Agricultural baler control system

An agricultural material baling system comprises, in one example, a bale forming component configured to form a bale of agricultural material from a terrain, and a control system configured to determine that the bale is to be released from the baling system onto the terrain, determine that a current location of the baling system has a slope above a threshold, determine a different location, that is spaced apart from the current location, for releasing the bale onto the terrain, and provide an output indicative of the different location. In one example, the control system is configured to receive yield data indicative of a volume of agricultural material in a path of the baler and to control the baling system based on the yield data. In one example, the yield data is obtained from a raking operation that rakes the agricultural material into a windrow.

FIELD OF THE DESCRIPTION

The present description relates to preparing and baling agricultural material. More specifically, but not by limitation, the present description relates to a system for controlling an agricultural baler.

BACKGROUND

There are a wide variety of different types of baled agricultural material. For instance, such material can include cotton, hay, and plant biomass material, among a wide variety of others. Some examples of baled plant biomass material include corn stalks, sugarcane residue, switchgrass, etc.

Agricultural balers can be configured to form bales with a variety of different form factors (different sizes and shapes). For example, some balers create square or rectangular bales and other balers create cylindrical bales.

Typically, a baler has pickup and conveying mechanisms for collecting the agricultural material from the ground and conveying it into a bale forming chamber, such as a compression chamber. Then, once formed, the bale is released onto the ground for subsequent pickup by another machine. During these operations, the baler may become plugged. Rectifying a plugged baler is time consuming and can be labor-intensive (i.e., the operator is required to stop the baling operation to remove the plugged material which reduces the overall baling rate (hectares/hour)).

Also, depending on the terrain, placement of a released bale can be troublesome. For instance, in the case of cylindrical bales, depositing the bale on a slope can result in the bale rolling down the slope. Not only can retrieval of such a bale be time consuming in requiring the pickup machine to travel further to retrieve the bale, but the rolling bale can result in significant damage to structures or equipment, and/or severe injury to humans or livestock.

SUMMARY

An agricultural material baling system comprises, in one example, a bale forming component configured to form a bale of agricultural material from a terrain, and a control system configured to determine that the bale is to be released from the baling system onto the terrain, determine that a current location of the baling system has a slope above a threshold, determine a different location, that is spaced apart from the current location, for releasing the bale onto the terrain, and provide an output indicative of the different location.

DETAILED DESCRIPTION

FIG. 1is a block diagram of one example of an agricultural material processing operation100that forms bales102from agricultural material104in a field106. The agricultural material can be any of a variety of types including, but not limited to, cotton, hay, and plant biomass material, among a wide variety of others.

As illustrated, a preparation operation is performed by an agricultural material preparation machine108that prepares the material104for baling by a bale forming machine110. Examples of preparation operations include mowing, cutting, and/or raking the material into a form that is acceptable by bale forming machine110. In the present example, but not by limitation, machine108comprises a raking machine that rakes cut or mowed material into windrows112.

In one example, each of machines108and110comprises a single, self-propelled implement or vehicle. For instance, a self-propelled baling forming machine includes both bale forming functionality and a drive motor or other drive mechanism for traversing the machine across the field. Similarly, a self-propelled mower includes both mowing functionality and a drive mechanism, and a self-propelled rake includes both raking functionality and a drive mechanism.

In one example, each of machines108and110can include a towed implemented that is towed by a towing vehicle. For instance, machine108can comprises a raking machine pulled by an agricultural tractor and machine110can comprises a baling machine pulled by a same or different agricultural tractor.

Depending on the type of material, the windrows112may be left to dry for a period of time (e.g., several days) before being collected and formed into bales102by machine110. In another example in which windrows112does not require drying (e.g., sugarcane residue and the like), machine110can closely follow machine108to bale the material. In other words, the preparation operation and the baling operation can be performed in a same pass through field106or in separate passes that occur at or around the same time. In a single pass example, a same towing machine, such as an agricultural tractor, can pull both a rake and a baler. In another example, different towing machines (or a same towing machine in different passes) separately tows the rake and the baler through field106. As used herein, a “pass” refers to a single instance of a driving or towing machine traversing a path through field106. As such, multiple, separate passes are made even if the preparation machine108and bale forming machine110are independently driven through field106, but are simultaneously operating within a same windrow112.

In the illustrated example, machine108comprises a towing implement109(e.g., an agricultural tractor) and a towed implement111. Implement111comprises an agricultural rake which can includes any device that uses a rake or rake-like mechanism to form agricultural material into a windrow or swath. Examples include, but are not limited to, rotary rakes, finger wheel rakes, parallel bar rakes, rake/tedder combination devices, and windrow mergers. One example of a windrow merger comprises a belt merger.

In the illustrated example, machine110includes a towing implement113(e.g., an agricultural tractor) and a towed implement115comprising a baler. In one example, implement115can further include a bale accumulator (not shown inFIG. 1) that holds one or more bales after they are formed by and ejected from the baler. A bale accumulator allows the machine to collect and transport one or more bales to a desired location in field106before depositing them on the ground.

