular the tractor, when the tractor control unit receives the adaptation signal and/or the tractor control unit and/or the input and output unit receive(s) the stop signal from the baler control unit by the tractor control unit setting and/or adjusting, in particular controlling and/or regulating, the driving speed of the tractor to 0 km/h. For this purpose, the tractor control unit can set and/or adjust, in particular control and/or regulate, the combination, in particular the tractor, and the driving speed of the tractor with the drive motor and/or the drive train and/or the ground engagement means. With the tractor control unit, a first driving speed of the tractor can be settable and/or adjustable in a baling phase, i.e. in particular when crop is supplied to the baler via the pick-up unit. In addition, in the stopping phase, i.e. in particular when the tractor control unit receives the adaptation signal, and/or the tractor control unit and/or the input and output unit receive(s) the stop signal from the baler control unit, the driving speed of the tractor can be set and/or adjusted to 0 km/h by the tractor control unit. The first driving speed can preferably be >8 km/h, particularly preferably >4 km/h. The driving speed in the stopping phase can be reduced to 0 km/h. The stopping of the combination and the adaptation of the driving rotational speed of the drive shaft can take place simultaneously or successively, but in particular in the stopping phase. In this way, the work of the operator of the combination is facilitated since the operator does not have to observe a monitor or a display indicating to the operator to halt the tractor. A further advantage is the time saving by simultaneously halting the combination and adapting the driving rotational speed of the drive shaft. In an advantageous manner, in the time in which the combination is halted or stopped, the driving rotational speed of the drive shaft can thus be adapted such that the driving rotational speed is adapted before the beginning or start of the binding or wrapping operation or the wrapping phase, i.e. independently of the binding or wrapping operation. At the same time, by halting of the tractor, it is advantageously avoided that further crop is picked up into the baler. It is furthermore of advantage that the driving rotational speed of the drive shaft is adapted before the beginning or start of the binding or wrapping operation or wrapping phase since the resulting time for the binding and wrapping operation is thereby considerably reduced and this takes place at the same time as the stopping operation. Furthermore, the baler control unit can send a deceleration signal to the tractor control unit and/or to the input and output unit, in particular via the tractor control unit, when the bale signal of the bale sensor indicates that a bale has reached a size which is greater than or equal to a second predetermined size, i.e. is greater than or equal to a second predetermined bale size. The tractor control unit can display the deceleration signal and/or the deceleration signal can be displayed by the input and output unit. The combination, in particular the tractor, can be slowed down when the tractor control unit and/or the input and output unit receive(s) the deceleration signal from the baler control unit. Equally, the combination can be slowed down when the tractor control unit displays the deceleration signal and/or the deceleration signal is displayed by the input and output unit. Specifically, the combination, in particular the tractor, can be slowed down by the tractor control unit or by the operator. In other words, the baler control unit can be operated in such a manner that the baler control unit sends a deceleration signal to the tractor control unit when the baler control unit determines, in particular calculates, by means of the bale signal received by the bale sensor, that a bale has reached a size which is greater than or equal to a second predetermined size. Specifically, the baler control unit can receive the bale signal from the bale sensor. The baler control unit can calculate and/or check by way of the bale signal whether a bale has reached a size which is greater than or equal to a second predetermined size. When the baler control unit establishes that the bale has reached a size which is greater than or equal to a second predetermined size, the baler control unit sends a deceleration signal to the tractor control unit. Therefore, in a deceleration phase, i.e. in particular when the tractor control unit receives or has received the deceleration signal from the baler control unit, a second driving speed of the tractor can be set, in particular by the tractor control unit. It may be true here that the first driving speed in the baling phase is greater than the second driving speed in the deceleration phase. The second driving speed can preferably be ≥8 km/h>0 km/h, particularly preferably ≥4 km/h>0 km/h. Slowing down can therefore be understood as meaning that the driving speed is reduced from the first driving speed to the second driving speed during a baling phase. Specifically, the tractor control unit can be operable to instruct the drive motor and/or the drive train and/or the ground engagement means to slow down the tractor. Preferably, the tractor is braked or brought to a lower driving speed than during the baling phase as soon as the bale has reached or exceeds the second predetermined size, which is somewhat smaller than the first predetermined size. The second predetermined size can be smaller (e.g. 10 cm in diameter smaller) than the first predetermined size. Specifically, it is possible in particular for the tractor control unit to slow down the tractor and/or for a driving rotational speed of the drive shaft of the baler to be adapted when the tractor control unit and/or the input and output unit receive(s) the deceleration signal from the baler control unit or the tractor control unit displays the deceleration signal and/or the deceleration signal is displayed by the input and output unit. The deceleration avoids an abrupt stopping or braking when the bale reaches the first size.
In a refinement of the disclosure, the tractor control unit can be operated to initiate an increase or reduction in the driving rotational speed of the drive shaft when the tractor control unit receives the adaptation signal from the input and output unit and/or the stop signal from the baler control unit. In other words, specifically, in the stopping phase, i.e. before the start of the actual binding or wrapping operation or the wrapping phase, the driving rotational speed can be increased or reduced such that the adapted driving rotational speed is already available before the wrapping phase, in particular before the beginning of the binding or wrapping operation. The driving rotational speed of the drive shaft can be settable and/or adjustable, in particular controllable and/or regulable, independently of a rotational speed, in particular motor rotational speed, of the drive motor. There are various possibilities for increasing or reducing the drive shaft rotational speed. Conventionally, the rotational speed of the drive shaft can be shifted in stages (540 rpm and 1000 rpm) via a multiplication transmission of the tractor. Equally, the tractor can comprise a continuously regulated power-take-off drive which can be regulated independently of the rotational speed of the drive motor. A substantial advantage of this design is the time saving. By halting the combination and increasing the driving rotational speed, in particular during the stopping operation of the combination, the entire operation of halting and of increasing the driving rotational speed can be carried out before the actual binding or wrapping operation. As a result, the entire time sequence of the baler is reduced, and this in turn increases the daily output of the baler and saves costs. As an additional secondary effect, by increasing the driving rotational speed before the actual binding or wrapping operation, the bale can subsequently be wrapped more rapidly and therefore also discharged more rapidly from the baling chamber.
