Agricultural equipment carrier

An agricultural system includes a carrier configured to transport an agricultural cart to a position proximate to or within an agricultural field. The carrier includes a rotatable base and is configured to receive the agricultural cart on the rotatable base in a docking position. The carrier is configured to move the agricultural cart from the docking position to an unloading position to unload agricultural product from within the agricultural cart to a storage bin via rotation of the rotatable base.

BACKGROUND

The subject matter of the disclosure relates generally to agricultural equipment, and more specifically, to a carrier for agricultural equipment.

Agricultural vehicles may move through a field to perform various agricultural operations. For example, a combine may harvest crops, such as wheat, corn, and oats, among others. In the harvesting process, the combine may collect the crops, separate grains/seeds from the crops, and convey the gains/seeds to a storage system (e.g., grain cart). The storage system receives the grains/seeds and transports the grains/seeds to a storage (e.g., a storage bin towed by an on-road truck).

To perform the harvesting process, traditional systems use multiple operators to control the combine and to control the storage system. Further, when the storage system is full, one of the operators transports the grains/seeds to the storage bin. However, while the operator is transporting the grains/seeds to the storage bin, the combine may not have a storage system in which to output the grains/seeds (e.g., while waiting for the storage system to return, while waiting for another system to arrive, etc.). As such, efficiency of the harvesting process may be reduced due to delays in transporting the grains/seeds from the combine to the storage bin.

BRIEF DESCRIPTION

In a first embodiment, an agricultural system includes a carrier configured to transport an agricultural cart to a position proximate to or within an agricultural field, wherein the carrier comprises a rotatable base and is configured to receive the agricultural cart on the rotatable base in a docking position, and to move the agricultural cart from the docking position to an unloading position to unload agricultural product from within the agricultural cart to a storage bin via rotation of the rotatable base.

In a second embodiment, an agricultural system includes a carrier configured to transport an agricultural cart to an agricultural field or proximate to the agricultural field, wherein the carrier comprises a lower level, an upper level, a first longitudinal side, and a second longitudinal side, opposite the first longitudinal side, a first ramp is positioned on the first longitudinal side and configured to enable the agricultural cart to move from the agricultural field to the upper level, and a second ramp, different from the first ramp, is positioned on the second longitudinal side and configured to enable the agricultural cart to move from the upper level to the agricultural field.

In a third embodiment, an agricultural system includes a carrier configured to transport an agricultural cart to a position proximate to or within an agricultural field, and a carrier controller includes a processor and a memory and configured to control operations of the carrier, wherein the carrier controller is configured to receive at least one of a first signal indicative of a position of the agricultural cart and a second signal indicative of the agricultural cart in a docking position on the carrier, and send a third signal indicative of instructions to unload agricultural product from the agricultural cart into a storage bin while the position of the agricultural cart is within a threshold range of the docking position, the agricultural cart is in the docking position, or a combination thereof.

DETAILED DESCRIPTION

Turning to the figures,FIG. 1is a top view of an embodiment of an agricultural system10that includes an agricultural vehicle12, such as a combine, in an agricultural field14. The agricultural vehicle12may be used to harvest any number of crops, such as wheat, corn, oats, sunflowers, and canola, among others. The agricultural vehicle12collects crops16via a header18and performs one or more processes on the crops16to generate a harvested agricultural product, such as grain, seed, or other agricultural product. For example, the agricultural vehicle12may collect the crop and separate seeds from the crop. An unloader20of the agricultural vehicle12may convey the harvested agricultural product22to an agricultural cart24, such as a grain cart.

In the illustrated embodiment, the agricultural cart24is self-powered (e.g., not towed by a separate vehicle, such as a tractor) and configured to operate at least partially autonomously. Accordingly, an automatic system may direct the agricultural cart24without direct control from an operator. For example, an operator may input instructions via a user interface (e.g., of a base station remote from the agricultural cart) and a control system of the agricultural cart24may control the cart based on the instructions. In certain embodiments, the instructions may include instructions to initiate operations, instructions to terminate operations, instructions to dock with a selected agricultural vehicle, or a combination thereof, among other instructions.

