Patent Publication Number: US-2022221873-A1

Title: Round baler

Description:
TECHNICAL FIELD 
     This invention relates to a baler for providing bales and to a method for producing bales in a baler. 
     BACKGROUND ART 
     Specifically, in the field of balers, in order to collect the crops, three subsequent operations can be performed: the crops are first cut with a harvester, then the crops are grouped with a rake and finally they are stocked in bale through a baler. In other cases, some machines are able to cut and group the crops that are subsequently collected through a baler. 
     These operations are performed in sequence. Usually, one single tractor is connected to each tool of the respective operation. For example, first the harvester is connected to the tractor and all the crops are cut, then the rake is connected to the tractor to group all the crops and finally the baler is connected to the tractor to form the bales. 
     It is diffused the necessity to speed up these operations and make them less consuming. 
     In the field a solution is known in which the baler is self-propelled and is remote controlled. In this solution, disclosed in EP3155890A1, the baler is configured to form bale with parallelepiped form. However, in this solution, a difference between the working speed of the machines can produce a work interruption, with a loss of working time and even safety problems. 
     Document WO2017201392 shows another example of self-propelled baler, controlled with a cabin connected to the baling chamber. However, this solution requires the presence of an operator and it is, therefore, more expensive. 
     Patent document WO2017/201466A1 regards a round baler for forming round bales which is either self-propelled or towed; the movement of the baler can be controlled based on instructions stored in a memory device, or on input received from sensors. 
     Patent document US2015/101519A1 regards autonomous drive systems for agriculture-based operations, with a fleet of tugs to be driven off the road to transport materials. 
     Patent document WO2018/206592A1 regards a system comprising a controller associated with an agricultural for determining route-plan-data representative of a route to be taken by the agricultural vehicle in an agricultural field; the route-plan-data are based on the location of bales in the agricultural field. 
     However, a need remains of an effective way to drive a self-propelled round baler on the field during its operation. 
     DISCLOSURE OF THE INVENTION 
     Scope of the present invention is to overcome the aforementioned drawbacks. 
     This scope is achieved by the baler and the method according to the appended claims. 
     According to an aspect of the present description, the present disclosure provides a baler for producing (providing) bales. 
     In one embodiment, the baler is a round baler for providing round bales. In other embodiments the baler is configured to form other types of bales, for example square bales. 
     In one embodiment, the baler is a non-stop baler, configured to form bales without stop an advancing movement. In one embodiment, the baler is an intermittently baler, configured to form bales and interrupt the advancing movement for binding/wrapping and discharging the formed bale. 
     The baler comprises a frame. The baler comprises two wheels connected to the frame. 
     The baler comprises a baling chamber. The baling chamber is supported by the frame, for receiving crops and for housing a formed bale. 
     The baler comprises a conveying assembly. The conveying assembly delimits the baling chamber. The conveying assembly is configured to impart a rotating movement to the crops contained in the baling chamber. 
     The baler comprises a binder. The binder is configured for binding the formed bale with a fastening element, for example net, twine or plastic film. 
     In one embodiment, the baler comprises a steering system. The steering system is configured to vary an advancing direction of the baler. With the term “advancing direction” is defined the direction of movement of the baler on the ground. 
     In one embodiment, the baler is self-propelled. In one embodiment, the baler comprises a motorization unit. The motorization unit is connected to the first wheel and to the second wheel, for moving the baler on the ground. 
     The baler comprises a control unit. 
     In one embodiment, the baler is an autonomous driving vehicle (ADV). The control unit is configured for generating control signals, for controlling the motorization unit and to the steering system. 
     In one embodiment, the control unit is programmed to derive the control signals from the command signals. 
     In one embodiment, the control unit is connected to the motorization unit for controlling it. 
     In one embodiment, the control unit is configured to receive command signals. In one embodiment, the baler comprises a wireless connection. In one embodiment, the control unit is configured to receive the command signals through the wireless connection. In one embodiment, the control unit is programmed to control the motorization unit. In one embodiment, the control unit is programmed to control the steering system. In one embodiment, the control unit is programmed to control the motorization unit and/or the steering unit in response to the command signals. 
     In one embodiment, the command signals are representative of a real time position on the field of a driving object moving on the field. The driving object is an object that should be followed by the baler on the field, for example a rake or a harvester towed by or mounted on a tractor or another agriculture machine working in collaboration. In one embodiment, the control unit is configured to process the command signals. The control unit is configured to derive in real time a driving path defined by the movement of the driving object. The control unit is programmed to control the steering system to follow the driving path. 
     In one embodiment, the command signals include route signals, representative of a working path to be followed by the baler on a field. 
     In one embodiment, the control unit is programmed to derive in real time a driving speed, for an advancing movement of the driving object. The driving speed, in one embodiment, is derived along the driving path. 
     In one embodiment, the control unit is configured to receive directly the driving speed from the driving object. 
     In one embodiment, the control unit is programmed to derive in real time a distance between the round baler and the driving object. In one embodiment, the distance is derived along the driving path. 
     In one embodiment, the control unit is programmed to control the motorization unit to advance the round baler on the driving path at a working speed. In one embodiment, the working speed is responsive to the driving speed and/or to the distance. 
     In one embodiment, the working speed is higher than the driving speed. In one embodiment, the driving speed is higher than the working speed. 