In a refinement of the disclosure, the tractor is steerable with the tractor control unit. In other words, the tractor control unit can be operated in such a manner that the tractor is steerable with the tractor control unit. The tractor can comprise a steering device for steering the tractor. The tractor control unit can be operable in order to set and/or to adjust, in particular to control and/or to regulate, the steering device. Specifically, the tractor control unit can steer the tractor in such a manner that the swath enters alternately in the vicinity of the left and right end of the pick-up unit. The tractor control unit can in particular take into consideration the width of the swath and the width of the baling chamber. The tractor can therefore also be steered in such a manner that the actual position of the combination or of the tractor, which is supplied from a GPS antenna, and the position of the swath in the memory coincide. Steering data could also be calculated by the tractor control unit or by a separate steering control unit. For this purpose, for example, the tractor control unit can be designed as a steering control unit. Specifically, the combination, in particular the tractor, can also be connected via an electromagnetic valve arrangement to a steering cylinder which sets and/or adjusts, in particular controls and regulates, the steering angle of the front axle and/or of the front wheels.
In a refinement of the disclosure, the combination comprises a swath sensor and the tractor control unit can be operated to steer the tractor, in particular automatically, along the swath on the basis of the signals of the swath sensor, such that in particular a uniform bale shape is obtained. The swath sensor can be connected to the tractor control unit and/or to the baler control unit. The tractor and/or the baler can comprise the swath sensor. The swath sensor can be arranged on the tractor and/or on the baler, in particular can be connected and/or fastened to them. As a result, the tractor control unit can steer the combination, in particular the tractor, along a swath on the basis of the signal of the swath sensor. The swath sensor can measure the lateral distance from the vertical borders or edges of the swath, for example by using ultrasound. Equally, the swath sensor can comprise a camera. The camera can be directed at the swath. In addition, the camera can be connected to the tractor control unit and/or to the baler control unit. As a result, the camera of the tractor control unit can supply a video signal which is processed in an image processing system provided inside or outside the tractor control unit. Equally, with the image processing system, an electronic display about the position of the tractor with respect to the swath can be provided. Specifically, the tractor control unit can be operable to steer the tractor, in particular automatically, along the swath on the basis of the signals of the swath sensor and the bale signal of the bale sensor such that a uniform bale shape is obtained. The tractor control can thereby steer the combination, in particular the tractor, along the swath on the basis of the signal of the swath sensor and the bale signal and at the same time a uniform bale shape and density can be obtained. In addition, the crop present in the form of swath can be picked up more completely from the ground.
In a refinement of the disclosure, the baler comprises a wrapping device for wrapping the finished bale with wrapping material in the baling chamber. The wrapping device can be operable at least to the effect that the wrapping material for wrapping the finished bale is dispensed into the baling chamber. The baler can comprise a wrapping sensor. The wrapping device and/or wrapping sensor can be connected to the baler control unit. The baler control unit can be operable to the effect of instructing the wrapping device to dispense the wrapping material when the tractor control unit instructs the baler control unit that the driving rotational speed of the drive shaft is adapted, in particular the increase or reduction in the driving rotational speed of the drive shaft is initiated or adapted. Equally, the baler control unit can be operable to the effect of instructing the wrapping device to dispense the wrapping material when the baler control unit receives a bale signal from the bale sensor that a bale has reached a size which is greater than or equal to the first predetermined size. Equally, the baler control unit can be operable to the effect of supplying the stop signal to the tractor control unit only when the wrapping sensor supplies the baler control unit with a wrapping signal which indicates that the wrapping material is being pulled by the bale. The wrapping signal therefore indicates that the wrapping material is being pulled by the bale after the baler control unit has instructed the wrapping device to dispense wrapping material. Upon instruction of the baler control unit, the wrapping device can discharge or dispense a twine, a mesh or a film to the bale. In addition, the baler control unit can be operable to produce an error signal if the wrapping sensor does not supply a wrapping signal to the baler control unit. By increasing the driving rotational speed of the drive shaft before the binding or wrapping operation, the entire binding wrapping operation is shortened and the bale is more rapidly discharged from the baling chamber. As a result, the entire time sequence of the baler is reduced, and this in turn increases the daily output of the baler and saves costs.
In a refinement of the disclosure, the tractor control unit can be operated in such a manner that the combination, in particular the tractor, is driveable at a speed, in particular a throughput speed, which produces a predetermined throughput of the pick-up unit of the baler. The tractor control unit can set and/or adjust, in particular control and regulate, the combination, in particular the tractor, in such a manner that the tractor is driveable, in particular automatically, at a driving speed which produces a desired or a predetermined throughput of the pick-up unit of the baler. Specifically, the tractor control unit can be operable to instruct the drive motor and/or the drive train and/or the ground engagement means to drive the tractor at the driving speed, in particular the throughput speed. The throughput can be measured by the torque being sensed at a power-take-off (PTO) of the tractor driving the baler, or with a recording sensor which senses the thickness of a crop layer picked up by the baler, or with a torque sensor which measures the torque for driving the pick-up unit.
