Patent Description:
Agricultural operations involve a number of implements, some of which may be towed implements and others which may include dedicated propulsion systems (e.g., sprayers). In particular, forage gathering involves a number of towed implements such as mowers and mower conditioners, rakes, hay mergers and balers.

Towed implements are typically towed behind a tractor which may limit the field of vision of the operator, reduce maneuverability, and require higher skilled operators. The tractor and implement assembly are relatively long which makes turning such towed assemblies difficult. The tractor and implement are pivotally attached and the implement limits the turning radius of the tractor.

A need exists for self-propelled vehicles that can extend a device such as an agricultural device frontward or rearward from the vehicle to allow the device to be accessible for maintenance and/or that are modular and allow the device to be released from the vehicle.

This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the disclosure, which are described and/or claimed below.

<CIT> discloses a cultivator mounted on an agricultural tractor; <CIT> discloses a method for coupling a structural unit to the rear of a truck; <CIT> discloses a device for connecting an agricultural accessory to a tractor agricultural vehicle; <CIT> discloses a round baler with a scale and moisture meter; and <CIT> discloses a storage container.

<CIT> discloses an implement and coupling device of a tractor with a working position (<FIG>), an intermediate position (<FIG>) and an extended position (<FIG>), however in the working position the device is mounted to the mounting arm at the second mounting surface (supporting mounting surface referenced by <NUM> in this prior art document) but not at the first mounting surface (connecting mounting surface being the notch of the plate referenced by <NUM> in this prior art).

One aspect of the present disclosure is directed to a self-propelled vehicle for supporting and operating a device according to claim <NUM>.

Various refinements exist of the features noted in relation to the above-mentioned aspects of the present disclosure. Further features may also be incorporated in the above-mentioned aspects of the present disclosure as well.

A self-propelled vehicle (which may be referred to herein as the "base vehicle") for supporting and operating various agricultural devices is generally referred to as "<NUM>" in <FIG>. The vehicle <NUM> is a base vehicle to which various devices such as agricultural devices may be attached. While the description and figures below may show and/or reference a baling device, it should be noted that a baling device is shown as an exemplary device and the descriptions are applicable to the base vehicle itself and/or a base vehicle that includes one or more different devices attached thereto. While the device may, in some embodiments, be described as an agricultural device, in other embodiments the coupleable device may be suitable for use in other fields.

With reference to <FIG>, the base vehicle <NUM> includes first and second rear drive wheels <NUM> that are driven by first and second motors disposed in the drive wheels. The rear drive wheels <NUM> each have a rotational axis R<NUM> about which the drive wheels <NUM> rotate. In the illustrated embodiment, the wheels <NUM> have a common rotational axis R<NUM>. In other embodiments the wheels <NUM> are offset from each other and have different axes of rotation. The drive wheels <NUM> are attached to the chassis <NUM>.

The rear wheels <NUM> are fixed to the chassis <NUM> such that the wheels <NUM> maintain parallel alignment with a longitudinal axis A (<FIG>) of the vehicle <NUM> (i.e., do not pivot with respect to the chassis <NUM>). In some embodiments, the rear drive wheels <NUM> are not suspended from the chassis <NUM>.

The longitudinal axis A (<FIG>) of the vehicle <NUM> extends from a front <NUM> to a rear <NUM> of the vehicle <NUM>. As referenced herein, the "front" of the vehicle <NUM> refers to a leading portion or end of the vehicle <NUM> relative to the longitudinal axis during its conventional operation. The "rear" refers to the trailing portion or end relative to the longitudinal axis A during its conventional operation. Similarly, the terms "front wheels" and "rear wheels" refer to the position of the wheels relative to the direction of travel of the vehicle <NUM> during its conventional operation. The vehicle <NUM> also includes a lateral axis B (<FIG>) that extends from a first side <NUM> to a second side <NUM> of the vehicle <NUM> and that is transverse to the longitudinal axis A. The vehicle <NUM> also includes a vertical axis C (<FIG>).

With reference to <FIG>, the first and second drive wheels <NUM> are each driven and controlled by separate drive systems <NUM>. The caster wheels <NUM> are freely pivotable (i.e., are not steered or otherwise controlled). As a result, the first and second caster wheels <NUM> self-align with the direction of travel of the vehicle while it is steered by the difference in the speed of rotation of the drive wheels <NUM>.

Each drive system <NUM> has a drive motor <NUM> for rotating the drive wheel <NUM> forward or backward. The drive motors <NUM> may be hydraulic motors that are driven by a pump <NUM> that is powered by the engine <NUM>. Each drive wheel <NUM> may be controlled by a separate circuit (i.e., separate hydraulic pumps <NUM> with fluid lines <NUM> connected to the drive wheel motors <NUM>). The first and second pumps <NUM> may be hydrostatic, variable displacement pumps. In some embodiments, fixed displacement or variable displacement motor(s) may be used.