     In one embodiment, the control unit is configured to keep the working speed equal to the driving speed. 
     In one embodiment, the control unit includes a memory. The control unit has a minimum distance value memorized into the memory. The control unit has a maximum distance value memorized into the memory. 
     In one embodiment, the control unit is programmed to control the motorization unit to keep the distance greater than the minimum distance value. In one embodiment, the control unit is programmed to control the motorization unit to keep the distance below the maximum distance value. 
     In one embodiment, the control unit is programmed to generate a warning signal. 
     In one embodiment, the control unit is programmed to generate the warning signal, responsive to the driving speed and/or to the distance. In one embodiment the warning signal is assigned to the driving object. In one embodiment the warning signal is assigned to the baler. 
     In one embodiment, the motorization unit is configured to speed up or interrupt the advancing of the baler in response to the warning signals. 
     In one embodiment, the baler comprises a third wheel. In one embodiment, the baler comprises a fourth wheel. In one embodiment, the baler comprises a first axle. The first axle is elongated along a transversal direction. The first axle is connected to the first wheel and the second wheel. 
     In one embodiment, the baler comprises a second axle. The second axle is spaced apart from the first axle along a longitudinal direction, perpendicular to the transversal direction. The second axle is connected to the third and the fourth wheel. 
     In one embodiment, the second axle is associated to the steering system to vary the advancing direction of the baler. 
     In one embodiment the centre of gravity of the baler is between the first axle and the second axle. In one embodiment the centre of gravity of the baler is between the first axle and the second axle, along the longitudinal direction. In one embodiment the centre of gravity of the baler is at a distance from the first axle greater than 20 cm. In one embodiment the centre of gravity of the baler is at a distance from the first axle greater than 50 cm. In one embodiment the centre of gravity of the baler is at a distance from the first axle between 20 cm and 50 cm. In one embodiment the centre of gravity of the baler is at a distance from the first axle equal to half of the distance between the first and the second axle along the longitudinal direction. 
     In one embodiment, the distance between the first axle and the second axle along the longitudinal direction is between 80 cm and 120 cm. In one embodiment, the distance between the first axle and the second axle along the longitudinal direction is (approx.) 100 cm. 
     In one embodiment, the baler comprises an on-board power source. The on-board power source is connected to the motorization unit for providing a motorization power. 
     In one embodiment, the motorization unit is an electrical motor. In another embodiment, the motorization unit is a hydraulic motor. 
     In one embodiment, the power source comprises a motor. The power source comprises a generator. The generator is configured to transform the mechanical power of the motor into electrical power. 
     In one embodiment, the baler comprises a power accumulator. In one embodiment, the power source is defined by the accumulator. In one embodiment, the accumulator is an electrical accumulator, such as a battery. 
     The baler comprises a pick up device, which is configured to pick-up the crops from the ground. 
     The baler comprises a feeding channel, associated with the pick-up device to receive crops. The feeding channel extends towards the baling chamber to feed the crops to the baling chamber. 
     The feeding chamber has a bottom wall defining a drop floor, that holds the crops passing through the feeding channel. 
     In one embodiment, the baler comprises a plurality of knives. The plurality of knives faces towards the feeding channel to cut the crops passing thereto. The plurality of knives passes through respective holes in the drop floor to transversally cut the feeding channel. 
     In one aspect of the present disclosure (which applies to any typology of balers, particularly round balers, thus not limited to self-propelled balers), the baler (either self-propelled baler towed baler) comprises a group of electrical actuators. This aspect of the present disclosure is further explained in the following. 
     The group of actuators are electrically powered by the on-board power source and/or by the accumulator. 
     The group of electrical actuators may comprise electric motors and/or electric linear actuators. 
     In one example, the group of actuators includes a first actuator. 
     In one example, the conveying assembly includes a plurality of rollers. The first actuator is configured to actuate the plurality of rollers. 
     In one example, the conveying assembly includes a belt and a plurality of pulleys. The first actuator is configured to actuate the belt and the plurality of pulleys. 
     In one example, the baler includes a transmission. The transmission can be a chain transmission or a belt transmission or a combination thereof. In one example, the transmission is connected to the plurality of rollers and to the first actuator, to transmit the movement. In one example, the transmission is connected to the belt and to the first actuator, to transmit the movement. 
     In one example, the first actuator is an electric motor. 
     In one example, the baler comprises a discharge gate, movable from a closed position, wherein the bale is contained into the baling chamber, and an open position, wherein the bale is discharged from the baling chamber. 
     The group of actuators includes a second actuator. In one example, the second actuator is configured to actuate the discharge gate. 
     In one example, the baler comprises a pick-up device. The pick-up device is rotatable to pick-up crops from the ground. In one example, the group of actuators includes a third actuator. The third actuator is configured to rotate the pick-up device. In one example the third actuator is an electric motor. 
     In one example, one or more of the actuators of the group of electric actuators is configured to perform one or more of the following actions:
         move the pick-up device between a working position and a maintenance position;   move the plurality of knife of the baler;   move the drop floor of the feeding channel.       

     The baler comprises a hydraulic actuator. In one example, the hydraulic actuator is connected to the discharge gate to move it between the closed position to the open position. 
     In one example, the baler comprises a group of (one or more) hydraulic actuators. In one example, the baler comprises a hydraulic pump. The hydraulic pump is electrically driven by the control unit. The hydraulic pump is configured to pressurize a compression fluid to be distributed into the hydraulic actuator or into the group of hydraulic actuators. 