In accordance with one example,FIG. 2is a flow diagram of one example of a method120for preparing and baling agricultural material. For sake of illustration, but not by limitation, method120will be described in the context of operation100shown inFIG. 1.

At block122, the agricultural material104is prepared in field106during a first pass. For example, this can comprise a cutting or mowing operation (represented by block124) and/or a raking operation (represented by block126). In one example, the preparation comprises harvesting with biomass/residue separation.

At block128, data indicative of the operations in the first pass is obtained. For example, this can include obtaining agricultural material data (represented by block130), machine orientation data (represented by block132) and/or obtaining machine position data (represented by block134). In one example, agricultural material data comprises a measured or estimated yield. As discussed in further detail below, this can include information indicative of a volume of windrows112.

One example of machine orientation data at block132includes pitch, roll, and/or yaw data obtained from corresponding sensor(s) on machine108. This information is indicative of a slope of the terrain within field106. The machine position data at block134is used to identify the position of machine108within field106. For example, the machine position data at block134can be obtained using a global position system (GPS) sensor, a dead reckoning sensor, or a wide variety of other sensors. This, of course, is by way of example only.

At block136, position-referenced yield data and/or position-referenced terrain slope data is generated using the data obtained at block128. In this example, the agricultural material data at block130and the machine orientation data at block132are obtained at a plurality of discrete times (i.e., periodically or after a pre-defined number of feet traversed within field106). The plurality of discrete data points are correlated to the corresponding position data at block134. As such, the information at block136can be used to generate a terrain slope map that identifies a slope of the terrain in field106and/or a yield map that shows the expected volume of windrows112at a plurality of points along the windrows.

Position-referencing data can be done in any suitable way. In the illustrated example, data is position-referenced by attaching, tagging, or otherwise associating position information with the data. In one particular example, the data is geo-tagged by assigning a tag or other piece of information to the data. This, of course, is by way of example only. Other ways of geo-locating or referencing the data can be performed.

At block138, a baling operation is performed. In the present example, this includes traversing the baler across the field during a second pass. Of course, the baling operation at block138can be performed during the first pass as well. In either case, the baler is traversed across the field in a similar path as the preparation machine at block122. This represented at block140. That is, bale forming machine110follows windrows112formed by machine108.

At block142, the baler is controlled based on the yield data to discourage plugging. One example of this is discussed in further detail below. Briefly, however, at block142the baler is controlled to maintain the feed rate or throughput rate in the baler below a threshold to discourage the material from plugging the baler. This can include adjusting the speed of the baler and/or the baler pickup height.

At block144, the bales are deposited in field106by controlling the baler based on terrain slope data. The terrain slope data can comprise the position-referenced terrain slope data generated at block136, as well as data obtained from other sources. For instance, terrain slope data can be obtained by topographical mapping tools such as an system LIDAR (i.e., a remote sensing technology that measures distance by illuminating a target with a laser and analyzing the reflected light) and a geographic information system (GIS), to name a few. One example of this is discussed in further detail below. Briefly, however, block144operates to discourage or prevent bales from being placed on terrain having a slope that is likely to result in cylindrical bales rolling down the slope and/or difficulty in subsequent pickup of the bales (i.e., even in the case of square or rectangular bales it may be difficult for bale pickup equipment to traverse terrain with a large inclination angle).

In one example, block144automatically controls bale forming machine110to move the bale ejection mechanism of machine110to a position and orientation based on the terrain slope data and a slope threshold. The slope threshold can be pre-defined, user-defined, and/or user-adjustable. For instance, the threshold can be based on an acceptable inclination angle (e.g., 20 degrees, 25 degrees, 30 degrees, etc.) below which the bales can be placed on the terrain in any orientation. In another example, the threshold can be based on a combination of the inclination angle of the slope and a difference between the axis of the cylindrical bale when it is deposited on the ground and the direction of the slope. For example, but not by limitation, for slope inclination angles between 25-30 degrees the control requires that the axis of the bale be within 15 degrees of a direction of the slope, and for slope inclination angles between 20-25 degrees the control requires that the axis of the bale be within 20 degrees of the slope. This, of course, is by way of example only.

In another example of block144, the bale forming machine can be controlled to provide feedback or instructions to the operator based on the terrain slope data. One example of this is discussed in further detail below. Briefly, however, instructions can be provided to the operator as to how machine110can be maneuvered to deposit the bale at an acceptable location and orientation in field106. At block146, the bales are collected from field106and transported to a storage location.

FIG. 3is a block diagram illustrating one example of an environment200in which agricultural material preparation machine108and bale forming machine110operate.FIG. 3illustrates example components, modules, and/or functionality of machines108and110. For the sake of illustration, but not by limitation, environment200will be described in the context ofFIG. 1.