The agricultural cart24may receive the agricultural product22from the agricultural vehicle12and transport the agricultural product22to a storage bin26, such as a storage tank of a semi-trailer, a cargo container of a train, or the like. In the illustrated embodiment, the agricultural cart24transports the agricultural product22along a path28toward an agricultural carrier system30. The agricultural carrier system30is configured to unload the agricultural product22from the agricultural cart24into the storage bin26. Once unloaded, the agricultural cart24travels along a return path32to the agricultural vehicle12. Multiple agricultural carts may be used to form a continuous conveyer system34of one or more loaded carts36traveling along the path28toward the agricultural carrier system30, one or more unloaded carts38traveling along the return path32, one or more agricultural carts40in a queue to receive the agricultural product22, a loading agricultural cart25receiving the agricultural product22from the agricultural vehicle12, or a combination thereof. The continuous conveyer system34may improve efficiency of the agricultural operation because the loading agricultural cart25is receiving grain while other agricultural carts are travelling to receive or unload the agricultural product, thereby increasing an amount of time that the agricultural vehicle12is performing agricultural bin operations (e.g., harvesting). Once the storage bin26is filled to a selected level with agricultural product, a prime mover42, such as a tractor unit/truck, may transport the agricultural product22to an agricultural facility for storage and/or processing.

FIG. 2is a perspective view of an embodiment of an agricultural cart24and an agricultural cart carrier system30that may be used in the agricultural system ofFIG. 1. As illustrated, the agricultural carrier system30is in a harvesting mode and configured to unload agricultural product22from the agricultural cart24into the storage bin. In the illustrated embodiment, the agricultural carrier system30includes a carrier50having a lower level52configured to store a first set of agricultural carts and an upper level54configured to store a second set of agricultural carts while the agricultural carrier system30is in a transport mode (e.g., while the carrier50transports the agricultural carts to/from the agricultural field). The carrier50includes a first longitudinal side56and a second longitudinal side58. The first side56includes a first ramp60, which is in a lowered position to enable an agricultural cart62to transport agricultural product from the agricultural field14to a docking position64on the upper level54of the carrier50. As described in detail below, after the agricultural cart reaches the docking position, the carrier50may rotate the agricultural cart to an unloading position to unload the agricultural product from within the agricultural cart to the storage bin. Upon unloading the agricultural product, the carrier50may rotate the agricultural cart from the unloading position to the docking position to return the agricultural cart to a position in which the cart may move under its own power. The second side58of the carrier50includes a second ramp66, which is in a lowered position to enable an agricultural cart68to return to the agricultural field14after unloading the agricultural product into the storage bin26. By including the first ramp60and the second ramp66, the carrier50enables the agricultural carts24to follow a path70between the unloading path28and the return path32. The continuous path enables24an agricultural cart to move to the docking position64while another agricultural cart24returns to the field after unloading, thereby reducing unloading time, as compared to an unloading system that includes a single ramp in which each cart waits for another cart to unload.

In the illustrated embodiment, the carrier50includes two support legs72configured to stabilize the carrier50while the carrier is in the harvesting mode (e.g., in a position to unload agricultural product from carts to the storage bin). While the carrier50includes two support legs, it should be appreciated that in alternative embodiments, the carrier50may include one, two, three, four, or more support legs.

FIG. 3is a perspective view of the agricultural cart24and the agricultural carrier system30ofFIG. 2. As illustrated, the agricultural carrier system30is in the harvesting mode and the agricultural cart is in the unloading position, thereby unloading agricultural product22from an agricultural cart24into the storage bin26. In the illustrated embodiment, the agricultural cart24includes a storage container80to store the agricultural product and wheels82(e.g., one, two, three, four, five, or more wheels) to transport the storage container80between the storage bin26and the agricultural vehicle12. Further, the agricultural cart24may include a motor to drive the wheels82to rotate, thereby causing the agricultural cart24to move.