     In one example, the pick-up device is movable between a working position and a maintenance position. In one embodiment, a first hydraulic actuator of the group of hydraulic actuators is connected to the pick-up device to move it between the maintenance position to the working position. 
     In one example, a second hydraulic actuator of the group of hydraulic actuators is connected to the discharge gate to move it between the closed position to the open position. 
     In one example, the baler comprises a group of sensors. The group of sensors comprises a camera. The group of sensors is positioned into an upper part of the frame. The group of sensors is positioned above the conveying assembly along the vertical direction, parallel to the direction of the weight force. 
     According to an aspect of the present description, the disclosure provides an agricultural working system. The agriculture working system comprises a baler, preferably a round baler. 
     It is hereby clarified that one or more of the features disclosed in the present document for the baler shall be considered valid and disclosed also for the baler of the agriculture working system. 
     The agriculture working system comprises a driving object. The driving object could be a harvester, a rake towed by or mounted on a tractor or another agriculture machine working in collaboration, preferably in sequence, with the baler. 
     In one embodiment, the agriculture working system comprises a remote control system. In one embodiment, the remote control system is integrated in the driving object or part of it. 
     In one embodiment, the driving object comprises a respective GPS system, to determine his position on the field. 
     In one embodiment, the agriculture working system comprises a remote control station. In this embodiment, the remote control system could be placed on the remote control station and/or on the driving object. 
     In one embodiment, the remote control system is configured to detect a real time position of the driving object moving on the field. In one embodiment, the remote control system is configured to send command signals, representative of the real time position of the driving object to the control unit of the baler through a wireless connection. 
     In one embodiment, the driving object is configured to send the real time position to the remote control system of the remote control station. In this embodiment, the remote control station is programmed to send the command signals to the baler via the wireless connection. 
     In one embodiment, the driving object is configured to send to the control unit of the baler a speed signal, representative of the driving speed or representative of the optimal speed to be followed by the baler. 
     In one embodiment, the baler is configured to detect the crops to be collected. In one embodiment, the baler is configured to send conditioning signal to the driving object. For example, the baler is configured to command the driving object in order to slow down its speed, as a function of the crops to be collected. 
     In one embodiment, the control unit of the baler is configured to derive a driving path of the driving object, as a function of the command signals. 
     In one embodiment, the control unit is configured to derive a distance between the baler and the driving object along the driving path. 
     In one embodiment, the control unit is configured to derive a driving speed, that is the speed of the driving object along the driving path. 
     In one embodiment, the control unit is configured to derive a working speed, that is the speed of the baler along the driving path. 
     In one embodiment, the control unit is configured to control the working speed as a function of the driving speed and/or the distance. 
     The control unit is programmed to generate warning signals in response to a value of the working speed and to a value of the driving speed. The control unit is programmed to generate warning signals in response to a value of the distance. 
     In one embodiment, the control unit is configured to send the warning signal to the driving object via wireless connection. 
     The driving object is configured to speed up, slow down or interrupt the advancing of the baler in response to the warning signals. 
     According to a further aspect of the present description, the present document provides a method for providing (producing, forming) a bale, preferably a round bale. 
     The method comprises a step of moving a baler including a baling chamber, along a working path. 
     The method comprises a step of receiving of crops into the baling chamber. 
     The method comprises a step of conveying crops into the baling chamber with a conveying system. 
     The method comprises a step of generating a bale into the baling chamber. 
     The method comprises a step of binding the bale with a binder. The method comprises a step of discharging the bale. 
     In one embodiment, the method comprises a step of activation of a motorization unit. In one embodiment, the motorization unit is positioned on the baler and is connected to a first and a second wheel of the baler. 
     In one embodiment, the method comprises a step of controlling, wherein a control unit of the baler controls the activation of the motorization unit. 
     In one embodiment, the method comprises a step of steering. In the step of steering, a steering system varies an advancing direction of the baler. In the step of steering, the control unit receives command signals, preferably through a wireless connection. In one embodiment, the control unit controls the motorization unit and the steering system in response to the command signals. The control unit generates control signals, as a function of the command signals. The control unit sends the control signals to the motorization unit and/or to the steering system. 
     In one embodiment, the command signals are representative of a real time position on a field of a driving object moving on the field. In one embodiment, the method comprising a step of derivation. In the step of derivation, the control unit processes the command signals. In the step of derivation, the control unit derives a driving path defined by the movement of the driving object. In the step of derivation, the control unit controls the steering system to follow (to make the baler following) the driving path. 
     In one embodiment, the method includes one or more of the following steps:
         deriving a driving speed, for an advancing movement of the driving object along the driving path;   deriving a distance between the round baler and the driving object, preferably along the driving path.       

     In one embodiment, the control unit control the motorization unit to advance the round baler on the driving path at a working speed. In one embodiment, the control unit derives the working speed, responsive to the driving speed or to the distance. 
     In one embodiment, the method comprises a step of powering. In the powering step, an on-board power source electrically feds the motorization unit. In one embodiment, the method comprises a step of accumulating. In the accumulating step, an accumulator is charged with electrical power. In one embodiment, in the powering step, the accumulator feds the motorization unit. 
