Patent ID: 11877526
Assignee: GINT CO., LTD.
Field: Measurement (Instruments)
Classification: CPC A  G | IPC A  G

Claim 0:
1. A bale collecting method using a master vehicle and one or more slave vehicles, the method comprising:
establishing a communication connection with the one or more slave vehicles;
obtaining a current position of each of the one or more slave vehicles which have the communication connection and determining two slave vehicles which are closest to the master vehicle as bale collection slave vehicles;
obtaining a bale generation completion signal of a baler provided to the master vehicle and determining a position of a bale corresponding to the bale generation completion signal; and
determining a moving position of the bale collection slave vehicles, in consideration of a generation speed of a new bale after the bale generation completion signal and the position of the bale; and
transmitting, to the bale collection slave vehicles, a bale collection command including the moving position of the bale collection slave vehicles,
wherein:
the bale generation completion signal is a signal generated by detecting that the baler completes bale generation and discharges the bale to an outlet, based on a result obtained by analyzing an image signal received from a camera mounted on the master vehicle;
the bale collection command includes bale shape information generated by the master vehicle, wherein the bale shape information includes information about a shape and a size of the bale and is obtained using the camera mounted on the master vehicle;
in the determining of the bale collection slave vehicles,
a distance between the current position of each of the one or more slave vehicles and a reference position of the master vehicle is calculated, and the two slave vehicles closest to the master vehicle are determined as the bale collection slave vehicles based on the calculated distance;
the calculated distance is a distance between a point on a rear side of the master vehicle including the baler and a point on a front side of each of the one or more slave vehicles; and
the moving position of the bale collection slave vehicles;
is determined such that when one of two bale collection slave vehicles is collecting or loading bales, a remaining bale collection slave vehicle moves while maintaining a certain distance from the master vehicle moving while performing bale generation work.