In the illustrated embodiment, the agricultural carrier50includes an unloading system84. The unloading system84includes a rotatable base86configured to support one or more wheels of the agricultural cart24. The carrier50is configured to position the rotatable base86in a docking position88to enable the agricultural cart24to be positioned on the rotatable base86. While the cart24is positioned on the rotatable base86, the unloading system may rotate the rotatable base86from the docking position88to an unloading position90(e.g., orthogonal to the docking position88), to unload the agricultural product from the storage container80into the storage bin26. While a docking position and an unloading position is shown inFIG. 3, multiple docking positions and/or unloading positions may be used to unload the agricultural product into the storage bin26. Upon unloading the agricultural product, the unloading system84may rotate the rotatable base86from the unloading position90to the docking position88to enable the agricultural cart24to move down the second ramp66along the path70to return to the agricultural field and to subsequently return to the combine12to receive additional agricultural product. Further, the unloading system84may include a device (e.g., hydraulic cylinders, pneumatics, etc.) to rotate the rotatable base86. The unloading system may secure the agricultural cart to the rotatable base using any suitable method. For example, the agricultural cart24may include one or more protrusions in configured to engage corresponding recess(es) of the carrier to secure the agricultural cart during the unloading process. While a rotatable base is described in detail with respect toFIG. 3, other embodiments may include any suitable method for unloading the agricultural product from the cart into the storage system. For example, in certain embodiments, the carrier may include a pneumatic control system that instructs a pneumatic tube to unload the agricultural product from the agricultural cart into the storage bin. In other embodiments, the agricultural cart may include an unloading auger configured to rotate from a transportation position in which the agricultural cart may move between the carrier50and the agricultural vehicle to an unloading position in which the auger unloads the agricultural product within the agricultural cart into the storage bin.

FIG. 4is a side view of an embodiment of the agricultural carrier system30, which is configured to transport multiple agricultural carts. The agricultural carrier system30includes a towing vehicle94, such as a tractor unit, truck, or another prime mover. The towing vehicle94includes a service module96coupled to the carrier50via a hitch98(e.g., three point hitch) of the carrier50(e.g., in a transportation mode). The service module96is configured to transport equipment to the agricultural field. For example, the service module96may be driven to the agricultural field via the towing vehicle94. In some embodiments, the service module96may receive signals from the base station indicative of locations in which to transport the equipment. While the illustrated embodiment is configured to be towed by the towing vehicle, in other embodiments, the carrier50may be self-propelled (e.g., via an engine on the carrier).

By locating the service module between the towing vehicle94and the carrier50, a number of articulating points may be reduced thereby enabling easier reversing of the agricultural carrier system30. For example, the towing vehicle may articulate at the hitch98. Further, by locating the service module96near the towing vehicle94, the service module96may receive compressed air, pressurized hydraulic fluid, electrical power, or the like, from the towing vehicle94and/or an engine of the towing vehicle94could drive an air compressor, hydraulic pump, generator, or the like, via a power take off (PTO) shaft. Additionally, to disconnect the carrier50and utilize the carrier50in a harvesting mode, as described above, the carrier50may be disconnected without disconnecting the service module96from the towing vehicle94. While the agricultural carrier system30includes a carrier coupled to a service module, in other embodiments, the towing vehicle may be coupled to the carrier without the service module, or the service module may be towed behind the carrier.