In an exemplary embodiment, the combination, in particular the tractor, comprises a GPS device, wherein position data can be sent and/or received and/or in particular calculated with the GPS device. The GPS device can comprise, for example, a GPS antenna and a memory. The position data can comprise in particular the position of the combination or of the tractor. The position of the swath, the position being known from previous processing operations of the swath, can be stored in the memory. The GPS device and the memory can be connected in particular to the tractor control unit, in particular in signal-exchanging fashion.
The disclosure further relates to a combination of the tractor and the baler. The combination comprises an input and output unit and a tractor control unit and a baler control unit. The tractor control unit is connected to the input and output unit and to the baler control unit, in particular in signal-exchanging fashion. The baler is connected to the tractor. The tractor comprises a drive motor which is connected to a drive shaft of the baler. The baler comprises a pick-up unit for picking up crop and a baling chamber in order to compress the picked-up crop to form a bale. An adaptation signal can be generated, in particular can be produced, by means of or with the input and output unit, in particular from or by an operator of the combination, and can be sent to the tractor control unit. The tractor control unit is operable in such a manner that the tractor control unit can be used to adapt a driving rotational speed of the drive shaft of the baler when the tractor control unit receives the adaptation signal. The method according to the disclosure can be carried out by the combination according to the disclosure. The combination according to the disclosure comprises in particular the above-described embodiments of the method. The combination according to the disclosure has the above-described advantages of the method.
The baler control unit and the tractor control unit and the input and output unit can each be an electronic module and/or an embedded system and/or can each comprise a memory module and/or a processor. The baler control unit and the tractor control unit and the input and output unit can also be designed, however, as a joint electronic module and/or a joint embedded system and/or can comprise a memory module and/or a processor. The baler control unit can be connected to the bale sensor and to the tractor control unit and/or to the swath sensor and/or to the wrapping device and/or to the wrapping sensor and/or to a first and/or second actuator and/or to the recording sensor and/or to the torque sensor, preferably connected in signal-exchanging fashion and/or signal-transmitting fashion and/or in data-conducting fashion. The bale sensor and the tractor control unit and/or the swath sensor and/or the wrapping device and/or the wrapping sensor and/or the first and/or second actuator and/or the recording sensor and/or the torque sensor can be settable and/or adjustable, and/or preferably controllable and/or regulable, with the baler control unit. The tractor control unit can be connected to the baler control unit and/or to the swath sensor and/or to the drive motor and/or to the drive shaft and/or to the drive train and/or to the GPS device and/or to the steering means and/or to the first and/or second actuator and/or to the recording sensor and/or to the torque sensor, preferably connected in signal-exchanging fashion and/or signal-transmitting fashion and/or in data-conducting fashion. The baler control unit and/or the swath sensor and/or the drive motor and/or the drive shaft and/or the drive train and/or the GPS device and/or the steering means and/or the first and/or second actuator and/or the recording sensor and/or the torque sensor can be settable and/or adjustable, and/or preferably controllable and/or regulable, with the tractor control unit. The first and/or second actuator can be actuable with the tractor control unit and/or the baler control unit. The input and output unit can be a virtual terminal of a bus system, in particular with a keyboard and a display device, or else a tablet or a smartphone in which in particular a display and an input device are implemented. It is therefore possible for any input and output devices to be used. A connection in signal-exchanging fashion and/or signal-transmitting fashion and/or data-conducting fashion should be understood here as meaning that signals are exchanged between the connected components. The signals are processed in the tractor control unit and/or in the baler control unit and thus serve for setting and/or adjusting, in particular for controlling and/or regulating and activating, the components which are connected to one another in signal-exchanging fashion and/or signal-transmitting fashion and/or data-conducting fashion. The connection can be implemented so as to be wired, i.e. in particular with cables, and/or wirelessly, i.e. by radio, for example using Bluetooth. The communications bus can be, for example Isobus, CAN-bus, or similar. Specifically, the connection can be formed via a BUS line, preferably in the form of an ISO-BUS line in accordance with the standard ISO 11783. The tractor control unit and/or the input and output unit can be assigned to the tractor, and the baler control unit can be assigned to the baler. If the tractor control unit and the baler control unit and/or the input and output unit are designed as one component, said component can be assigned either to the tractor or to the baler. The tractor control unit and/or the baler control unit can be connected to the input and output unit arranged in a cab of the tractor, preferably connected in signal-exchanging fashion and/or signal-transmitting fashion and/or data-conducting fashion. With the input and output unit, data and/or commands input by an operator can be transmitted to the tractor control unit and/or to the baler control unit or received and output by same. However, it is also conceivable for the tractor control unit and/or the baler control unit to be connected indirectly to the input and output unit by a master controller unit.
The above features and advantages and other features and advantages of the present teachings are readily apparent from the following detailed description of the best modes for carrying out the teachings when taken in connection with the accompanying drawings.
Those having ordinary skill in the art will recognize that terms such as “above,” “below,” “upward,” “downward,” “top,” “bottom,” etc., are used descriptively for the figures, and do not represent limitations on the scope of the disclosure, as defined by the appended claims. Furthermore, the teachings may be described herein in terms of functional and/or logical block components and/or various processing steps. It should be realized that such block components may be comprised of any number of hardware, software, and/or firmware components configured to perform the specified functions.
Terms of degree, such as “generally”, “substantially” or “approximately” are understood by those of ordinary skill to refer to reasonable ranges outside of a given value or orientation, for example, general tolerances or positional relationships associated with manufacturing, assembly, and use of the described embodiments.