The wheels <NUM> are powered and rotated independently by the drive systems <NUM>. Accordingly, the wheels <NUM> can be rotated at different speeds by driving the motors at different speeds. For example, the motors <NUM> may receive different amounts of fluid from the respective pumps <NUM> to differentiate the speed of the wheels <NUM>. Separate fluid lines <NUM> extend between each pump <NUM> and drive motor <NUM> to independently rotate the wheels <NUM>. The direction of fluid flow may be forward or reverse to independently rotate the wheels forward or reverse to propel the vehicle forward, reverse, or through an arc (e.g., as during steering). The vehicle <NUM> may also be steered in more aggressive manners in which one wheel remains stationary while the other wheel is rotated, or a zero-turn-radius mode where the drive wheels are rotated in opposite directions.

In some operating conditions (e.g., travel or "highway" modes) the first and second drive wheels <NUM> are powered equally (e.g., with a differential system linking the drive systems) and a caster wheel steering system (not shown) may be used to control the swivel position of the caster wheels <NUM> to steer the vehicle. As used herein, the "swivel position" of the caster wheels generally refers to the angular position of the caster wheels relative to the longitudinal axis A of the vehicle. Suitable steering systems may include adjustable length tie-rods (e.g., three position cylinders) connected to a steering mechanism such as a steering wheel. The tie-rods may be fixed in length in a caster-wheel steering mode and variable in length in non-caster wheel steering modes (e.g., by use of three-position cylinders which float in non-caster wheel steering modes and are locked in caster wheel steering modes). Any steering system which enables caster wheel steering in a caster wheel steering mode may be used unless stated otherwise.

The vehicle <NUM> includes a control system to control the drive wheels <NUM> and/or front caster wheels <NUM> based on input(s) from an operator. The control system includes a control unit <NUM>, speed and direction control device <NUM>, a mode selector <NUM> and steering mechanism which is shown as a steering wheel <NUM>. The speed and direction control device <NUM>, mode selector <NUM> and steering wheel <NUM> may be controlled from the operator station <NUM>.

The control unit <NUM> includes a processor and a memory. The processor processes the signals received from various sensors, selectors and control devices of the system. The memory stores instructions that are executed by the processor.

The mode selector <NUM> allows the operator to select a desired mode of operation (i.e., drive wheel steering mode or caster wheel steering mode). The control unit <NUM> receives the signal from the mode selector <NUM> and controls the mode of the steering system in response to the signal. The mode selector <NUM> may be, for example, part of a touch screen, a soft key, toggle switch, selection button or any other suitable interface for selecting the steering mode.

The speed and direction control device <NUM> is typically hand-operated and may be a sliding lever that that causes an increase in forward speed as the lever is slid forward of a neutral position and an increase in reverse direction as the lever is slid rearward of the neutral position. The speed and direction control device <NUM> produces a signal in response to its position and the signal is transmitted to the control unit <NUM>. The control unit <NUM> produces an output signal transmitted to the hydraulic pumps <NUM> that drive the rear wheels <NUM>. The speed may also be controlled by a throttle that controls the engine speed. The vehicle <NUM> may be stopped by moving the speed and direction control device <NUM> to a zero-speed setting and/or by operating foot brake levers.

In the illustrated embodiment, steering may be performed by a steering mechanism shown as a steering wheel <NUM> which regulates the steering system. For example, in the drive wheel steering mode, a sensor <NUM> measures the direction and angle of the steering wheel <NUM> and sends signals to the control unit <NUM>. The control unit <NUM> produces a signal that is transmitted to the hydraulic pumps <NUM> to independently regulate the rotational speeds of the first and second drive wheels <NUM> (i.e., the rotation speed and direction of rotation of each drive wheel <NUM>).

In other embodiments, speed and/or steering may be controlled by different operator controls such as wheel levers, digital inputs, joysticks, dual sticks, and headsets.

In some embodiments, the self-propelled vehicle <NUM> is configured to operate autonomously. The vehicle <NUM> may include sensors (e.g., cameras, GPS sensors and the like) that sense the position of the windrow and/or that may sense the position of the vehicle in the field. The vehicle <NUM> may also include a controller that sends signals to the first and second rear wheel pumps or to various actuators to independently control the first and second rear drive wheels. In some embodiments, the field in which the vehicle is propelled is mapped and the field map is used to autonomously control the operation of the vehicle in the field. In such embodiments, the vehicle may include a riding station to carry an operator or the operator station may be eliminated.

The self-propelled vehicle <NUM> includes first and second front caster wheels <NUM> that are pivotally connected to the chassis <NUM> about a vertical pivot axis (which may be offset from the vertical axis, i.e., may have a caster angle). The term "caster wheel" includes a wheel mounted to a frame or chassis at a generally vertically oriented caster pivot so that the caster wheel is able to swivel about the caster pivot. In other embodiments, the front wheels <NUM> are not caster wheels. In some embodiments, the front wheels are drive wheels, in which case the rear wheels may not be drive wheels.