The carrier50includes a lower level52configured to store a first set100of agricultural carts24and an upper level54configured to store a second set102of agricultural carts24. The carrier50is configured to transform from the transportation mode in which the carrier50transports the agricultural carts24to the agricultural field into the harvesting mode in which the carrier facilitates unloading of the agricultural product24from the agricultural carts24into the storage bin. To transform the carrier50into the harvesting mode, a first ramp and second ramp of the upper level54may be lowered from a raised position104to a lowered position106(e.g., via hydraulic cylinders, etc.). For example, to unload the agricultural carts while in the transportation mode, the first set100of agricultural carts24may move onto the agricultural field. Then, the ramp on the second side58may be lowered to the lowered position106to enable the second set of agricultural carts24to move onto the agricultural field. Further, the support legs72may be deployed (e.g., lowered via hydraulic cylinders, etc.).

FIG. 5is a block diagram of an embodiment of a control system110configured to control the agricultural cart and the agricultural carrier system. The control system110includes an agricultural cart control system112that includes an agricultural cart controller114having a processor116and a memory device118. The agricultural cart control system112also includes one or more sensors120(e.g., infrared sensors, ultrasonic sensors, magnetic sensors, etc.), a transceiver122, and a spatial locating device124(e.g., global positioning system receiver, etc.) each communicatively coupled to the agricultural cart controller114. Further, the agricultural cart controller114is configured to receive signal(s) from the one or more sensors120, the transceiver122, the spatial locating device124, or a combination thereof, and to control one or more operations of the agricultural cart based at least in part on the received signal(s).

The agricultural cart controller114may generate and send signal(s) to a steering control system126to control a direction of travel of the agricultural cart and/or to a speed control system128to control a speed of the agricultural cart. In the illustrated embodiment, the steering control system126includes a wheel angle control system130, a differential braking system132, and a torque vectoring system134. The wheel angle control system130may automatically rotate one or more wheels and/or tracks of the agricultural cart (e.g., via hydraulic actuators) to steer the agricultural cart along a desired route. By way of example, the wheel angle control system130may rotate front wheels/tracks, rear wheels/tracks, and/or intermediate wheels/tracks of the agricultural cart, either individually or in groups. The differential braking system132may independently vary the braking force on each lateral side of the agricultural cart to direct the agricultural cart along the desired route. Similarly, the torque vectoring system134may differentially apply torque from an engine to wheels and/or tracks on each lateral side of the agricultural cart, thereby directing the agricultural cart along a desired route. While the illustrated steering control system126includes the wheel angle control system130, the differential braking system132, and the torque vectoring system134, it should be appreciated that alternative embodiments may include one or two of these systems, in any suitable combination. Further embodiments may include a steering control system126having other and/or additional systems to facilitate directing the agricultural cart along the desired route.

In the illustrated embodiment, the speed control system128includes an engine output control system136, a transmission control system138, and a braking control system140. The engine output control system136is configured to vary the output of the engine to control the speed of the agricultural cart. For example, the engine output control system136may vary a throttle setting of the engine, a fuel/air mixture of the engine, a timing of the engine, other suitable engine parameters to control engine output, or a combination thereof. In addition, the transmission control system138may adjust gear selection within a transmission to control the speed of the agricultural cart. Furthermore, the braking control system140may adjust braking force, thereby controlling the speed of the agricultural cart. While the illustrated speed control system128includes the engine output control system136, the transmission control system138, and the braking control system140, it should be appreciated that alternative embodiments may include one or two of these systems, in any suitable combination. Further embodiments may include a speed control system128having other and/or additional systems to facilitate adjusting the speed of the agricultural cart.

In the illustrated embodiment, the carrier control system141includes a carrier controller142having a processor144and a memory device146. In addition, the carrier control system141includes one or more sensors148, a transceiver150, and an unloading system152. The unloading system152includes a rotation control system154configured to rotate the rotatable base with respect to the carrier50to selectively unload the agricultural product from the agricultural cart into the storage bin. The rotation control system may control hydraulic or pneumatic fluid flow to an actuator (e.g., cylinder), or the rotation control system may provide electrical signal(s) to an electronic actuator (e.g., electro-mechanical actuator, etc.).