As used herein, “e.g.” is utilized to non-exhaustively list examples, and carries the same meaning as alternative illustrative phrases such as “including,” “including, but not limited to,” and “including without limitation.” As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of,” “at least one of,” “at least,” or a like phrase, indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” and “one or more of A, B, and C” each indicate the possibility of only A, only B, only C, or any combination of two or more of A, B, and C (A and B; A and C; B and C; or A, B, and C). As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, “comprises,” “includes,” and like phrases are intended to specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.
Referring to the Figures, wherein like numerals indicate like parts throughout the several views,
The tractor 10 can comprise a tractor frame 18, in particular can be carried on the tractor frame 18. The tractor frame 18 can be carried on ground engagement means. The ground engagement means, illustrated here in the form of front wheels 20 and rear wheels 22, are in engagement with an underlying surface in order to transmit driving forces, and/or by way of which the tractor 10 is supported on the underlying surface. The ground engagement means, in particular the front wheels 20 and rear wheels 22, can be steerable and/or movable. The tractor 10 can also comprise a cab 24. The cab 24 can be carried by the tractor frame 18. In addition, an operator's workstation can be situated in the cab 24. The tractor 10 comprises a front axle 28 and a rear axle 30. The rear axle 30 can be permanently driven, and the front axle 28 can be activated on demand or be permanently driven. The front axle 28 and/or in particular the rear axle 30 can be steerable. The tractor 10 can also comprise, for example, an accelerator pedal 16 or a hand throttle lever, not shown. Directional details, such as front and rear, left and right, refer below to the forwards direction 300 of the tractor 10, which forwards direction goes to the left in
The baler 12 is connected, and/or in particular coupled, to the tractor 10. For example, the baler 12 can be coupled by a drawbar 14 of the baler 12 to a hitch 15 of the tractor 10. The tractor 10 can pull the baler 12. The baler 12 comprises a pick-up unit 126 for picking up crop, a baling chamber 112 in order to compress the picked-up crop to form a bale, and, in particular, the baler control unit 110 which is connected to the tractor control unit 60, preferably in signal-exchanging fashion. The baler 12 can comprise a baler frame 114. The baler frame 114 can be carried on wheels 116. The baling chamber 112 can be arranged at or on the baler frame 114, preferably connected to the latter and/or fastened to the latter and/or carried thereon.
The baler 12 is designed with a size-variable baling chamber 112 or as a baler 12 with a variable baling chamber 112. The compression means 118 is designed as a band or belt. The compression means surrounds the baling chamber 112 and is guided by rollers 120. However, the baler can also comprise a size-invariable baling chamber. In this case, the compression means can be designed as one or more compression rollers, in particular a multiplicity of compression rollers running parallel to one another, for compressing the crop.
The pick-up unit 126, in particular in the form of a pick-up, is arranged on the baler 12, in particular below the front edge of the baler 12. The pick-up unit 126 can comprise tines moving or rotating about a transverse axis. The pick-up unit 126 can be followed in a crop flow direction by a conveyor belt 128 of the baler 12. The conveyor belt 128 could also be replaced by a rotor (not shown), or a rotor could be inserted in the crop flow direction between the pick-up unit 126 and the conveyor belt 128. Instead of the pick-up unit 126, in particular the pick-up, other suitable crop pick-up means, such as mowing and conveying units, could also be used.
The pick-up unit 126 collects crop lying on the field in a swath 130 of grass, hay or straw, and feeds said crop to the baling chamber 112. The compression means 118, in particular one or more bands or straps, can be set into movement in the longitudinal direction during a baling operation by one or more of the rollers 120 being rotatingly driven. The crop introduced into the baling chamber 112 therefore also rotates during the compression. During the compression operation, the size of the baling chamber 112 increases over time.
The baler 12 can comprise a discharge flap 132. The discharge flap 132 can be arranged pivotably on the baler 12, in particular on the baler frame 114 or on a housing part, preferably connected thereto and/or fastened thereto and/or carried thereon. The discharge flap 132 can be pivotable about an axis 134 which extends transversely to the forwards direction of the tractor 10 and of the baler 12.
A first actuator 138 in the form of a hydraulic cylinder can be connected at one end to the baler frame 114 and at a second end to the discharge flap 132, in particular fastened thereto and/or mounted thereon. The first actuator 138 can be connected to the discharge flap 132 in such a manner that it can pivot the discharge flap 132 upwards about the axis 134 (anticlockwise in
While the baler control unit 110 is generally described herein as a singular device, it should be appreciated that the baler control unit 110 may include multiple devices linked together to share and/or communicate information therebetween. Furthermore, it should be appreciated that the baler control unit 110 may be located on the baler implement or located remotely from the baler implement.
The baler control unit 110 may alternatively be referred to as a computing device, a computer, a controller, a control unit, a control module, a module, etc. The baler control unit 110 includes a processor, a memory, and all software, hardware, algorithms, connections, sensors, etc., necessary to execute the functions described herein. As such, a method may be embodied as a program or algorithm operable on the baler control unit 110. It should be appreciated that the baler control unit 110 may include any device capable of analyzing data from various sensors, comparing data, making decisions, and executing the required tasks.
As used herein, “baler control unit 110” is intended to be used consistent with how the term is used by a person of skill in the art, and refers to a computing component with processing, memory, and communication capabilities, which is utilized to execute instructions (i.e., stored on the memory or received via the communication capabilities) to control or communicate with one or more other components. In certain embodiments, the baler control unit 110 may be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals), and to output command or communication signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).