The first and second caster wheels <NUM> swing below a portion of the chassis <NUM>. The front caster wheels <NUM> may be spaced to allow a windrow of crop or forage material to pass between the front caster wheels <NUM> and engage a pickup device (not shown). In some embodiments, the front caster wheels <NUM> are separated by at least five feet or at least about seven feet. Similarly, the rear wheels <NUM> may be spaced to allow a device <NUM> (e.g., baler) to be positioned between the rear wheels. In some embodiments, the vehicle <NUM> includes a single front caster wheel (e.g., one front caster wheel centered relative to the lateral axis of the vehicle).

The front caster wheels <NUM> are independently suspended from the chassis to absorb forces transmitted during travel over uneven terrain. The front caster wheels <NUM> pivot with respect to the chassis <NUM> about their pivot axis to allow the wheels <NUM> to be aligned with the direction of travel of the vehicle <NUM> and as a response to the differential speed of the first and second drive wheels <NUM>. In some embodiments, the front caster wheels <NUM> are freely pivotal and turn only as a response to the differential speed of the rear drive wheels <NUM>. In other embodiments, the front caster wheels <NUM> are steered (e.g., controlled to coordinate turning with rear drive wheels or steered independently of the rear drive wheels <NUM>).

Each front caster wheel <NUM> has a rotational axis R<NUM> (<FIG>) about which the front caster wheels <NUM> rotate. In the illustrated embodiment, the wheels <NUM> have a common rotational axis R<NUM>.

The front caster wheels <NUM> may be part of first and second swivel caster assemblies <NUM> (<FIG>). Generally the first and second swivel caster assemblies <NUM> and subframes <NUM> described below are symmetric and description herein of an assembly or subframe also applies to the second assembly or subframe (e.g., description of a hub of the assembly indicates that the first assembly has a first hub and that the second assembly has a second hub). Each assembly <NUM> includes a hub <NUM> and a caster shaft that rotates within the hub <NUM>. The swivel caster assemblies <NUM> may include bushings or bearings within the hub <NUM> that allow for rotation of the shaft within the hub <NUM>. Each caster shaft is connected to a leg assembly <NUM> (<FIG>) that connects to the front caster wheel axle. In the illustrated embodiment, the leg assembly <NUM> includes a single leg that attaches to an inner side of the wheel axle. In other embodiments, the leg assembly includes two legs that connect to the axle of the front caster wheel on each side of the wheel (as with a caster fork).

The hub <NUM> and shaft form a swivel joint <NUM>. The first and second front caster wheels <NUM> of the caster assemblies <NUM> are each connected to a subframe <NUM> by the swivel joint <NUM>. The subframes <NUM> are suspended from the chassis <NUM> by a mechanism having a suspension element <NUM>, shown as a hydraulic cylinder in the illustrated embodiment. The cylinder may be connected to an accumulator in the suspension system. Each subframe <NUM> is also pivotally attached to the chassis <NUM> at inner and outer pivot points. In this arrangement, the chassis <NUM> is supported by the subframes <NUM> and the chassis <NUM> and components carried by the chassis (e.g., operator station) may move up and down relative to the subframes <NUM> as the vehicle <NUM> travels over uneven terrain.

As shown in <FIG>, the first and second front caster wheels <NUM> (i.e., the axes of rotation R<NUM> of each wheel) are offset from the swivel joint <NUM> relative to the longitudinal axis A (<FIG>) of the vehicle. The offset allows the first and second front caster wheels <NUM> to self-align with the direction of travel of the vehicle <NUM> as the vehicle is steered by differences between the speeds of the rear wheels <NUM>. The offset of the caster wheels (i.e., distance between the axis of rotation R<NUM> of the wheel and the swivel joint <NUM> relative to the longitudinal axis A) may be at least <NUM> inches, at least about <NUM> inches or from about <NUM> to about <NUM> inches. These ranges are exemplary and other ranges may be used unless stated otherwise.

In other embodiments and/or in different modes of operation the front caster wheels <NUM> are steered (e.g., travel/highway modes). In such embodiments, the offset may be eliminated.

The caster assemblies <NUM> allow the first and second front caster wheels <NUM> to self-align with the direction of travel of the vehicle while it is steered by the difference in the speed of rotation of the rear wheels <NUM>. In the illustrated embodiment, the first and second front caster wheels <NUM> pivot independently from each other.

As shown in <FIG>, the rear wheels <NUM> have a diameter larger than the front caster wheels <NUM>. In some embodiments, the ratio of the diameter of the rear wheels <NUM> to the diameter of the front caster wheels is at least about <NUM>:<NUM> or at least about <NUM>:<NUM> or even at least about <NUM>:<NUM>.