As shown inFIG. 3, one or more of machines108and110include a drive mechanism for moving the respective machines across field106. That is, as mentioned above, it is noted that machines108and110can comprise or utilize a same towing implement, or different towing implements, for conveying the machines across field106. Thus, whileFIG. 3illustrates machines108and110as having separate drive mechanisms202and204, a same drive mechanism can be used for both machines108and110.

As shown inFIG. 3, drive mechanism204can include a steering and propulsion system206for controlling a speed of the machine(s) and a direction of travel. In one example, steering and propulsion system206is controlled by an operator using steering controls and throttle or other speed controls.

Each of machines108and110can include a data store. As shown inFIG. 3, machine108includes a data store208and machine110includes a data store210. Machines108and110can communicate with one another through a network212. Machines108and110can also communicate with a remote data store214as well.

Before describing operation of machines108and110in more detail, one or more examples of each of the items in environment200will first be described with respect toFIG. 3. Machine108includes agricultural material preparation functionality216, and one or more agricultural or other sensors218. Machine108can also include one or more processors220, a communication system222, a user interface component224, one or more user interface devices226, a location system228, and a map generator230. Machine108can include other items232as well.

Preparation functionality216includes all of the functionality (such as mechanical, hydraulic, pneumatic, electrical, etc.) that is used by machine108to prepare the agricultural material for bale forming machine110.

Sensors218can include a wide variety of different types of sensors. For instance, the sensors can include material sensors234configured to sense and provide information indicative of the agricultural material being prepared by machine108. Material sensors234illustratively include a yield sensor, such as a windrow sensor, that senses an expected yield for the agricultural material. In one example, a windrow sensor obtains data indicative of a volume of the windrow being formed by machine108. Sensors218can also include machine position sensors236configured to sense a position of machine108. For example, machine position sensors236can sense a tilt, yaw, and/or role of machine108. Other examples of sensors218include, but are not limited, weather sensors, quality sensors, fuel consumption sensors, etc.

Processor(s)220is, in one example, a computer processor with associated memory and timing circuitry (not separately shown). It is illustratively a functional part of machine108and is activated by various other items in machine108to facilitate their operation.

Communication system222illustratively allows machine108to communicate with other items in environment200. For instance, communication system222can be a cellular communication system, a communication system that allows machine108to access a wide area network (such as the Internet), a local area network communication system, a near field communication system, and/or a wide variety of other wired and wireless communication systems. In one example, communication system222is used by machine108to communication data to machine110, other machines, and/or to store data in data store214.

User interface component224illustratively (either by itself or under control of other items in machine108) generate user interfaces on or through user interface device(s)226for an operator of machine108. User interface device226can be a display device that generates user interface displays, an audible device that generates audible user interfaces, a haptic device that generates haptic user interfaces, or a wide variety of other types of user interface devices.

Location system228illustratively senses a location of machine108. By way of example, location system228can be a GPS system, a cellular triangulation system, a dead reckoning system, or a wide variety of other systems that allow machine108to identify a location where machine108is during the agricultural material preparation operation.

Data store208can be used to store any of the data sensed, generated, or otherwise obtained by machine108. In one example, data store208can store maps generated by map generator230. The maps can include, but are not limited to, yield or windrow maps, terrain slope maps, topographical maps, or any other type of map.

One example of operation of machine108is described in greater detail below with respect toFIG. 6. Briefly, however, machine108prepares the agricultural material for bale forming machine110and obtains data that is position-referenced and can be used by bale forming machine110during the bale forming operation. For example, machine108can generate position-referenced yield data238, position-referenced slope data240and/or a topographical map(s)242. This data can be made available to various machines and systems in environment200in a variety of different ways. For instance, yield data238, slope data240, and/or map(s)242can be stored in data store208and/or data store210. Alternatively, or in addition, they can be stored in data store214, which is remote from and accessible by machines108and110, as shown inFIG. 3.

The machines and systems can access the remote data store214using any of a wide variety of different networks, represented inFIG. 3. Network212, for instance, can be one or more of a cellular network, a wide area network such as the Internet, a local area network, or other networks. In addition, the machines and systems can access the data by having the data transmitted directly from one machine or system to another, and having them stored locally on the data stores of each machine or system. Further, the data can be transmitted using store and forward techniques where a machine that has no access to the cellular or other network or the internet stores the data records locally. Then, when it comes into range of a given communication network, it transmits the data to other machines or systems within the service area of that network. In another example, the data can be transmitted to remote data store214where it is later accessed by the other machines and systems. Further, the data can be made available to the various machines and systems by storing them first on machine108and then manually transmitting them. As an example, the data can be can be first stored on machine108and then manually transmitted to machine110using a removable storage device, such as a flash drive, a removable disk, or a variety of other removable storage mechanisms. The data can then be manually transmitted to machine110where it is locally stored in data store210. All of these and other types of mechanisms and architectures for machine the data available to the various machines and systems in environment200are contemplated herein.