In the illustrated embodiment, the controllers114and142each include a processors, such as the microprocessor116and144, and a memory, such as the memory devices118and146, respectively. The controllers114and142may also include one or more storage devices and/or other suitable components. The processors116and144may be used to execute software, such as software for controlling the agricultural cart, the cart carrier, and so forth. Moreover, the processors116and144may include one or more “general-purpose” microprocessors, one or more special-purpose microprocessors, one or more application specific integrated circuits (ASICS), or some combination thereof. For example, each processor116and144may include one or more reduced instruction set (RISC) processors.

The memory devices118and146may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory device118and146may store a variety of information and may be used for various purposes. For example, the memory devices118and146may store processor-executable instructions (e.g., firmware or software) for the processors116and144to execute, such as instructions for controlling the agricultural cart and/or the agricultural cart carrier. The storage device(s) (e.g., nonvolatile storage) may include ROM, flash memory, hard drive(s), or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data (e.g., associated with control of the cart and/or cart carrier), instructions (e.g., software or firmware for receiving inputs from an operator and controlling operation of cart and/or cart carrier based on the received inputs), any other suitable data, or a combination thereof.

The spatial locating device124is communicatively coupled to the agricultural cart controller114and mounted to the agricultural cart. The spatial locating device124is configured to determine a position of the agricultural cart. The spatial locating device124may include any suitable system configured to determine the position of the agricultural cart, such as a global positioning system (GPS) receiver, for example. In certain embodiments, the spatial locating device124may be configured to determine the position of the agricultural cart relative to a fixed global coordinate system (e.g., via the GPS receiver) or a fixed local coordinate system. Further, in certain embodiments, the transceiver122may output signal(s) indicative of the position of the agricultural cart to the transceiver150of the carrier control system141.

In the illustrated embodiment, the transceiver122of the agricultural cart control system may communicate with the transceiver150of the carrier control system141to coordinate unloading operations. For example, the controller114may receive signal(s) from the spatial locating device124indicative of a position of the agricultural cart. The controller114may determine the position of the cart based on the signal(s) and send a first signal indicative of the position of the agricultural cart to the carrier controller142. The carrier controller142may determine if the position of the cart is within a threshold distance (e.g., less than 0.5 meters) of the docking position or in the docking position. In certain embodiments, the controller114may output a second signal indicative of instructions that the position of the cart is within a threshold distance of the docking position or in the docking position. The carrier controller142may send a third signal to the rotation control system154indicative of instructions to rotate the rotatable base from the docking position to the unloading position. For example, the rotation control system142may send a signal to a hydraulic, pneumatic, or electrically controlled actuator to instruct the actuator to rotate the rotatable base, thereby unloading the agricultural product from the agricultural cart into the storage bin. The carrier controller may be configured to receive a fourth signal from the cart controller114indicative of completion of unloading the agricultural product and to send a fifth signal to the unloading system152indicative of instructions to rotate the rotatable base of the carrier from the unloading position to the docking position to enable the agricultural cart to return to the agricultural field. In some embodiments, the fourth signal may be sent based on a period of time and/or a measured volume within the agricultural cart (e.g., when sensors of the cart determine the cart is empty).

When the rotatable base is in the docking position (e.g., as determined by sensors on the carrier) the controller142may then send a sixth signal via the transceiver150to the transceiver122of the agricultural cart indicative of the rotatable base returning to the docking position, thereby completing the unloading process and enabling the agricultural cart to return to the agricultural field. For example, the cart controller114may be configured to receive the sixth signal and to send a seventh signal to the steering control system126, the speed control system128, or a combination thereof, indicative of instructions to move the agricultural cart from the carrier to the agricultural field.

In certain embodiments, the carrier controller may be configured to send the third signal to a pneumatic control system to instruct a pneumatic conveyer156to unload the agricultural product from the agricultural cart into the storage bin. Further, the carrier controller142may be configured to send an eighth signal to the pneumatic control system to instruct the pneumatic conveyer to stop operation of the pneumatic conveyer after a period of time.