Referring now to <FIG>, the vehicle <NUM> includes an engine <NUM> (e.g., gas or diesel powered engine) that drives one or more hydraulic pumps which in turn power the various hydraulic motors and cylinders (e.g., first and second drive wheel motors, baling chamber motor, pick-up device motor, pick-up device lift cylinder, tailgate cylinder and/or ramp cylinder). The engine <NUM> also provides power for the electrical systems of the vehicle <NUM>. The engine <NUM> is between the rotational axes R<NUM> of the rear drive wheels <NUM> and the rotational axes R<NUM> of the front caster wheels <NUM>.

In some embodiments, the engine <NUM> may be connected to a mechanical drive element. A coupling system may provide direct mechanical drive to a component carried by the chassis. The illustrated embodiments may show or describe hydraulic and electrical couplings. Any power and/or coupling system suitable for powering a device may be used unless stated otherwise.

The operator station is disposed forward to the engine <NUM>. As referenced herein, the "operator station" refers to the seat and controls for steering and controlling the speed of the vehicle <NUM> and/or for controlling the device. The operator station is enclosed in a cab <NUM>. As shown in <FIG>, the cab <NUM> is forward of the rotational axis R<NUM> of the rear drive wheels <NUM> and is also forward to the engine <NUM>. The cab <NUM> is partially aligned with the rotational axis R<NUM> of the front caster wheels <NUM>.

A distance D<NUM> (<FIG>) separates the rotational axis R<NUM> of the rear drive wheels and the rotation axis R<NUM> of the front caster wheels <NUM>. In some embodiments, the distance D<NUM> between the rear wheel rotational axis R<NUM> and the cab <NUM> is at least about <NUM>*D<NUM> (i.e., the cab is at least about <NUM>% forward of the distance between the axis R<NUM>, R<NUM>), or at least about <NUM>*D<NUM> or even at least about <NUM>*D<NUM>.

The self-propelled vehicle <NUM> (<FIG>) includes one or more device mounts for extending a device forward or rearward from the base vehicle <NUM>. In some embodiments, the device mount allows the device to be releasably attached to the base vehicle <NUM>. The device may be an agricultural device such as a mower and mower conditioner, merger, baler, rake, tedder, bale processor, bale mover, sprayer, broadcast spreader, fruit or nut harvester, feed mixers (e.g., vertical mixers), manure spreader, and the like. Other devices include salt and aggregate spreaders, shipping containers (e.g., trash, commodities, household items or other goods), construction devices, trenchers, concrete cutters and the like.

The term "modular" as used herein should not be viewed to imply that the vehicle <NUM> is compatible with different types of devices. For example, the modular self-propelled vehicle <NUM> may include one or more device mounts to allow the device to be pivoted off of the vehicle chassis <NUM> (<FIG>) to provide access to the device for maintenance or to replace the device with a new device (e.g., upon wear or failure of an agricultural device) or to install a larger-sized device (e.g., larger baler) or a different model of device.

In some embodiments, the vehicle <NUM> is releasably attached to a baling device <NUM> (<FIG>). The baling device <NUM> may include an expandable baling chamber to form a bale. In the illustrated embodiment, the baling device <NUM> is configured to form cylindrical bales (i.e., round bales). The illustrated baling device <NUM> operates by utilizing a series of bale forming belts routed around a series of rollers. Alternatively, a single bale forming belt may be utilized.

A pick-up device <NUM> (<FIG>) is used to pick-up crop or forage material. The pick-up device <NUM> may be mounted on the base vehicle <NUM> or the baler device <NUM>. As shown in <FIG>, when the baler device <NUM> is moved to the mounted position, the baling device <NUM> is positioned to receive material from the pick-up device <NUM>. As material is picked up by the pick-up device <NUM>, and deposited in the baling chamber, the material is compressed by the plurality of bale forming belts. Rotation of the pick-up device is driven by a separate motor (e.g., hydraulic motor). It should be noted that any of the known round baler device arrangements may be used as baler device <NUM> including, variable chamber balers (as shown) and fixed chamber balers. The baler device may include a single drive motor or may include two or more drive motors.

Once a full bale (not shown) is formed, the vehicle is stopped and a wrapping sequence is commenced by a wrapping mechanism <NUM>. The wrapping mechanism <NUM> is configured to apply one or more layers of wrap material to the outer circumference of the completed bale. The wrap material is spooled on a roll. Rope-like twine, sheet-type netwrap, plastic or fabric sheets, or film-type sheets are just some examples of commonly used wrap material.