Bale forming machine110includes bale forming functionality244, bale ejection functionality246and one or more agricultural or other sensors248. Machine110can also include a bale accumulator250, one or more processors252, a communication system254, a user interface component256, one or more user interface devices258, and a location system260. Machine110can include other items262as well. Bale forming machine110operates using a set of baler settings282, which can be stored in data store210. Alternatively, or in addition, settings282can be stored in data store214, as illustrated inFIG. 3.

Bale forming functionality244illustratively includes all of the functionality (such as mechanical, hydraulic, pneumatic, electrical, etc.) that is used by machine110in order to form a bale of agricultural material. For example, bale forming functionality244is configured to pick up agriculture material in a windrow and convey that material to a compression chamber or other type of bale forming functionality. Once the bale is complete, bale ejection functionality246is configured to deposit the bale onto field106or into bale accumulator250, if present.

Sensors248can include a wide variety of different types of sensors. In the illustrated example, sensors248includes material sensors264and machine position sensors266. In one example, sensors264and266are similar to sensors234and236, discussed above.

Processor(s)252is, in one example, a computer processor with associated memory and timing circuitry (not separately shown). It is illustratively a functional part of machine110and is activated by various other items in machine110to facilitate their operation.

Communication system254illustratively allows machine110to communicate with other items in environment200. For instance, communication system254can be a cellular communication system, a communication system that allows machine108to access a wide area network (such as the Internet), a local area network communication system, a near field communication system, and/or a wide variety of other wired and wireless communication systems. In one example, communication system254is used by machine110to communication data to machine108, other machines, and/or to store data in data store214.

User interface component256illustratively (either by itself or under control of other items in machine110) generate user interfaces on or through user interface device(s)258for an operator of machine110. User interface device258can be a display device that generates user interface displays, an audible device that generates audible user interfaces, a haptic device that generates haptic user interfaces, or a wide variety of other types of user interface devices.

Location system260illustratively senses a location of machine110. By way of example, location system260can be a GPS system, a cellular triangulation system, a dead reckoning system, or a wide variety of other systems that allow machine110to identify a location where machine110is during the agricultural material preparation operation.

As shown inFIG. 3, machine110also includes a control system268for controlling operation of machine110. Control system268includes a maximum (or target) feed rate determination component270, a target baler speed calculation component272, a target baler pick up height calculation component274, a bale position calculation component276, a machine navigation path calculation component278, and a machine control component280. Operation of control system268and other items of machine110is described in greater detail below with respect toFIG. 7. Briefly, however, in one example control system268determines a maximum or target feed rate for material into machine110and, using yield data or other information indicative of a volume of the material in a path of machine110, calculates the baler speed and/or pick up height to control the actual feed rate within the target feed rate. Then, once a bale is formed and ready to be released onto the terrain, control system268calculates a position for releasing the bale based on slope data, such as a terrain slope map or topographical map. Control system268can also calculate a navigation path for navigating machine110to the calculated bale release position.

FIG. 4illustrates one example of an agricultural material raking machine300that includes one or more sensors for detecting windrow yield or volume. Before discussing raking machine300in greater detail, a brief overview of windrow sensing will be discussed.

One type of windrow sensing system attempts to predict yield using a LIDAR sensor, or other sensor, when the material is cut or mowed. That is, this sensing arrangement senses material that is spread out across the ground in a wide, relatively thin swath layer. The sensor must therefore have a large angular range and fine angular resolution, that results in a large set of discrete measurements or data points along the width of the mower. This large quantity of data points is then processed to estimate a cross-sectional area between consecutive data points, for example by inputting the data into a complex formula. Of course, this process is complex and requires significant processing and storage bandwidth. Additionally, it may still require assumptions and be error-prone.

In accordance with one example, a sensing configuration is employed that utilizes the structure of and raking operation performed by raking machine300to obtain an indication of the windrow volume. Machine300includes a towing implement302and a raking implement304that is towed behind towing implement302. Raking implement304is illustratively a wheel rake having a set of rake wheels306. Rake wheels306are positioned to form a raking channel or gap308. Raking channel308has a known width, as it is defined by a spacing width310between wheels306. Within this raking channel308, the windrow (e.g., windrow112inFIG. 1) is formed by restricting the material width through the raking channel308. That is, the material is mechanically forced into the narrow width of raking channel308. After implement304passes, the material falls, to some extent, into the actual windrow profile that will be fed into the baling machine. In other words, the final width of the windrow that is collected during the baling operation is larger than the width of the material within channel308.

In the example ofFIG. 4, raking implement304includes a windrow sensor312configured to obtain data indicative of a volume of the windrow being formed by machine300. In the illustrated example, sensor312is positioned above raking channel308and configured to sense a height of the agricultural material within raking channel308. Since the width of raking channel308is known (i.e., it is fixed during the raking operation), a relatively accurate indication of the windrow volume can be obtained with only a few data points. For instance, in the example ofFIG. 4sensor312obtains a single data point value indicative of a height of the windrow in a middle of channel308. In combination with the known width of raking channel308, this single data point is used to obtain the indication of the windrow volume. Of course, in other examples, more than one data point can be obtained by sensor312, or by using one or more additional sensors on machine300.