     In one embodiment, the method comprises a step of auxiliary actuation. In the step of auxiliary actuation, the control unit activates at least one electrical actuator of a group of electrical actuators, with the on-board power source or with the accumulator. In one embodiment, the step of auxiliary actuation includes one or more of the following steps:
         actuating a first actuator (one or more actuator of the group of electrical actuators, preferably an electric motor) for rotating a plurality of rollers of the chamber;   actuating a second actuator (one or more actuator of the group of electrical actuators, preferably a linear electrical actuator) for moving a discharge gate of the baler between a closed position and an open position;   actuating a third actuator (one or more actuator of the group of electrical actuators, preferably an electric motor) for rotating a pick-up device of the baler;   actuating the plurality of knife of the baler with one or more actuator of the group of electrical actuators, preferably a linear electrical actuator;   actuating the drop floor with one or more actuator of the group of electrical actuators, preferably a linear electrical actuator.       

     In one embodiment, the method comprises a step of hydraulic actuation. In the step of hydraulic actuation, a hydraulic pump increases the pressure of a driving fluid. The hydraulic pump is electrically powered by the accumulator and/or by the on-board power source. 
     The hydraulic pump sends the driving fluid to a group of hydraulic actuators. In a preferred embodiment, the hydraulic pump sends the driving fluid to a second hydraulic actuator, to move the discharge gate. 
     In another embodiment, the hydraulic pump sends the driving fluid to a first hydraulic actuator, to move the pick-up device and/or the plurality of knife of the baler. 
     According to one aspect of the present disclosure, the control unit of the baler is configured for receiving information representative of a real time position of the driving object (preferably the tractor) on the ground and is programmed to generate the control signals responsive to the position of the driving object. The control unit is configured to control the movement of the baler on the ground (e.g. for controlling the motorization unit and the steering system) simultaneously with respect to the formation of the bale (that is, simultaneously with respect to the movement of the a conveying assembly for imparting the rotating movement to the agricultural products, such as hay and grass). 
     According to one aspect of the present disclosure, the control unit of the baler receives information representative of a real time position of a tractor on the ground and controls the movement of the baler along the working path responsive to (as a function of) the position of the tractor (with respect to a pre-established spatial reference system). The control unit may control the movement of the baler along the working path simultaneously with respect to the steps of conveying the crops into the baling chamber and generating the bale into the baling chamber. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       This and other features of the invention will become more apparent from the following detailed description of a preferred, non-limiting example embodiment of it, with reference to the accompanying drawings, in which: 
         FIG. 1  illustrates a round baler for providing round bales; 
         FIG. 2  illustrates a schematic view of the round baler of  FIG. 1 ; 
         FIG. 3  illustrates a schematic view of power path into the baler; 
         FIG. 4  illustrates an agriculture working system; 
     
    
    
     DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION 
     With reference to the accompanying drawings, the numeral  1  denotes a baler, according to the present disclosure. 
     The baler  1  comprises a frame  10 . The frame  10  includes a baling chamber  101 , wherein a bale is housed. 
     In one embodiment, the baler  1  is a round baler for providing round bales. In other embodiments the baler is configured to form other types of bales, for example square bales. 
     In one embodiment, the baler  1  is a non-stop baler, configured to form bales without stop an advancing movement. In one embodiment, the baler  1  is an intermittently baler, configured to form bales and interrupt the advancing movement for discharging the formed bale. 
     In one embodiment, the baling chamber is a variable baling chamber. In this embodiment, the capacity of the baling chamber changes during the baling formation. 
     The baler  1  comprises a first wheel  11 A. The baler  1  comprises a second wheel  11 B. The first wheel  11 A and the second wheel  11 B are associated to the frame  10 . In one embodiment, the baler  1  comprises a first axle  102 A. In one embodiment, the first wheel  11 A and the second wheel  11 B are connected to a first end of the first axle  102 A and a second end of the first axle  102 A, respectively. 
     In one embodiment, the frame  10  is supported by the first axle  102 A. 
     The baler  1  comprises a third wheel  11 C. The baler  1  comprises a fourth wheel  11 D. The third wheel  11 C and the fourth wheel  11 D are associated to the frame  10 . 
     In one embodiment, the baler  1  comprises a second axle  102 B. In one embodiment, the third wheel  11 C and the fourth wheel  11 D are connected to a first end of the second axle  102 B and a second end of the second axle  102 B, respectively. 
     In one embodiment, the frame  10  is supported by the first axle  102 A and/or the second axle  102 B. 
     In one embodiment, the first axle  102 A and the second axis  102 B are elongated along a transversal direction T. 
     The baling chamber  101  is supported by the frame. In one embodiment, the baling chamber  101  is a cylinder chamber having his symmetry axis parallel to the transversal direction T. 
     The baler comprises a conveying assembly  12 . The conveying assembly  12  delimits the baling chamber  101 . 
     The conveying assembly  12  is configured to impart a rotating movement to the crops contained in the baling chamber  101 . 
     In one embodiment, the conveying assembly  12  comprises a plurality of rollers  121 . The plurality of rollers comprises a group of front rollers  121 A and a group of back rollers  121 B. 
     The plurality of rollers  121  is configured to rotate in order to impart a rotating movement to the crops contained in the baling chamber  101 . 
     In the embodiment with the variable baling chamber, the conveying system comprises a belt and a group of pulleys. The belt is engaged with the pulleys and in contact with the crops to impart a rotating movement. 