Once the wrapping sequence is completed, the completed bale is ejected from the baling chamber by initiating opening of a tailgate <NUM>. In the illustrated embodiments, the baling device <NUM> includes a discharge ramp <NUM> that forces the bale to roll away from the vehicle <NUM> to clear the tailgate <NUM> as the tailgate closes. The ramp <NUM> may be lowered as the tailgate <NUM> opens and raised before the tailgate closes to push the bale further away from the tailgate. In other embodiments, the baling device <NUM> does not include a discharge ramp.

Referring now to <FIG>, the self-propelled vehicle <NUM> includes a device mount <NUM> having two mounting arms <NUM>. A mount actuator <NUM>, shown as a hydraulic cylinder, is connected to each arm <NUM> to pivot the arms to extend the device rearward from the vehicle <NUM>. Each mounting arm <NUM> is attached to a cross-member <NUM> that is disposed between the two arms <NUM>. The cross-member <NUM> defines a pivot axis P<NUM> (<FIG>) about which the arms <NUM> rotate. The cross-member <NUM> pivots around a tube <NUM> within the cross-member <NUM>. A bushing or bearing may be disposed between the cross-member <NUM> and tube <NUM> to promote rotation of the cross-member <NUM> about the tube <NUM>. The tube <NUM> is connected to first and second brackets <NUM> that are connected to the chassis <NUM> (<FIG>).

Operation of the actuators <NUM> causes the mounting arms <NUM> to pivot around pivot axis P<NUM> and causes the device <NUM> to move from a working or operating position (<FIG>) in which the device <NUM> is positioned for operation to an extended position (<FIG>). The extended position is disposed behind the working position relative to the longitudinal axis A (<FIG>).

The device <NUM> may also be moved to any position between the working position and extended position such as a maintenance position (<FIG>). The device <NUM> may be accessed by a user in the maintenance position (<FIG>) for routine maintenance work where the hydraulic and electrical connections are not affected, or the extended position (<FIG>) where the hydraulic and electrical connections may need to be disconnected (e.g., for other maintenance requirements) or may be fully disconnected (<FIG>) from the vehicle <NUM> to allow a second device to be mounted.

Generally, moving the device <NUM> from the working position (<FIG>) to the maintenance position (<FIG>) or to the extended position (<FIG>) does not involve use of stands, legs, etc. that support the device (e.g., that support the device <NUM> as the vehicle <NUM> is driven away from the device <NUM>). In the illustrated embodiment, the device mount <NUM> is mounted toward the rear <NUM> (<FIG>) of the device to move the device <NUM> behind the base vehicle <NUM>. In other embodiments, the device mount <NUM> is toward the front <NUM> of the base vehicle <NUM> to move the device <NUM> ahead of the vehicle <NUM> in the extended position. In such frontward-extending embodiments of the device mount, the device mount may generally operate as described herein for rearward-extending device mount. The vehicle <NUM> may include two device mounts <NUM> (e.g., one toward the front <NUM> and one toward the rear <NUM> of the base vehicle <NUM>).

Each arm <NUM> includes an upper portion <NUM> (<FIG>) and a lower portion <NUM>. The upper portion <NUM> and lower portion <NUM> are angled with respect to each other (e.g., from about <NUM>° to about <NUM>°, from about <NUM>° to about <NUM>° or from about <NUM>° to about <NUM>°). In other embodiments, the arms <NUM> do not include angled upper and lower portions.

The upper portion <NUM> of each arm <NUM> includes a first mounting surface <NUM> (shown as a recess or notch) that contacts and/or secures the device when the device is coupled to the vehicle <NUM>. In the illustrated embodiment, the mounting surface <NUM> forms a notch <NUM> to receive mounting members of the device (such as forward mounting members <NUM> on baler device <NUM> shown in <FIG>). Generally, the mounting surfaces of the arms <NUM> are surfaces of the arms themselves rather than other components suspended or attached to the arms (e.g., chains, chain hooks, etc.), unless stated otherwise.

Referring to <FIG>, the forward mounting members <NUM> of the device may include a load cell <NUM> and an arm <NUM> that extends from the load cell <NUM>. A spindle <NUM> is connected to the arm <NUM>. The mounting surface <NUM> of the device mount arm <NUM> (<FIG>) engages and contact the spindle <NUM> when the device <NUM> is attached to the vehicle. Optionally, the spindle <NUM> may be mounted by a bearing or bushing to allow the spindle <NUM> to rotate relative to the load cell <NUM>. In the embodiment illustrated in <FIG>, the forward mounting member <NUM> includes a load cell <NUM>, an arm <NUM> that extends form the load cell <NUM>, and guide members <NUM> connected to the arm <NUM> to guide the mounting surface <NUM> of the arm <NUM> (<FIG>) toward the forward mounting member <NUM> when mounting the device. In some embodiments, the guide members <NUM> are fixed (i.e., not rotatable) with respect to the arm <NUM> and load cell <NUM>.