In one example, sensor312can comprise an electrical sensor using an ultrasonic or light sensor, or other type of sensor, to measure the height of windrow between the rake wheels306. In another example, a windrow sensor can comprise a mechanical sensor that mechanically engages the top of the windrow to provide an indication of the windrow height. For instance, the mechanical sensor can comprise an arm that is pivotably attached to raking implement304and supports a wheel, paddle, or other feature that engages and follows a top of the windrow. By sensing a location of the device, an indication of the height, and thus the volume, of the windrow can be obtained.

In one example, sensor312outputs a value indicative of units in a particular measurement standard (e.g., inches, centimeters, etc.). In another example, the signal can be normalized to provide a relative height determination (e.g., on a scale of 0-10, with 0 representing a lowest windrow height and 10 representing a highest windrow height).

Machine300also includes a location system (not shown inFIG. 4) that can be mounted on one or more of the towing implement302or the raking implement304.

Advantageously, compared to other sensing configuration such as the example LIDAR system discussed above, the sensing system ofFIG. 4has a reduce processing load and storage requirements. Further, in some scenarios, a more accurate windrow indication can be obtained without requiring an expensive, complex sensor and data processing system.

FIG. 5illustrates one example of a bale forming machine320. Machine320illustratively includes a towing implement322and a towed implement in the form of a baler324. Machine320can also include a bale accumulator326.

Machine320includes a frame328on a chassis330, that is supported on the ground by wheels332. Wheels332follow a slope of the ground that extends transverse to the direction of operation. Baler324includes bale ejection functionality that is configured to release a bale within a bale forming chamber334onto accumulator326(or onto the ground if accumulator326is not utilized). In one example, the bale ejection functionality is configured to operate a gate into a raised position to release the bale from chamber334.

Baler324is attached to towing implement322by a tow bar336. Baler324includes a machine position sensor338configured to sense a relative position of baler324. For example, sensor338can be configured to sense a pitch, roll, and/or yawn of baler324. Baler324also includes a location system mounted thereon. Alternatively, or in addition, towing implement322can include the location system and/or machine position sensor338.

FIG. 6is a flow diagram of one example of a method350for operating an agricultural material preparation machine. For sake of illustration, but not by limitation, method350will be described in the context of operating machine108to perform a raking operation.

At block352, the raking operation is begun. During the raking operation, sensors on machine108sense windrow height, machine orientation, and/or machine position. Other characteristics of the operation can be sensed as well. This is represented at block354.

In one example, the windrow height can be sensed using mechanical sensors356, ultrasound sensors358, optical sensors360, microwave sensors362, and/or other sensors364. The machine orientation can be sensed using one or more of tilt, roll, and yaw sensors366. Other sensors for detecting machine orientation can be used as well. The machine position can be sensed using a GPS receiver368, a dead reckoning system370, or other devices372as well.

Using the sensed data from block354, the windrow height is correlated to the location in the field from which the windrow height was sensed, at block374. This windrow height gives an estimation of the material volume per windrow length unit at a particular location within the field.

At block376, a yield map can be generated based on the correlated information from block374. For example, the yield map can indicate a series of windrow heights along the windrows in the field.

At block378, a terrain slope map can be generated by correlating the machine orientation sensed at block354with the corresponding machine position. The terrain slope map provides an indication of the slope of the terrain at a plurality of positions in the field. The slope information can include, but is not limited to, an inclination angle as well as a direction of the slope.

At block380, the maps are output to a wide variety of different places, and can be used in a wide variety of different ways. For example, the maps can be output for local display at block382or for local storage at block384. Further, the maps can be output for remote display at block386, remote analysis at block388, and/or remote storage at block390. The maps can be output to other machines at392. For example, the maps can be output to bale forming machine110to utilize the yield maps and terrain slope map during the baling operation. The maps can also be output to third parties at block394. The maps can be output to other places as well. This is represented by block396.

FIGS. 7A and 7B(collectively referred to asFIG. 7) are a flow diagram of one example of a method400for operating a bale forming machine. For sake of illustration, but not by limitation, method400will be described in the context of bale forming machine110illustrated inFIG. 3.

At block402, a target feed rate is determined. In one example, the target feed rate can be a maximum feed rate set for the baling equipment and can be pre-defined (block404) or user-defined (block406), and/or can be calculated based on settings282. For instance, the target feed rate can be set based on a crop type setting (block408) and/or user preference settings (block410).

At block412, the position of the baler is determined using, for example, GPS (block414), a dead reckoning system (block416), or other system (block418).

At block420, yield data is obtained that is indicative of a volume of agricultural material in a path of the baler. This data can be stored locally (e.g., data store210) and/or accessed from a remote data store (e.g., data stores208and/or214). In one example, the yield data comprises a position-referenced windrow height obtained from a raking operation. This is represented by block422.