     The baler  1  comprises a binder. The binder is configured for binding the formed bale with a fastening element, for example net, twine or plastic film. 
     The baler  1  comprises a control unit  13 . The control unit is configured to control the baler  1 . 
     The control unit  13  comprises one or more of the following features:
         a memory, configured to store data;   a processor, configured to process and generate data;   a receiver, configured to receive signals;   a transmitter, configured to transmit signals;   a wireless connection.       

     In one embodiment, the receiver and/or the transmitter are configured to receive and/or transmit signals through a wireless connection. 
     In one embodiment, the baler  1  is self-propelled (self-movable, tracker baler, self-driven). In other words, the baler  1  is self-movable or is capable to move itself on the ground without any tractor unit. 
     In one embodiment, the baler  1  comprises motorization unit  14 . The motorization unit  14  is connected to the first wheel  11 A and to the second wheel  11 B, for moving the baler  1  on the ground. 
     In one embodiment, the control unit  13  is connected to the motorization unit  14  for controlling it. In one embodiment, the control unit  13  is configured to send activation signals  141  to the motorization unit  14 . 
     In one embodiment, the baler comprises a steering system  15 . The steering system  15  is configured to vary an advancing direction A of the baler  1 . 
     In one embodiment, the steering unit  15  comprises a hinged bar. The hinged bar is connected to the second axle  12 B to vary an inclination of the second axle  12 B with respect to the transversal direction T. 
     In other embodiments, the steering system  15  comprises a speed variator. The speed variator is connected to the motorization unit  14 . The speed variator is configured to make independent a rotational speed of the first wheel  11 A from a rotational speed of the second wheel  11 B. Hence, a steering effect is obtained by forcing the first wheel  11 A and the second wheel  11 B to rotate at different rotational speed. 
     In one embodiment, the control unit  13  is configured to receive command signals  131 . In one embodiment, the control unit  13  is configured to receive the command signals  131  through the wireless connection (trough the receiver  132 ). 
     In one embodiment, the processor of the control unit  13  is programmed to process the command signals  131 . In one embodiment, the processor of the control unit  13  is programmed to generate the activation signals  141 , response to the command signals  131 . In one embodiment, the control unit  13  is configured to send the activation signals to the motorization unit  14 . 
     In one embodiment, the processor of the control unit  13  is programmed to generate control signals  133 , response to the command signals  131 . 
     In one embodiment, the control unit  13  is configured to send the control signals  133  to the conveying assembly  12 . 
     In one embodiment, the baler  1  comprises a discharge gate  103 . In one embodiment, the baler  1  comprises a pick-up device  104 . In one embodiment, the discharge gate  103  is movable between a closed position wherein the baling chamber  101  houses the formed bale, and an open position, wherein the formed bale is discharged from the baling chamber  101 . In one embodiment, the pick-up device  104  is movable between a working position, wherein pick-up device  104  is picking up crop from the ground, and a maintenance position, wherein pick-up device  104  is in a raised position, away from the frame  10 . 
     The baler may comprise a plurality of knives. The knives are operatively active to cut the crops passing through feeding channel. The knives are movable to an operative position (wherein they protrude in the feeding channel) to a retracted position, so that they can be subject to maintenance or repair. The baler may comprise a knives actuator  19 A″, to move the plurality of knives between the operative position and the retracted position. 
     The baler may comprise a drop floor. The drop floor defines a bottom wall of the feeding chamber. The drop floor is movable between a raised position and a lowered position, to allow the user to access the feeding channel, for example to remove objects that may occlude the channel. The baler may comprise a drop floor actuator  19 B″, to move the drop floor between the raised position and the lowered position. 
     The baler may comprise a pick-up actuator  190 ″, to move (movable elements included in) the pick-up device. 
     The baler  1  may comprise a binder brake actuator  19 D″. The binder brake actuator  19 D″ is configured to operate a brake, which is operatively active to stop or slow down a movement of the binding material (e.g. net or twine). 
     The knives actuator  19 A″, the drop floor actuator  19 B″, the pick-up actuator  190 ″ and the binder brake actuator  19 D″ form a further group of actuators  19 ″. Each one of these actuators of the further group of actuators  19 ″ may be a pneumatic actuator (as an alternative, it could be an electric actuator or a hydraulic actuator, or any other typology of actuator). One or more of (preferably all of) e these actuators of the further group of actuators  19 ″ are connected to the control unit  13 ; the control unit  13  is configured to control one or more of (preferably all of) e these actuators of the further group of actuators  19 ″. 
     In one embodiment, the control unit  13  is configured to send the control signals  133  to the discharge gate  103 , to control the movement between the closed and the open position of the baling chamber. In one embodiment, the control unit  13  is configured to send the control signals  133  to the pick-up device  104 , to control the movement between the working and the maintenance position. 
     In one embodiment, the control unit  13  is programmed to control the motorization unit  14 . In one embodiment, the control unit  13  is programmed to control the steering system  15 . In one embodiment, the control unit  13  is programmed to control the motorization unit  14  and/or the steering unit  15  in response to the command signals  131 . 