Each arm <NUM> also includes an outward extending upper finger <NUM>. The upper fingers <NUM> and forward mounting members <NUM> may be configured to assist in aligning and properly positioning the arms <NUM> relative to the device <NUM>. The upper finger <NUM> includes a guide surface <NUM> configured to contact the spindle <NUM> of the forward mounting member <NUM>. The spindle <NUM> is configured with tapered sides to guide the upper finger <NUM> side-to-side into proper alignment with the forward mounting member <NUM>. The upper finger <NUM> is configured to reposition the device <NUM> (e.g., by pushing the device <NUM> along the ground surface), to a point where the upper fingers <NUM> on both sides of the device are properly aligned with the forward mounting members <NUM> as the vehicle <NUM> is propelled in a reverse direction.

Once the upper fingers <NUM> on both sides of the device <NUM> are received in the spindles <NUM>, the arms <NUM> may be rotated. As the arms <NUM> rotate, the spindles <NUM> of the forward mounting members <NUM> contact a lower finger <NUM> of the arm <NUM>. The lower fingers <NUM> act as a stop to help ensure the spindles <NUM> engage the notches <NUM> of the arms <NUM>. The lower fingers <NUM> extend radially from the pivot axis P<NUM> a distance greater than the radial distance of any portion of the notch <NUM> to ensure proper engagement as the arms <NUM> are rotated about the pivot axis P<NUM> by actuators <NUM>.

Each arm <NUM> includes a second mounting surface <NUM> in the lower arm portion <NUM> to support the device <NUM>. The second mounting surface <NUM> may be part of a brace <NUM> (<FIG>) formed on the arm <NUM> or may define a notch <NUM> (<FIG>) formed within the arm <NUM>. During mounting of the device <NUM>, after the device <NUM> is coupled to the upper portion <NUM> of the arms <NUM>, the front portion of the device is carried by the arms <NUM>, while the rear portion of the device is supported by the ground surface. In the illustrated embodiment, the device <NUM> includes rear ground supports <NUM>, shown as rollers, that support the rear portion of the device <NUM> as it rests on the ground.

As the arms <NUM> are made to continue to pivot toward the front <NUM> of the vehicle to couple the device <NUM>, a lower portion of the device <NUM> moves toward the lower portion <NUM> of the arm <NUM> as the device <NUM> is raised from the ground and carried by the arms <NUM>. During this phase of the mounting process, the vehicle <NUM> may remain stationary with the device <NUM> sliding along the ground to move the lower portion of the device <NUM> to the arms <NUM>. Alternatively, the movement of the arms <NUM> may be coordinated with the movement of the vehicle <NUM> without the device <NUM> being slid along the ground.

The second mounting surface <NUM> receives a rear mounting member <NUM> (<FIG>) of the device <NUM> as the device <NUM> moves toward the arm <NUM>. The rear mounting member <NUM> may be a load cell and may be arranged longitudinally (<FIG>) or laterally (<FIG>). The rear mounting member <NUM> may include a load cell <NUM> and an arm <NUM> that extends from the load cell (<FIG>). In some embodiments, the first and second mounting surfaces <NUM>, <NUM> of each arm <NUM> are the only portions of the base vehicle <NUM> that contact and/or support the device <NUM> as the device <NUM> is moved from the working position to the extended position.

In the embodiment illustrated in <FIG>, the second mounting surface <NUM> forms a notch <NUM> in the arm <NUM>. The device mount <NUM> includes an upper stop member <NUM> for limiting upward movement of the rear mounting member <NUM> when the device <NUM> and device mount <NUM> are in the working position (<FIG>). In the illustrated embodiment, the upper stop member <NUM> includes a notch <NUM> with the rear mounting member <NUM> being partially received in the notch <NUM> when the device <NUM> and device mount <NUM> are in the working position. The stop member <NUM> is connected to the bracket <NUM> and does not move upon activation of the actuator <NUM>. When mounting the device <NUM>, after mounting the rear mounting member <NUM> into the notch <NUM> of the arm <NUM>, the arm <NUM> continues to move toward the stop member <NUM>. When the device mount <NUM> fully moves to the working position (<FIG>), the rear mounting member <NUM> is at least partially received in the notch <NUM> of the arm <NUM> and the notch <NUM> of the upper stop member <NUM> to limit movement of the rear mounting member <NUM> relative to the device mount <NUM> (i.e., the arm <NUM> and stop member <NUM> together act as a latch to limit movement of the rear mounting member <NUM>). The device mount <NUM> also includes a lateral stop member <NUM> for limiting lateral (i.e., side-to-side) movement of the rear mounting member <NUM> relative to the device mount <NUM>. The lateral stop member <NUM> also includes a notch <NUM> (<FIG>) for receiving the rear mounting member <NUM>.