At block424, operation of the baler is controlled based on the target feed rate and the yield data obtained at block420. This can include control related to a speed of the baler (block426), a pickup height of the baler (block428), or other functionality (block430). Before discussing this in further detail, it is noted that the target feed rate can be adjusted at block432. For example, based on the yield data indicating the volume of agricultural material entering the baler and operational characteristics of the baler (e.g., a load on the bale forming equipment, whether the baler became plugged at a given feed rate, etc.) the target feed rate can be increased or decreased for subsequent operation of the baler.

Referring again to block426, in one example the speed of the baler can be automatically controlled based on the target feed rate and the yield data. For example, if the yield data indicates that the expected yield in the windrow ahead of the baler increases to a point where the actual feed rate is likely to exceed the target feed rate, speed calculation component272can calculate a new speed for the baler which is used by a machine control component280to automatically control propulsion system206.

Alternatively, or in addition, the target speed can be displayed to the operator as a suggested speed modification. For instance, a visual display on the towing implement can instruct the operator to increase or decrease the speed of the tractor, and/or display the particular target speed, to discourage plugging of the baler.

With respect to block428, the pickup height of the baler can be adjusted in addition to, or instead of, the speed of the baler. For example, at block438the pickup height of the baler can be automatically controlled by control component280. Alternatively, or in addition, at block440a suggested pickup height can be displayed to the operator upon which the operator can manually control the baler pickup height, if desired. As mentioned above, the pickup height of the baler defines the positioning of the baler input mechanisms relative to the ground, and thus the amount of material that is obtained from the windrow.

In one example, at block442, the method determines whether the machine110includes an accumulator and how many bales are contained in the accumulator. If so, the method determines whether to deposit bales from the accumulator at block444. This can include identifying terrain slope data in a path of the machine at block446and/or determining an expected completion of the current or next bale at block448. Based on this information, the machine can be controlled to automatically deposit a bale from the accumulator and/or instruct the operator to do so. By way of example, block444can determine that the accumulator is currently full and that there is a relatively long stretch of field that has a significant slope. In this case, block444can suggest to the operator to deposit one or more of the bales from the accumulator before reaching the slope even though the current bale in the baler is not completely formed.

At block450, the method determines whether the current bale in bale forming functionality244is complete. If not, the method returns to block412. If so, the method proceeds to block452in which it is determined whether the completed bale can be deposited at the current location of the baler. In one example, this includes accessing data from sensors266to determine a current tilt, yaw, and/or roll of the baler that indicates the slope of the current terrain on which the baler resides. If this information indicates that the bale can be deposited with little or no risk of the bale rolling down a slope, the method proceeds to block454in which the bale is deposited on the ground. For instance, the slope of the current terrain and/or orientation of the bale axis is compared to a threshold.

At block456, the method determines a different position, that is spaced apart from the current position, on which to deposit the bale. In one example, block456accesses terrain slope data for the terrain near the baler and selects an optimal or near optimal location for depositing the bale. For example, the selected position can comprise a location that has an inclination angle below a threshold and is the closest to the current position of the baler. In one example, block456considers the paths where the material is yet to be baled. This is represented by block460. For example, using information obtained during the raking operation, block456can determine that the baler is yet to pass over a windrow that is located on one side of the baler. As such, block456selects a location on the field that has already been baled (i.e., so the bale is not dropped on unbaled material).

At block462, the method determines both the location and the orientation for the bale access relative to the slope. In one example, block462computes a latitude and longitude for positioning the bale as well as the orientation of the bale axis. For instance, an acceptable position of the bale axis can be based on the incline angle of the slope. That is, for a given slope (i.e., 20 degrees), the bale can be positioned within a particular angular range (e.g., 15 degrees) of the slope direction. It is understood that as the inclination angle of the slope increases, the difference between the axis of the bale and the direction of the slope should decrease to discourage the bale from rolling.

In one example, block462utilizes the settings defined at block402(e.g., settings282). That is, block462can utilize a slope threshold that is based on one or more of the crop type and user preferences. For example, a bale formed of one crop type (e.g., corn stalks) may be less likely to roll down a hill than a bale formed of a different crop type (e.g., hay). As such, if the baler is baling corn stalks as opposed to hay, the slope threshold can be increased. Similarly, in one example a user preference setting can be indicative of how aggressive or conservative the user wants to be in selecting the location. For instance, if the field is located near people, livestock, equipment, or structures, the user may wish to be more conservative in bale placement as a bale rolling down the slope has a greater chance of damage or injury than a bale placed on a field that is not near any structures, livestock, equipment or people. In one example, these settings can be input through user interface component256and stored in settings282.