     In one embodiment, the command signals  131  are representative of a real time position P of a driving object  1 ′ moving on the field. The driving object  1 ′ is an object that should be followed by the baler  1  on the field, for example a rake or a harvester towed by or mounted on a tractor or another agriculture machine working in collaboration. In one embodiment, the processor of the control unit  13  is configured to process the command signals  131 . The processor of the control unit  13  is configured to derive, preferably in real time, a driving path D defined by the movement of the driving object  1 ′. The control unit  13  is programmed to control the steering system  15  to follow the driving path D. The driving path D is derived from a succession of real time position P received by the control unit  13  through the wireless connection. 
     In one embodiment, the command signals  131  include route signals  131 ′, representative of the driving path D to be followed by the baler  1  on a field. 
     In one embodiment, the control unit  13  is programmed to derive in real time a driving speed, for an advancing movement of the driving object  1 ′. The driving speed, in one embodiment, is derived along the driving path D. 
     In one embodiment, the control unit  13  is configured to receive a value of the driving speed through the command signals  131 . In other embodiments, the control unit  13  is configured to derive the driving speed from the variation of the real time position P of the driving object  1 ′. 
     In one embodiment, the control unit  13  comprises a GPS system, configured to get a real time position P′ of the baler on the field. 
     In one embodiment, the control unit  13  is programmed to derive in real time a distance d between the round baler  1  and the driving object  1 ′. In one embodiment, the distance d is derived along the driving path D. 
     In one embodiment, the control unit  13  is programmed to control the motorization unit  14  to advance the round baler  1  on the driving path D at a working speed. In one embodiment, the working speed is responsive to the driving speed and/or to the distance d. 
     In one embodiment, the working speed is temporary higher than the driving speed. 
     In one embodiment, the driving speed is higher than the working speed. 
     In one embodiment, the control unit  13  is configured to keep the working speed equal to the driving speed, controlling the working speed of the motorization unit  14  through the activation signals  141 . 
     In one embodiment, the control unit  13  has a minimum distance value memorized into the memory. In still another embodiment the control unit  13  has a maximum distance value memorized into the memory. 
     In one embodiment, the control unit is programmed to compare, preferably in real time, the distance d with the minimum distance value and/or the maximum distance value. In one embodiment, the control unit  13  is programmed to control the motorization unit  14  to keep the distance d below the maximum distance value. 
     In one embodiment, the control unit  13  is programmed to control the motorization unit  14  to keep the distanced greater than the minimum distance value. 
     In one embodiment, the control unit  13  is programmed to generate a warning signal  134 . In one embodiment, the control unit  13  is programmed to generate the warning signal  134 , responsive to the driving speed and/or to the distance d. In one embodiment the warning signal  134  is for the driving object  1 ′. In one embodiment the warning signal  134  is for the baler  1 . 
     In one embodiment, the control unit  13  is configured to generate an emergency signal, response to the warning signal  134 . The control unit  13  is configured to send the emergency signal to the motorization unit, to speed up, slow down or interrupt the advancing movement of the baler  1 . 
     In one embodiment, the baler  1  has a centre of gravity G. 
     In one embodiment the centre of gravity of the baler G is between the first axle  102 A and the second axle  102 B. In one embodiment the centre of gravity G of the baler is between the first axle  102 A and the second axle  102 B, along a longitudinal direction L, perpendicular to the transversal direction T. In one embodiment the centre of gravity G of the baler  1  is at a distance g from the first axle  102 A greater than 20 cm. In one embodiment the distance g from the first axle  102 A is between 20 cm and 50 cm. In one embodiment the distance g from the first axle  102 A is equal to half of the distance between the first  102 A and the second axle  102 B along the longitudinal direction. 
     In one embodiment, a distance p between the first axle  102 A and the second axle  102 B along the longitudinal direction L is between 80 cm and 120 cm. In one embodiment, the step p is (approx.) 100 cm. 
     In one embodiment, the baler comprises an on-board power source  16 . 
     In one embodiment, the on-board power source  16  comprises a motor  161  (endothermic motor). 
     The on-board power source  16  is connected to the motorization unit  14  for providing a motorization power. 
     In one embodiment, the motorization unit is an electrical motor. 
     The on-board power source  16  comprises a generator  162 . The generator  162  is configured to transform the mechanical power of the motor  161  into electrical power. The electrical power generated by the generator  162  is configured to fed the control unit  13  and, controlled by the control unit  13  itself, to power the discharge gate  103 , the pick-up device  104 , the motorization unit  14 . 
     In one embodiment, the baler  1  comprises a on-board power accumulator  17 . In one embodiment, the power source  16  is defined by the accumulator  17 . In one embodiment, the accumulator  17  is an electrical accumulator, such as a battery. 
     In one embodiment, the baler  1  comprises an hydraulic actuator  18 , configured to pressurize and actuating fluid. The hydraulic actuator  18  is electrically powered by the control unit  13 . 
     In one embodiment, the baler  1  includes a sensor assembly (group of sensors)  20 . In one embodiment, the sensor assembly  20  includes a camera  21 . In one embodiment, the sensor assembly  20  includes a net sensor  22 , configured to detect the presence of a net on the formed bale. 
     In one embodiment, the baler  1  comprises a group of electrical actuators  19 . 
     The group of actuators  19  are electrically powered by the on-board power  16  source and/or by the accumulator. 