In the illustrated embodiment, the device <NUM> includes two mounting members <NUM>, <NUM> on each side of the device <NUM> (i.e., four mounting members). In other embodiments, the device <NUM> includes more or less than four mounting members (e.g., one central mounting member for connecting to a single central mounting arm or two mounting members with one mounting member on each side of the device). In some embodiments, the mounting members <NUM>, <NUM> are the only portions of the device <NUM> that contact the base vehicle as the device <NUM> moves from the working position to the extended position.

The arms <NUM> include projections <NUM> that are configured to engage locking devices <NUM>, shown as latches mounted on the self-propelled vehicle <NUM>. The latches <NUM> include bars that are biased outward by a spring. As the arms <NUM> rotate toward the front <NUM> (<FIG>) of the vehicle <NUM> such as during mounting of a device, a leading portion <NUM> (<FIG>) of the projection <NUM> pushes against a bar of the latch <NUM>. As the arm <NUM> continues to rotate, the bar is pushed back (against the bias of the spring) until the bar engages a projection recess <NUM> of the arm <NUM> to lock the arm <NUM> in the latch <NUM> (<FIG>). The arms <NUM> may be released by activating a hydraulic cylinder <NUM> (<FIG>) that moves the latch bar from the recess <NUM>.

In some embodiments and as shown in <FIG>, in the working position of the device <NUM>, each arm <NUM> rests on an arm stop <NUM> of the base vehicle <NUM> to support the device <NUM>.

In the illustrated embodiment, the forward and rear mounting members <NUM>, <NUM> of the device are load cells. The load cells allow the weight of a load carried by the self-propelled vehicle to be measured and/or monitored. For example, in embodiments in which the device is a baler, the load cells allow the weight of the bale during the baling operation to be monitored. In embodiments in which the device is a sprayer or broadcast sprayer, the load cells allow the amount of applied agricultural material (e.g., herbicide, pesticide, fertilizer, etc.) to be monitored.

Referring now to <FIG>, each of the base vehicle and device may include a vehicle-device interface <NUM> with the two interfaces being coupleable to each other. The vehicle-device interfaces <NUM> allow the vehicle to power and/or control the device after being coupled. Each interface <NUM> may include power adapters <NUM> and/or communication adapters <NUM>. The power adapters <NUM> and/or communication adapters <NUM> may be combined in a single unit (e.g., quick connect adapters) or in separate components each connectable separate from the other adapters (e.g., multiple hydraulic connections). The power adapters <NUM> are configured to transmit the type of power that powers the device (e.g., hydraulic, pneumatic, and/or electrical sources).

The interface <NUM> may include communication adapters <NUM> for control of the device. For example, the vehicle and device may each include ISO-BUS adapters to allow the device to be controlled by a user from the base vehicle. In some embodiments, the base vehicle <NUM> includes a visual display and/or interface (e.g., ISO-BUS terminal) that communicates with a controller, such as a controller mounted on the vehicle or device.

In the illustrated embodiment, the device <NUM> includes one or more rollers <NUM> (<FIG>) that contact the supporting surface while moving the device <NUM> toward the self-propelled vehicle <NUM>. For example, the device may include first and second rollers <NUM> that are laterally outward to the ramp <NUM> to allow the ramp <NUM> to pivot or fold up toward the tailgate <NUM> in the extended position of the device <NUM>. The rollers <NUM> promote movement of the device <NUM> toward the vehicle <NUM> or away from the vehicle <NUM> when the device is extended or retracted back to the working position. In other embodiments, the device includes skids or wheels that contact the supporting surface while moving the device. When resting on the ground, the baler may be supported by the roller(s) <NUM>, discharge ramp <NUM> and/or baler frame (e.g., tie-down <NUM> of the frame).

To couple the self-propelled vehicle <NUM> to a device such as a baler device <NUM>, the arms <NUM> of the vehicle <NUM> are moved to an extended position and the vehicle is reversed toward the device. As the vehicle <NUM> is reversed, one of the finger <NUM> (<FIG>), the mounting surface <NUM> of the notch <NUM> or a surface of the arm <NUM> between the finger <NUM> and notch <NUM> contact the forward mounting member <NUM> of the device <NUM>. Once contact is made, the actuator <NUM> may be operated (e.g., retracted) to align the mounting member <NUM> with the notch <NUM>. Once the mounting member <NUM> is received in the notch <NUM>, the actuator <NUM> is operated to pull the device <NUM> onto the vehicle <NUM>.

As the actuator <NUM> further retracts, the rear mounting member <NUM> (<FIG> and <FIG>) of the device <NUM> contacts the second mounting surface <NUM> on the arm <NUM>. The arm <NUM> continues to rotate until the arm projection <NUM> (<FIG>) engages the latch <NUM>.

After the device <NUM> is fully coupled to the self-propelled vehicle <NUM>, the various power systems (e.g., hydraulics) and communication systems may be connected through the vehicle-device interfaces <NUM> (<FIG>).