At block464, the machine is controlled based on the determined position. In one example, in addition to calculating the position for depositing the bale, component278can calculate a path for navigating the machine to that location. At block466, control component280can automatically control drive mechanism204to navigate machine110to that location. In another example, semi-automatic navigation can be performed at block468. For example, the steering mechanism can be automatically controlled but the propulsion system is controlled by the user.

In another example, at block470, the user manually navigates machine110to the determined position with the aid of instructions provided by control system268. For instance, instructions can be visually and/or audibly rendered to the user that advise the user which direction to turn the steering wheel and which direction to move the machine to reach the desired position. Alternatively, or in addition, at block472feedback on the current and target orientation of the baler can be provided to the operator. For instance, a visual display can show the current position of the baler along with the target position of the baler along with the target position of the baler to help the operator in moving machine110.

In one example of block464, as machine110is traversed across the field to the different location to deposit the bale, control system268determines the position and relative orientation of machine110using a combination of location system260and sensors266. For instance, latitude and longitude coordinates from location system260can be used to determine a point on the terrain slope map, and tilt and roll data from sensors266can indicate which direction the baler is facing on the slope (e.g., is the bale axis perpendicular or parallel to the slope at the given latitude and longitude). Then, using this information, control system268can compute and output a further set of control instructions for navigating the baler to the desired location.

At block474, if there is additional material to bale the method returns to block412.

FIG. 8is a block diagram of environment200, shown inFIG. 3, except that it communicates with elements in a remote server architecture500. In an example embodiment, remote server architecture500can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various embodiments, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and they can be accessed through a web browser or any other computing component. Software or components shown inFIG. 3as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

In the embodiment shown inFIG. 8, some items are similar to those shown inFIG. 3and they are similarly numbered.FIG. 8specifically shows that one or more items in environment200can be located at a remote server location502. For example, map generator230, data store (e.g., remote storage)214, and/or one or more of components270,272,274,276, and278can be located at a remote server location502. Therefore, machines108and/or110access those systems through remote server location502.

FIG. 8also depicts another embodiment of a remote server architecture.FIG. 8shows that it is also contemplated that some elements ofFIG. 3are disposed at remote server location502while others are not. By way of example, data store214, map generator230, and/or one or more of components270,272,274,276, and278can be disposed at a location separate from location502, and accessed through the remote server at location502. Regardless of where they are located, they can be accessed directly by machines108and/or110, through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an embodiment, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As the raking machine or baler comes close to the fuel truck for fueling, the system automatically collects the information using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For instance, the fuel truck may enter a covered location when traveling to fuel other machines or when at a main fuel storage location. All of these architectures are contemplated herein. Further, the information can be stored on the raking machine or baler until it enters a covered location. The raking machine or baler, itself, can then send the information to the main network.

It will also be noted that the elements ofFIG. 3, or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc.

FIG. 9is a simplified block diagram of one illustrative embodiment of a handheld or mobile computing device that can be used as a user or client hand held device16, in which the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of machine108and/or110for use in generating, processing, or displaying the stool width and position data.FIGS. 10-13are examples of handheld or mobile devices.

FIG. 9provides a general block diagram of the components of a client device16that can run some components shown inFIG. 3, that interacts with them, or both. In the device16, a communications link13is provided that allows the handheld device to communicate with other computing devices and under some embodiments provides a channel for receiving information automatically, such as by scanning. Examples of communications link13include allowing communication though one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks.

Under other embodiments, applications can be received on a removable Secure Digital (SD) card that is connected to an interface15. Interface15and communications link13communicate with a processor17(which can also embody processors220and/or252fromFIG. 3) along a bus19that is also connected to memory21and input/output (I/O) components23, as well as clock25and location system27.

I/O components23, in one embodiment, are provided to facilitate input and output operations. I/O components23for various embodiments of the device16can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/O components23can be used as well.

FIG. 11provides an additional example of device16that can be used, although others can be used as well. InFIG. 11, a feature phone, smart phone or mobile phone45is provided as the device16. Phone45includes a set of keypads47for dialing phone numbers, a display49capable of displaying images including application images, icons, web pages, photographs, and video, and control buttons51for selecting items shown on the display. The phone includes an antenna53for receiving cellular phone signals. In some embodiments, phone45also includes a Secure Digital (SD) card slot55that accepts a SD card57.

Note that other forms of the devices16are possible.

FIG. 13is one embodiment of a computing environment in which elements ofFIG. 3, or parts of it, (for example) can be deployed. With reference toFIG. 13, an exemplary system for implementing some embodiments includes a general-purpose computing device in the form of a computer810. Components of computer810may include, but are not limited to, a processing unit820(which can comprise processor220and/or252), a system memory830, and a system bus821that couples various system components including the system memory to the processing unit820. The system bus821may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect toFIG. 3can be deployed in corresponding portions ofFIG. 13.