     In one embodiment, the group of actuators  19  includes a first actuator  19 A. In one embodiment, the first actuator  19 A is electrically powered. The first actuator  19 A is an electrical motor. In one embodiment, the first actuator  19 A is configured to actuate (a transmission of) the pick-up device  104 . In one embodiment, the first actuator  19 A is controlled by the control unit  13  to actuate (a transmission of) the pick-up device  104 . 
     In one embodiment, the group of actuators  19  includes a second actuator  19 B. In one embodiment, the second actuator  19 B is electrically powered. In one embodiment, the second actuator  19 B is configured to actuate (a transmission of) the group of front rollers  121 A (or the belt in the non-stop baler machine and/or variable baling chamber). In one embodiment, the second actuator  19 B is controlled by the control unit  13  to actuate (a transmission of) the group of front rollers  121 A (or the belt in the non-stop baler machine). 
     In one embodiment, the group of actuators  19  includes a third actuator  19 C. In one embodiment, the third actuator  19 C is electrically powered. In one embodiment, the third actuator  19 C is configured to actuate (a transmission of) the group of back rollers  121 B (or the belt in the non-stop baler machine and/or variable baling chamber). 
     In one embodiment, the third actuator  19 C is controlled by the control unit  13  to actuate (a transmission of) the group of back rollers  121 B (or the belt in the non-stop baler machine). 
     In one embodiment, the baler  1  comprises a group of hydraulic actuators  19 ′. The group of hydraulic actuators  19 ′ are powered by the hydraulic pump  18  that is configured to fed them with the activating fluid. 
     In one embodiment, the group of hydraulic actuators  19 ′ includes a first hydraulic actuator  19 A′. In one embodiment, the first hydraulic actuator  19 A′ is configured to actuate (a transmission of) the discharge gate  103 , moving it between the closed and the open position. In one embodiment, a supply of driving fluid (activating fluid) to the first hydraulic actuator  19 A′ is controlled by the control unit  13 . 
     In one embodiment, the group of hydraulic actuators  19 ′ includes a second hydraulic actuator  19 B′. In one embodiment, the second hydraulic actuator  19 B′ is configured to actuate (a transmission of) the pick-up device  104 , moving it between the working position and the raised position. 
     In one embodiment, a supply of driving fluid (activating fluid) to the second hydraulic actuator  19 B′ is controlled by the control unit  13 . 
     In one embodiment, the group of hydraulic actuators  19 ′ is configured to actuate a break for the net in the binder and/or the plurality of knifes in the pick-up device  104 . 
     According to a further aspect of the present invention, the description provides also an agricultural working system  100 . The agriculture working system  100  comprises a baler  1 , preferably a round baler. 
     It is hereby clarified that one or more of the features disclosed in the present document for the baler  1  shall be considered valid and disclosed also for the baler of the agriculture working system  100 . 
     The agriculture working system comprises a driving object  1 ′. The driving object  1 ′ could be a harvester, a rake towed by or mounted on a tractor or another agriculture machine working in collaboration, preferably in sequence, with the baler  1 . 
     In one embodiment, the driving object  1 ′ comprises a respective GPS system, to determine his position on the field. 
     In one embodiment, the agriculture working system  100  comprises a remote control system  100 A. In one embodiment, the remote control system  100 A is placed on the driving object  1 ′. The remote control system  100 A is configured to:
         receive signals through a wireless connection, and/or;   send signals through the wireless connection.       

     In one embodiment, the agriculture working system  100  comprises a remote control station  100 B. In this embodiment, the remote control system  100 A could be placed on the remote control station and/or on the driving object  1 ′. 
     The remote control station  100 B is configured to:
         receive signals through a wireless connection, and/or;   send signals through the wireless connection.       

     In one embodiment, the remote control system  100 A is configured to detect a real time position P of the driving object  1 ′ moving on the field. In one embodiment, the remote control system  100 A is configured to detect a driving speed of the driving object  1 ′ moving on the field. 
     In one embodiment, the remote control system  100 A is configured to send command signals  131 , representative of the real time position P of the driving object  1 ′ to the control unit  13  of the baler  1  through a wireless connection. Therefore, in this embodiment, the control unit  13  of the baler  1  is configured to directly communicate with the remote control system  100 A of the driving object  1 ′. In other embodiment, the driving object  1 ′ is configured to send the real time position P to the remote control station  100 B. In this embodiment, the remote control station  100 B is programmed to send the command signals  131  to the baler  1  via the wireless connection. Hence, in this embodiment, the communication between the control unit  13  of the baler  1  and the remote control system  100 A of the driving object  1 ′ is mediate by the remote control station, that is distanced form the baler  1  and the driving object  1 ′. 
     In one embodiment, the control unit  13  of the baler  1  is configured to derive a driving path D of the driving object, as a function of the command signals  131 . 
     In one embodiment, the control unit  13  is configured to derive a distance d between the baler  1  and the driving object  1 ′ along the driving path D. 
     In one embodiment, the control unit  13  is configured to derive a driving speed, that is the speed of the driving object  1 ′ along the driving path D. 
     In one embodiment, the control unit  13  is configured to derive a working speed, that is the speed of the baler  1  along the driving path D. 
     In one embodiment, the control unit  13  of the baler  1  is configured to control the working speed as a function of the driving speed and/or the distance d. 
     The control unit  13  is programmed to generate warning signals  134  in response to a value of the working speed and to a value of the driving speed. The control unit  13  is programmed to generate the warning signals  134  in response to a value of the distance d. 