The baler control unit 110 may be in communication with other components on the baler implement and/or the tractor, such as hydraulic components, electrical components, and operator inputs within an operator station of an associated work vehicle. The baler control unit 110 may be electrically connected to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between the baler control unit 110 and the other components. Although the baler control unit 110 is referenced in the singular, in alternative embodiments the configuration and functionality described herein can be split across multiple devices using techniques known to a person of ordinary skill in the art.
The baler control unit 110 may be embodied as one or multiple digital computers or host machines each having one or more processors, read only memory (ROM), random access memory (RAM), electrically-programmable read only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog-to-digital (A/D) circuitry, digital-to-analog (D/A) circuitry, and any required input/output (I/O) circuitry, I/O devices, and communication interfaces, as well as signal conditioning and buffer electronics.
The computer-readable memory may include any non-transitory/tangible medium which participates in providing data or computer-readable instructions. The memory may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Example volatile media may include dynamic random access memory (DRAM), which may constitute a main memory. Other examples of embodiments for memory include a floppy, flexible disk, or hard disk, magnetic tape or other magnetic medium, a CD-ROM, DVD, and/or any other optical medium, as well as other possible memory devices such as flash memory.
The baler control unit 110 includes the tangible, non-transitory memory on which are recorded computer-executable instructions. The processor of the baler control unit 110 is configured for executing the instructions saved on the memory of the baler control unit 110.
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- The baler 12 can comprise a bale sensor 144 in order to sense the size of a bale in the baling chamber 112 or with which a size of a bale is sensed. The baler control unit 110 can be connected to the bale sensor 144, preferably in signal-exchanging fashion and/or signal-transmitting fashion and/or data-conducting fashion. The baler control unit 110 can be connected to the tractor control unit 60 and/or to the bale sensor 144, for example, by means of a cable, in particular with a releasable plug, or via a radio connection. The plug can be connected to a plug socket on the rear side of the tractor 10, in particular of the tractor frame 18. The bale sensor 144 which is connected to the baler control unit 110 can be arranged on or in the baling chamber 112, in particular fastened in the latter. The bale sensor 144 can sense, for example, the distance from the bale surface or from the compression means 118 lying on the bale surface, and can thus provide information about the size of the bale, in particular the bale diameter. The size of the bale sensed by the bale sensor 144 or the bale shape can be displayed to the operator on the input and output unit 74.
A wrapping device 146 can be arranged on, in particular in the vicinity of, the baling chamber 112. The wrapping device 146 can be connected to the baler control unit 110 and, as soon as it is instructed in this regard by the baler control unit 110, can dispense a wrapping material, such as twine, a band, mesh or a packaging sheet, to the baling chamber 112. The rotating bale can pull on the wrapping material or trap same such that it is then wrapped around the bale. A wrapping sensor 148 can interact with the wrapping device 146 and sense whether the bale is pulling on the packaging.
The pick-up unit 126 can be raised and lowered, for example, with a second actuator 152, here in the form of a hydraulic cylinder. The second actuator 152 can be set and/or adjusted, in particular controlled and regulated, with the baler control unit 110, for example via a further electromagnetic valve arrangement. The further electromagnetic valve arrangement can be set and/or adjusted, in particular controlled and regulated, with the baler control unit 110
A swath sensor 160, here in the form of a camera which is directed towards the swath 130, can be mounted on the tractor 10, in particular on the front side of the tractor 10. The camera supplies a video signal to the tractor control unit 60, which video signal can be processed in an image processing system. The image processing system can be designed in particular as part of the tractor control unit 60 in order to provide electronic information about the position of the tractor 10 with respect to the swath 130.
The combination 1, in particular the tractor, can also comprise a GPS device 32, wherein position data can be sent and/or can be received, and/or in particular can be calculated, with the GPS device 32. The GPS device 32 can comprise, for example, a GPS antenna receiving position data, and a memory. The position of the swath 130 that is known from earlier working operations can be stored in the memory. The tractor 10 could then be steered in such a manner that the actual position of the combination 1 or of the tractor 10, which is supplied from the GPS antenna, and the position of the swath 130 from the memory coincide. Steering data could also be calculated by the baler control unit 110 or by a separate steering control unit, not shown. The tractor 10 can also be steerable with the tractor control unit 60. For this purpose, for example, the tractor control unit 60 can be designed as a steering control unit. Specifically, the combination 1, in particular the tractor 10, can also be connected via an electromagnetic valve arrangement to a steering cylinder which sets and/or adjusts, in particular controls and regulates, the steering angle of the front axle 28 and/or of the front wheels 20.
While the tractor control unit 60 is generally described herein as a singular device, it should be appreciated that the tractor control unit 60 may include multiple devices linked together to share and/or communicate information therebetween. Furthermore, it should be appreciated that the tractor control unit 60 may be located on the tractor or located remotely from the tractor.
The tractor control unit 60 may alternatively be referred to as a computing device, a computer, a controller, a control unit, a control module, a module, etc. The tractor control unit 60 includes a processor, a memory, and all software, hardware, algorithms, connections, sensors, etc., necessary to execute the functions described herein. As such, a method may be embodied as a program or algorithm operable on the tractor control unit 60. It should be appreciated that the tractor control unit 60 may include any device capable of analyzing data from various sensors, comparing data, making decisions, and executing the required tasks.
As used herein, “tractor control unit 60” is intended to be used consistent with how the term is used by a person of skill in the art, and refers to a computing component with processing, memory, and communication capabilities, which is utilized to execute instructions (i.e., stored on the memory or received via the communication capabilities) to control or communicate with one or more other components. In certain embodiments, the tractor control unit 60 may be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals), and to output command or communication signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).