The computer810may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only,FIG. 13illustrates a hard disk drive841that reads from or writes to non-removable, nonvolatile magnetic media, a magnetic disk drive851, nonvolatile magnetic disk852, an optical disk drive855, and nonvolatile optical disk856. The hard disk drive841is typically connected to the system bus821through a non-removable memory interface such as interface840, and magnetic disk drive851and optical disk drive855are typically connected to the system bus821by a removable memory interface, such as interface850.

The computer810is operated in a networked environment using logical connections (such as a local area network—LAN, or wide area network WAN) to one or more remote computers, such as a remote computer880.

When used in a LAN networking environment, the computer810is connected to the LAN871through a network interface or adapter870. When used in a WAN networking environment, the computer810typically includes a modem872or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modules may be stored in a remote memory storage device.FIG. 13illustrates, for example, that remote application programs885can reside on remote computer880.

Example 1 is an agricultural material baling system comprising a bale forming component configured to form a bale of agricultural material from a terrain, a control system configured to determine that the bale is to be released from the baling system onto the terrain, determine that a current location of the baling system has a slope above a threshold, determine a different location, that is spaced apart from the current location, for releasing the bale onto the terrain, and provide an output indicative of the different location.

Example 2 is the agricultural material baling system of any or all previous examples, wherein the agricultural material baling system comprises a towing implement and a towed baler implement that includes the bale forming component.

Example 3 is the agricultural material baling system of any or all previous examples, wherein the towing implement comprises a tractor and the bale forming component is configured to form substantially cylindrical bales.

Example 4 is the agricultural material baling system of any or all previous examples, wherein the threshold is adjustable based on one or more input parameters.

Example 5 is the agricultural material baling system of any or all previous examples, wherein the control system is configured to provide the output to a drive mechanism of the baling system to automatically control movement of the baling system across the terrain.

Example 6 is the agricultural material baling system of any or all previous examples wherein the control system is configured to provide the output to a user interface component, the user interface component being configured to render an indication of the different location to a user of the baling system.

Example 7 is the agricultural material baling system of any or all previous examples, wherein the user interface component is configured to render at least one of audible indications to the user that indicate suggested user drive inputs for navigating the baling system to the different location, or visual indications to the user that indicate suggested user drive inputs for navigating the baling system to the different location.

Example 8 is the agricultural material baling system of any or all previous examples, wherein the threshold is based on at least one of an inclination angle of the slope and a difference between a direction of the slope and an axis of the bale after it is ejected from the baling system onto the terrain.

Example 9 is the agricultural material baling system of any or all previous examples, wherein the control system is configured to obtain terrain slope information indicative of a slope of the terrain at a plurality of locations, and to determine the different position based on a slope of the different position, identified from the terrain slope information, relative to the threshold.

Example 10 is the agricultural material baling system of any or all previous examples, wherein the terrain slope information is obtained from a raking operation that rakes the agricultural material into windrows.

Example 11 is the agricultural material baling system of any or all previous examples, wherein the baling system comprises a bale accumulator, and the control system is configured to calculate the different position based on the terrain slope information and an expected completion time of a next bale in the bale forming component.

Example 12 is the agricultural material baling system of any or all previous examples, wherein the control system is configured to receive yield data indicative of a volume of agricultural material in a path of the baler and to control the baling system by at least one of rendering an indication to the operator indicative of a speed of the baling system or a pickup height of the bale forming component, and automatically adjusting a speed of the baling system or changing a pickup height of the bale forming component.

Example 13 is an agricultural material baling system comprising a bale forming component configured to form a bale of agricultural material, and a control system configured to obtain yield data from a raking operation that rakes the agricultural material into a windrow, the yield data being indicative of a volume of agricultural material in a path of the bale forming component, and control the baling system based on the yield data.

Example 14 is the agricultural material baling system of any or all previous examples, wherein the yield data comprises a position-referenced window map that indicates windrow volume at a plurality of locations.

Example 15 is the agricultural material baling system of any or all previous examples, wherein the control system is configured to control the baling system by at least one of: rendering an indication to the operator indicative of a suggested speed of the baling system, rendering a suggested pickup height of the bale forming component, automatically adjusting a speed of the baling system, or automatically adjusting a pickup height of the bale forming component.

Example 16 is an agricultural material raking machine comprising a raking mechanism configured to rake agricultural material on a terrain into at least one windrow, and a sensor configured to generate a signal indicative of a volume of the agricultural material in the windrow.

Example 17 is the agricultural material baling system of any or all previous examples, wherein the raking mechanism defines a raking channel and the sensor is configured to sense a height of the agricultural material within the raking channel.

Example 18 is the agricultural material baling system of any or all previous examples, wherein the raking mechanism comprises a set of rake wheels that are spaced to form the raking channel.

Example 19 is the agricultural material baling system of any or all previous examples, further comprising a location system configured to determine a location of the raking machine, wherein position-referenced yield data is generated based on the indicative of the volume of the agricultural material in the windrow and the location of the raking machine.

Example 20 is the agricultural material baling system of any or all previous examples, wherein a windrow map is generated based on position-referenced yield data obtained at a set of locations.