     In one embodiment, the control unit  13  is configured to send the warning signal  134  to the driving object  1 ′ via wireless connection. 
     The driving object  1 ′ is configured to speed up, slow down or interrupt the advancing of the baler  1  in response to the warning signals  134 . 
     According to a further aspect of the present description, the present disclosure provides a method for providing (producing, forming) a bale, preferably a round bale. 
     The method comprises a step of moving a baler  1  including a baling chamber  101 , along a working path. 
     The method comprises a step of receiving of crops into the baling chamber  101 . 
     The method comprises a step of conveying crops into the baling chamber  101  with a conveying system  12 . 
     The method comprises a step of generating a bale into the baling chamber  101 . 
     The method comprises a step of binding the bale with a binder. The method comprises a step of discharging the bale, through a discharge gate  103 . 
     In one embodiment, the method comprises a step of activation of a motorization unit  14 . In one embodiment, the motorization unit  14  is positioned on the baler  1  and is connected to a first  11 A and a second wheel  11 B of the baler  1 . The motorization unit  14  can be a thermic motor or an electric motor. 
     In one embodiment, the method comprises a step of controlling, wherein a control unit  13  of the baler  1  controls the activation of the motorization unit  14 . 
     In one embodiment, the method comprises a step of steering. In the step of steering, a steering system  15  varies an advancing direction A of the baler  1 . In the step of steering, in one embodiment, the steering system  15  varies the speed of each of the first  11 A and the second  11 B wheel separately in order to produce a certain rotation of the advancing direction A. 
     In the step of steering, in one embodiment, the steering system  15  varies the inclination of a first axle  102 A, connected to the first  11 A and the second  11 B wheel, with respect to the working path in order to produce a certain rotation of the advancing direction A. 
     In the step of steering, the control unit  13  receives command signals  131 , preferably through a wireless connection. In one embodiment, the control unit  13  controls the motorization unit  14  and the steering system  15  in response to the command signals  131 . In particular, the control unit  13  generates control signals  133  and/or activating signals  141 , in response to the command signals  131 . The control unit  13  sends the activating signals  141  to the motorization unit and/or to the steering system. The control unit  13  sends the control signals  133  to a group of electrical actuators  19  and/or to a group of hydraulic actuators  19 ′. 
     In one embodiment, wherein the command signals  131  are representative of a real time position P on a field of a driving object  1 ′ moving on the field, the method comprising a step of derivation. In the step of derivation, the control unit  13  processes the command signals  131  to derive a driving path D defined by the movement of the driving object  1 ′. In the step of derivation, the control unit  13  controls the steering system  15  to follow (to make the baler  1  following) the driving path D. 
     In one embodiment, the control unit  13  derives a driving speed for an advancing movement of the driving object  1 ′ along the driving path D response to the real time position P (response to the command signals  131 ); 
     In one embodiment, the control unit  13  derives a distance d between the (round) baler  1  and the driving object  1 ′, preferably along the driving path D. 
     In one embodiment, the control unit  13  generates speed signals, representative of a working speed of the baler  1  on the ground in the advancing direction A, in response of the driving speed and/or the distance d. 
     In one embodiment, the method comprises a step of powering. In the powering step, an on-board power source  16  electrically feds the motorization unit  14 . In one embodiment, the method comprises a step of accumulating. In the accumulating step, an accumulator  17  is charged with electrical power. In one embodiment, in the powering step, the accumulator  17  feds the motorization unit  14 . 
     In one embodiment, the method comprises a step of auxiliary actuation. In the step of auxiliary actuation, the control unit  13  activates at least one electrical actuator of a group of electrical actuators  19 , with the on-board power source  16  or with the accumulator  17 . In one embodiment, the step of auxiliary actuation includes one or more of the following steps:
         actuating a first actuator  19 A for rotating a group of front rollers  121 A of the chamber  101 ;   actuating a second actuator  19 B for rotating a group of back rollers  121 B of the chamber  101 ;   actuating a third actuator  19 C for rotating a pick-up device  104  of the baler  1 .       

     In one embodiment, the method comprises a step of hydraulic actuation. In the step of hydraulic actuation, a hydraulic pump  18  increases the pressure of a driving (actuating) fluid. The hydraulic pump  18  is electrically powered by the accumulator  17  and/or by the on-board power source  16 . 
     The hydraulic pump sends the driving fluid to a group of hydraulic actuators  19 ′. In one embodiment, the hydraulic pump  18  sends the driving fluid to a first hydraulic actuator  19 A′, to move the discharge gate  104 . 
     In one embodiment, the hydraulic pump  18  sends the driving fluid to a second hydraulic actuator  19 B′, to move the pick-up device  103 . 
     According to one aspect of the present disclosure, a round baler  1  is provided (either self-propelled or towed) for providing round bales, comprising: a frame  10 ; a first wheel  11 A and a second wheel  11 B associated to the frame  10 ; a bailing chamber  101  supported by the frame  10 , for receiving crops and for housing a formed bale; a conveying assembly  12 , which delimits the bailing chamber  101  for imparting a rotating movement to the crops contained in the bailing chamber  101 ; a binder, configured for binding the formed bale with a fastening element. 
     The baler (either self-propelled or towed) may further comprise a control unit  13  and one or more electrical actuators (preferably, a group of electrical actuators), according to or more of the features included in the present description about the electrical actuators.