The tractor control unit 60 may be in communication with other components on the tractor and/or the baler implement, such as hydraulic components, electrical components, and operator inputs within an operator station of an associated work vehicle. The tractor control unit 60 may be electrically connected to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between the tractor control unit 60 and the other components. Although the tractor control unit 60 is referenced in the singular, in alternative embodiments the configuration and functionality described herein can be split across multiple devices using techniques known to a person of ordinary skill in the art.
The tractor control unit 60 may be embodied as one or multiple digital computers or host machines each having one or more processors, read only memory (ROM), random access memory (RAM), electrically-programmable read only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog-to-digital (A/D) circuitry, digital-to-analog (D/A) circuitry, and any required input/output (I/O) circuitry, I/O devices, and communication interfaces, as well as signal conditioning and buffer electronics.
The computer-readable memory may include any non-transitory/tangible medium which participates in providing data or computer-readable instructions. The memory may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Example volatile media may include dynamic random access memory (DRAM), which may constitute a main memory. Other examples of embodiments for memory include a floppy, flexible disk, or hard disk, magnetic tape or other magnetic medium, a CD-ROM, DVD, and/or any other optical medium, as well as other possible memory devices such as flash memory.
The tractor control unit 60 includes the tangible, non-transitory memory on which are recorded computer-executable instructions. The processor of the tractor control unit 60 is configured for executing the instructions saved on the memory of the tractor control unit 60.
While the input and output unit 74 is generally described herein as a singular device, it should be appreciated that the input and output unit 74 may include multiple devices linked together to share and/or communicate information therebetween. Furthermore, it should be appreciated that the input and output unit 74 may be located on the tractor, on the baler implement or located remotely from the tractor and the baler implement.
The input and output unit 74 may alternatively be referred to as a computing device, a computer, a controller, a control unit, a control module, a module, etc. The input and output unit 74 includes a processor, a memory, and all software, hardware, algorithms, connections, sensors, etc., necessary to execute the functions described herein. As such, a method may be embodied as a program or algorithm operable on the input and output unit 74. It should be appreciated that the input and output unit 74 may include any device capable of analyzing data from various sensors, comparing data, making decisions, and executing the required tasks.
As used herein, “input and output unit 74” is intended to be used consistent with how the term is used by a person of skill in the art, and refers to a computing component with processing, memory, and communication capabilities, which is utilized to execute instructions (i.e., stored on the memory or received via the communication capabilities) to control or communicate with one or more other components. In certain embodiments, the input and output unit 74 may be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals), and to output command or communication signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).
The input and output unit 74 may be in communication with other components on the tractor and the baler implement, such as hydraulic components, electrical components, and operator inputs within an operator station of an associated work vehicle. The input and output unit 74 may be electrically connected to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between the input and output unit 74 and the other components. Although the input and output unit 74 is referenced in the singular, in alternative embodiments the configuration and functionality described herein can be split across multiple devices using techniques known to a person of ordinary skill in the art.
The input and output unit 74 may be embodied as one or multiple digital computers or host machines each having one or more processors, read only memory (ROM), random access memory (RAM), electrically-programmable read only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog-to-digital (A/D) circuitry, digital-to-analog (D/A) circuitry, and any required input/output (I/O) circuitry, I/O devices, and communication interfaces, as well as signal conditioning and buffer electronics.
The computer-readable memory may include any non-transitory/tangible medium which participates in providing data or computer-readable instructions. The memory may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory. Example volatile media may include dynamic random access memory (DRAM), which may constitute a main memory. Other examples of embodiments for memory include a floppy, flexible disk, or hard disk, magnetic tape or other magnetic medium, a CD-ROM, DVD, and/or any other optical medium, as well as other possible memory devices such as flash memory.
The input and output unit 74 includes the tangible, non-transitory memory on which are recorded computer-executable instructions. The processor of the input and output unit 74 is configured for executing the instructions stored on the memory of the input and output unit 74.
An adaptation signal is generated by means of or with the input and output unit 74 and sent to the tractor control unit 60, and the tractor control unit 60 adapts a driving rotational speed of the drive shaft 56 of the baler 12 when the tractor control unit 60 receives the adaptation signal.
A desired driving speed can then be set in an optional step 206. In a preferred embodiment, the driving speed of the tractor 10 can be predetermined, for example, first of all by the accelerator pedal 16 or the hand throttle lever, not shown. Equally, the driving speed of the tractor 10 can be set and/or adjusted with the tractor control unit 60, in particular predetermined with the input and output unit 74.
In an optional step 208, the baler control unit 110 can receive and evaluate the bale signal of the bale sensor 144. For this purpose, the baler control unit 110 can ascertain, in particular calculate, whether a bale has reached a size which is greater than or equal to a second predetermined size. The second predetermined size can in particular be smaller (e.g. 10 cm in diameter smaller) than the first predetermined size. The first predetermined size, which corresponds to a desired bale size, and/or the second predetermined size can be input by the operator by means of the input and output unit 74. If the second predetermined size has not been reached, step 208 can be carried out again.
If, on the other hand, the size of the bale is equal to or greater than the second predetermined size, the optional step 210 is carried out. In step 210, the baler control unit 110 can be operable in such a manner or is operated in such a manner that the baler control unit 110 sends a deceleration signal to the tractor control unit 60. The tractor control unit 60 in turn can be operated or is operated to slow down the tractor if the tractor control unit 60 receives the deceleration signal from the baler control unit 110. The tractor can be driven at a slower driving speed, for example 4 km/h.