To disconnect the device <NUM> from the vehicle <NUM>, the power and communication systems may be disconnected. The power and communication systems may be disconnected before or after the device <NUM> is moved. The power and communication systems may include an emergency breakaway that allows the device to be dismounted without the power and communications systems being manually disconnected.

The hydraulic cylinder <NUM> is operated to allow the latch <NUM> to disengage the projections <NUM> of the arms <NUM>. The actuators <NUM> are extended to rotate the mounting arms <NUM> away from the vehicle <NUM>. In some embodiments, the hydraulic cylinders <NUM> are hydraulically connected with the actuators <NUM> such that, upon commencement of the dismounting operation, activation of the actuators <NUM> causes the latches <NUM> to be disengaged.

Referring now to <FIG>, as the device is set on the supporting surface and the arms <NUM> extended, the forward mounting members <NUM> exit the notch <NUM> (<FIG>) and rest on guide surfaces <NUM>. The vehicle <NUM> may then be driven forward away from the device <NUM>.

In some embodiments, the device <NUM> and/or vehicle <NUM> are configured such that, as the device <NUM> is rotated back from the working position (<FIG>), the device <NUM> is securely supported by the mounting arms <NUM> to prevent "free-fall" of the device. In the working position of the device <NUM> (<FIG>), the center of gravity CG of the device is between the second mounting surface <NUM> of the device mount and the front <NUM> of the device <NUM> relative to the longitudinal axis A (<FIG>). This allows the device <NUM> to rest forward on the arms <NUM> and or arm stop <NUM> (<FIG>). As the device <NUM> is moves from the working position of <FIG> to an extended position (<FIG>), the device <NUM> is rotates such that the center of gravity CG (<FIG>) of the device moves to a position between a device tie-down <NUM> and the roller <NUM>. By moving the center of gravity toward the rear <NUM> of the device <NUM> as the device <NUM> moves between the working position to the extended position, the front <NUM> of the device <NUM> may be tipped upward in the extended and/or detached position.

It should be noted that while a single device is shown and described as being attached to the base vehicle, two or more devices may be mounted at any one time unless stated otherwise (e.g., (<NUM>) baler device and wheel rake or (<NUM>) mower conditioner and merger or any other suitable combination).

Compared to conventional vehicles, the self-propelled vehicles of embodiments of the present disclosure have several advantages. The mounting arms allow the device may be moved behind the drive wheels allowing for the device to be more accessible for maintenance. The vehicle is modular and may mount to a variety of devices such as agricultural devices. In embodiments in which the arms include an upper finger, the vehicle may more easily be connected to the device. In embodiments in which the device includes a roller, skid or wheel, the device may more easily move to and away from the vehicle during coupling and decoupling of the device.

By incorporating front caster wheel assemblies and hydraulic rear drive wheels that rotate independently, the vehicle is highly maneuverable and is able to turn within its own footprint (i.e., in a counter-steer arrangement or zero-turn radius). This allows the vehicle to be turned quickly such as for reversing direction upon the vehicle reaching the end of row in the field or, when a bale device is mounted, for repositioning prior to bale discharge to prevent bales from rolling down an incline during bale discharge.

As used herein, the terms "about," "substantially," "essentially" and "approximately" when used in conjunction with ranges of dimensions, concentrations, temperatures or other physical or chemical properties or characteristics is meant to cover variations that may exist in the upper and/or lower limits of the ranges of the properties or characteristics, including, for example, variations resulting from rounding, measurement methodology or other statistical variation.

When introducing elements of the present disclosure or the embodiment(s) thereof, the articles "a", "an", "the" and "said" are intended to mean that there are one or more of the elements. The terms "comprising," "including," "containing" and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. The use of terms indicating a particular orientation (e.g., "top", "bottom", "side", etc.) is for convenience of description and does not require any particular orientation of the item described.

Claim 1:
A self-propelled vehicle supporting and operating a device, wherein the device is a baler, the vehicle having a longitudinal axis and comprising:
a chassis(<NUM>);
a front wheel (<NUM>) connected to the chassis;
a rear wheel (<NUM>) connected to the chassis; and
a device mount (<NUM>) for releasably attaching the device (<NUM>), the device mount comprising:
a mounting arm (<NUM>) having a first mounting surface (<NUM>) for connecting to the device and a second mounting surface (<NUM>) for supporting the device, the mounting arm being pivotally mounted to the chassis to move the device along the longitudinal axis between:
a working position wherein the device is mounted to the mounting arm at the first and second mounting surfaces;
an extended position wherein the device is coupled to the mounting arm at only the first mounting surface, the extended position being disposed behind the working position relative to the longitudinal axis (A); and
an intermediate position between the working position and the extended position wherein the device is mounted to the mounting arm at the first and second mounting surfaces.