In the following optional step 212, the baler control unit 110 can receive and evaluate the bale signal of the bale sensor 144. For this purpose, the baler control unit 110 can ascertain, in particular calculate, whether a bale has reached a size which is greater than or equal to the first predetermined size. If the first predetermined size of the bale has not been reached, step 208 and/or step 212 can be carried out again.
In step 214, an adaptation signal is generated by means of or with the input and output unit and sent to the tractor control unit. In addition, the tractor control unit 60 adapts a driving rotational speed of the drive shaft 56 of the baler 12 when the tractor control unit 60 receives the adaptation signal. An operator can actuate the input and output unit 74 here, for example can actuate a button or a key or a knob such that the adaptation signal is generated and sent. In addition, in step 214, a braking operation for stopping the combination 1, in particular the tractor 10, can optionally be initiated. The braking operation can be initiated and carried out manually, for example, by the operator. However, the braking operation for stopping the tractor 10 can also be optionally initiated by the tractor control unit 60 when the tractor control unit 60 receives the adaptation signal from the input and output unit. The driving speed of the tractor 10 can be set and/or adjusted here with the tractor control unit 60. In a further optional embodiment, step 214 is carried out if the bale signal of the bale sensor 144 indicates that a bale has reached a size which is greater than or equal to a first predetermined size. In this case, the tractor control unit 60, in step 214, initiates a braking operation for stopping the tractor 10 and/or adapts the driving rotational speed of the drive shaft 56 of the baler 12 when the tractor control unit 60 receives the adaptation signal from the input and output unit 74, and the tractor control unit 60 and/or the input and output unit 74 receive(s) the stop signal from the baler control unit 110. The initiation, provided in step 214, of the braking operation for stopping the tractor can also optionally take place in steps 216 or 218.
If, in turn, the driving rotational speed of the drive shaft 56 of the baler is adapted, step 216, in which the baler control unit 110 instructs the wrapping device 146 to dispense wrapping material onto the bale, can optionally be carried out. Adapting the driving rotational speed of the drive shaft 56 can be understood as meaning increasing or reducing the driving rotational speed. If necessary or useful, the pick-up unit 126 can be raised by the second actuator 152 upon command from the baler control unit 110 before the wrapping device 146 is actuated.
This is followed by the optional step 218 in which the baler control unit 110 checks on the basis of the signals supplied by the wrapping sensor 148 whether the bale has sensed and is therefore pulling the wrapping material. If this is incorrect, step 218 is carried out again; otherwise, step 220 can optionally be carried out
This is followed by step 220 in which the winding operation is carried out and its end is awaited. An error signal can be sent from the baler controller 110 to the input and output unit 74 if the wrapping sensor does not send a signal to the baler control unit 110. In addition, as described in step 214, the braking operation for stopping the combination 1, in particular the tractor 10, can be initiated. Subsequently, the wrapped bale is discharged in step 222.
In order to make the work for the operator even simpler, a second aspect of the present disclosure is directed towards an automatic steering mode of the tractor 10 during the baling operation. The described steering operation additionally attempts to obtain an exactly cylindrical shape of the bale.
The steering operation is carried out by the tractor control unit 60 using the signal of the swath sensor 160, in particular the video signal from the camera, and in particular the bale signal of the bale sensor 144, which signals are supplied to the tractor control unit 60 by the baler control unit 110. It would also be possible to provide at least the function of converting the bale signal of the bale sensor 144 into a bale forming signal by the tractor control unit 60 instead of by the baler control unit 110, e.g. by directly connecting the bale sensor 144 to the tractor control unit 60. The camera could also be replaced or complemented, for example, by two swath position sensors which, independently of each other, sense the position of the borders of the swath 130, said swath position sensors being installed on each side of the tractor 10. In one embodiment, the swath position sensors can be fitted below the tractor sides and can measure the lateral distance from the vertical flanges of the swath, for example using ultrasound.
After the starting of the steering operation in step 300, in step 302, using the camera signals processed in an image processing system, the width W of the swath and the offset D of the center axis of the swath from the center axis of the tractor 10 can be calculated. The calculation can be undertaken with the image processing system which is designed as part of the tractor controller 60. Equally, however, the image processing system can be designed as part of the GPS device 32 and the calculation can be undertaken by the GPS device.
In step 304, it is checked whether the width W of the swath 130 is smaller than the width Wb of the baling chamber 112. If this is not the case, i.e. the baler has the same width as the swath or is even smaller, in step 306 the tractor is steered to the left or right depending on the offset D in order to remain centered on the swath 130. Step 302 follows step 306.
If, on the other hand, according to step 304, the width W of the swath 130 is smaller than the width Wb of the baling chamber 112, step 308 is carried out. In step 308, a value Δwidth is calculated which corresponds to the absolute value of the difference between the width Wb of the baling chamber 112 and the width W of the swath 130.
In step 310, the tractor control unit 60 receives the bale signal of the bale sensor 144 from the baler control unit 110. Information regarding a bale shape deviation ΔS from a cylindrical shape is calculated in step 312 by, for example, the values of different measurements of the size of the bale or values of the size of the bale that have been sensed simultaneously by a plurality of bale sensors 144 being subtracted from one another.
If the absolute value of the bale shape deviation ΔS is not greater than a predetermined threshold value, which is checked in step 314, step 316 is carried out. In step 316, the tractor 10, in particular the steering cylinder, can be set and/or adjusted, in particular controlled and regulated, in such a manner that the offset D is greater than Δwidth/2−x cm and smaller than Δwidth/2+x cm, where 1 cm≤x≤15 cm, preferably 3 cm≤x≤8 cm, particularly preferably x=5 cm. Of course, the boundary limits of the offset D can also be precisely coordinated taking into consideration the width of the pick-up unit. Since D is positive, the tractor 10 is steered to the left side of the swath 130. In one example, if W=70 cm, Wb=120 cm, Δwidth would be 50 cm, and therefore the tractor control unit 60 would attempt to get to D of between 20 and 30 cm, i.e. would steer the tractor to the left such that the swath 130 is offset to the right by 20 to 30 cm from a longitudinal axis of the tractor 10.
If, on the other hand, in step 314, the bale shape deviation is greater than the predetermined threshold value, step 318 is carried out, according to which the tractor 10, in particular the steering cylinder, is controlled in such a manner that the offset −D is greater than Δwidth/2−x cm and is smaller than Δwidth/2+x cm, where 1 cm≤x≤15 cm, preferably 3 cm≤x≤8 cm, particularly preferably x=5 cm. The tractor 10 is now steered to the right such that it passes onto the left side of the swath since D is negative. With the numbers from the above example, the tractor 10 would be steered 20 to 30 cm to the right side of the swath 130. After steps 316 and 318, step 302 is carried out again.
The tractor is therefore steered in relatively large curves along the swath 130 such that the swath 130 enters alternately in the vicinity of the left and right ends of the pick-up unit 126 in order to obtain a cylindrical bale shape, but no crop remains on the field.
The tractor control unit 60 could also check whether the swath 130 is curved and, if this is the case, could correspondingly adapt the offset D by positive values being increased and negative values being reduced when a turn made to the right and, the other way around, when a turn is made to the left. If the tractor control unit 60 has not been able to calculate satisfactory information about the swath 130, the operator could be warned acoustically and/or via a message shown on the input and output unit 74 that he must perform the steering himself, and preferably the tractor 10 would also automatically stop unless the driver takes over the steering. Each significant action on a steering wheel of the tractor 10 would also deactivate the automatic steering function.
The detailed description and the drawings or figures are supportive and descriptive of the disclosure, but the scope of the disclosure is defined solely by the claims. While some of the best modes and other embodiments for carrying out the claimed teachings have been described in detail, various alternative designs and embodiments exist for practicing the disclosure defined in the appended claims.
Claims
1. A method for operating a combination of a tractor and a baler, wherein the combination includes an input and output unit, a tractor control unit, and a baler control unit, wherein the tractor control unit is connected to the input and output unit and to the baler control unit, wherein the tractor includes a drive motor which is connected to a drive shaft of the baler, and wherein the baler includes a pick-up unit for picking up crop and a baling chamber in order to compress the picked-up crop to form a bale, the method comprising:
- generating an adaptation signal with the input and output unit;
- communicating the adaptation signal from the input and output unit to the tractor control unit; and
- adapting a driving rotation speed of the drive shaft of the baler with the tractor control unit when the tractor control unit receives the adaptation signal.
2. The method set forth in claim 1, wherein the baler includes a bale sensor operable to sense a size of the bale in the baling chamber, wherein the method further comprises sensing a size of the bale with the bale sensor and communicating a bale signal indicating the size of the bale from the bale sensor to the baler control unit, whereby the baler control unit receives the bale signal indicating the size of the bale from the bale sensor.
3. The method set forth in claim 2, further comprising the baler control unit sending the bale signal to the input and output unit, whereby the input and output unit indicates the size of the bale with the received bale signal, wherein the adaptation signal is generated with the input and output unit depending on the indicated size of the bale and sent to the tractor control unit.
4. The method set forth in claim 1, further comprising the baler control unit sending a stop signal to one of the tractor control unit and the input and output unit when the bale signal from the bale sensor indicates that the size of the bale is greater than or equal to a first predetermined size, wherein the adaptation signal is generated with the input and output unit depending on the stop signal and sent to the tractor control unit.
5. The method set forth in claim 4, further comprising initiating a braking operation, with the tractor control unit, for stopping the combination in response to the stop signal.
6. The method set forth in claim 1, further comprising defining a driving speed of the tractor with the tractor control unit.
7. The method set forth in claim 1, further comprising initiating a braking operation for stopping the tractor when the tractor control unit receives the adaptation signal from the input and output unit.
8. The method set forth in claim 1, further comprising initiating a braking operation for stopping the tractor and adapting a driving rotational speed of the drive shaft of the baler when the tractor control unit receives the adaptation signal from the input and output unit, and the tractor control unit receive the stop signal from the baler control unit.
9. The method set forth in claim 1, wherein the tractor control unit adjusts the driving rotational speed of the drive shaft when the tractor control unit receives one of the adaptation signal from the input and output unit or the stop signal from the baler control unit.
10. The method set forth in claim 1, further comprising steering the tractor with the tractor control unit.
11. The method set forth in claim 10 wherein the combination comprises a swath sensor and the tractor control unit steers the tractor along a swath on the basis of the signals of the swath sensor.
12. The method set forth in claim 1, wherein the baler comprises a wrapping device for wrapping the finished bale with wrapping material in the baling chamber.
13. The method set forth in claim 1, further comprising driving the tractor with the tractor control unit at a speed which produces a predetermined throughput of the pick-up unit of the baler.
14. The method set forth in claim 1, wherein the combination comprises a GPS device, and wherein the method further comprising sending and receiving position data with the GPS device.
Type: Application
Filed: Jan 27, 2023
Publication Date: Nov 9, 2023
Inventors: PHILIPPE OSTERMANN (Dijon), PIERRE DOMMANGE (Maizieres Les Metz), BENEDIKT JUNG (Kaiserslautern)
Application Number: 18/160,610
