Patent Description:
Once the bale is formed, it needs to be transported from the field to a different location, such as a staging area, where the bale is stored. A bale retriever that includes a bale fork or similar pick up mechanism may be used to pick up multiple bales and move the bales to the staging area. While known bale retrievers are effective to pick up and transport bales, problems can arise if, for example, the bale retriever does not have a suitable place to drop off the collected bale(s).

What is needed in the art is a way to address some of the previously described issues with known agricultural vehicles.

Exemplary embodiments disclosed herein provide an agricultural vehicle with a controller that is configured to determine if a bale drop zone is sufficiently sized for a number of bales formed from crop material on a field and output a drop zone insufficient signal if the bale drop zone is not sufficiently sized for the number of bales to be placed in the bale drop zone.

In some exemplary embodiments provided according to the present disclosure, an agricultural vehicle according to claim <NUM>. Preferred embodiments are presented in the dependent claims.

One possible advantage that may be realized by exemplary embodiments disclosed herein is that the controller of the agricultural vehicle may alert an operator if a defined bale drop zone is not sufficiently sized for the number of bales that can be produced from a field, allowing the operator to decide if a new bale drop zone should be chosen.

Another possible advantage that may be realized by exemplary embodiments disclosed herein is that the controller can re-evaluate if the bale drop zone is sufficiently sized for the number of bales as more data about the crop material in the field is collected.

Yet another possible advantage that may be realized by exemplary embodiments disclosed herein is that the controller can set a sufficiently sized bale drop zone as a return location to steer, for example, a bale retriever to the bale drop zone automatically.

Referring now to the drawings, <FIG> illustrates a side view of an exemplary embodiment of a work vehicle <NUM> towing an agricultural vehicle in the form of a baler <NUM> in accordance with the present disclosure to perform a baling operation within a field. As will be described further herein, the baler <NUM> may be part of a system <NUM> for producing and transporting crop material bales that includes the baler <NUM> and a bale retriever <NUM> (illustrated in <FIG>). As shown, the work vehicle <NUM> is configured as an agricultural tractor, such as an operator-driven tractor or an autonomous tractor. However, in some embodiments, the work vehicle <NUM> may correspond to any other suitable vehicle configured to tow a baler across a field or that is otherwise configured to facilitate the performance of a baling operation, including an autonomous baling vehicle. Additionally, as shown, the baler <NUM> is configured as a round baler configured to generate round bales. However, in some embodiments, the baler <NUM> may have any other suitable configuration, including being configured to generate square or rectangular bales. It should be further appreciated that the baler <NUM>, while shown as being towed by a tractor <NUM>, may also be a self-propelled baler that does not rely on a separate vehicle for propulsion and/or power to function.

As shown in <FIG>, the work vehicle <NUM> includes a pair of front wheels <NUM>, a pair of rear wheels <NUM>, and a chassis <NUM> coupled to and supported by the wheels <NUM>, <NUM>. An operator's cab <NUM> may be supported by a portion of the chassis <NUM> and may house various input devices for permitting an operator to control the operation of the work vehicle <NUM> and/or the baler <NUM>. Additionally, the work vehicle <NUM> may include an engine and a transmission mounted on the chassis <NUM>. The transmission may be operably coupled to the engine and may provide variably adjusted gear ratios for transferring engine power to the wheels <NUM> via a drive axle assembly.

As shown in <FIG>, the work vehicle <NUM> may be coupled to the baler <NUM> via a tongue <NUM> mounted on a hitch <NUM> of the work vehicle <NUM> to allow the vehicle <NUM> to tow the baler <NUM> across the field. As such, the work vehicle <NUM> may, for example, guide the baler <NUM> toward crop material deposited in windrows on the field. As is generally understood, to collect the crop material, the baler <NUM> includes a crop collector <NUM> (shown schematically in <FIG>) mounted on the front end of the baler <NUM>. The crop collector <NUM> may, for example, have a rotating wheel with tines that collects crop material from the ground and directs the crop material toward a bale chamber <NUM> of the baler <NUM>. Inside the bale chamber <NUM>, rollers, belts, and/or other devices compact the crop material to form a generally cylindrically shaped bale <NUM>. The bale <NUM> is contained within the baler <NUM> until ejection of the bale <NUM> is instructed (e.g., by the operator and/or a baler controller <NUM>). In some embodiments, the bale <NUM> may be automatically ejected from the baler <NUM> once the bale <NUM> is formed by the baler controller <NUM> detecting that the bale <NUM> is fully formed and outputting an appropriate ejection signal.

As shown in <FIG>, the baler <NUM> may also include a tailgate <NUM> movable between a closed position (as shown in the illustrated embodiment) and an opened position via a suitable actuator assembly. The tailgate <NUM> and/or actuator assembly may be controlled to open and close by the baler controller <NUM>. In the closed position, the tailgate <NUM> may confine or retain the bale <NUM> within the baler <NUM>. In the open position, the tailgate <NUM> may rotate out of the way to allow the bale <NUM> to be ejected from the bale chamber <NUM>. Additionally, as shown in <FIG>, the baler <NUM> may include a ramp <NUM> extending from its aft end that is configured to receive and direct the bale <NUM> away from the baler <NUM> as it is being ejected from the bale chamber <NUM>. In some embodiments, the ramp <NUM> may be spring loaded, such that the ramp <NUM> is urged into a raised position, as illustrated. In such embodiments, the weight of the bale <NUM> on the ramp <NUM> may drive the ramp <NUM> to a lowered position in which the ramp <NUM> directs the bale <NUM> to the soil surface. Once the bale <NUM> is ejected, the bale <NUM> may roll down the ramp <NUM> and be deposited onto the field. As such, the ramp <NUM> may enable the bale <NUM> to maintain its shape and desired density by gently guiding the bale <NUM> onto the field.

It should be appreciated that the configuration of the work vehicle <NUM> described above and shown in <FIG> is provided only as one example. Thus, it should be appreciated that the present disclosure may be readily adaptable to any manner of work vehicle configuration. For example, in an alternative embodiment, a separate frame or chassis may be provided to which the engine, transmission, and drive axle assembly are coupled, a configuration common in smaller tractors. Still other configurations may use an articulated chassis to steer the work vehicle <NUM>, or rely on tracks in lieu of the wheels <NUM>, <NUM>. Additionally, as indicated previously, the work vehicle <NUM> may, in some embodiments, be configured as an autonomous vehicle. In such embodiments, the work vehicle <NUM> may include suitable components for providing autonomous vehicle operation and, depending on the vehicle configuration, need not include the operator's cab <NUM>.

Additionally, it should be appreciated that the configuration of the baler <NUM> described above and shown in <FIG> is provided only as one example. Thus, it should be appreciated that the present disclosure may be readily adaptable to any manner of baler configuration. For example, as indicated previously, the baler <NUM> may, in some embodiments, correspond to a square baler configured to generate square or rectangular bales.

Referring now to <FIG>, a schematic view of an exemplary embodiment of a system <NUM> for producing and collecting crop material bales is illustrated in accordance with the present disclosure. In general, the system <NUM> will be described herein with reference to the work vehicle <NUM> and the baler <NUM> described previously with reference to <FIG> and/or another agricultural vehicle, such as a bale retriever <NUM>. However, it should be appreciated that the system <NUM> may generally be utilized with one or more agricultural vehicles having any suitable vehicle configuration and/or balers having any suitable baler configuration. Additionally, for purposes of providing an example of a bale production and collection operation, the system <NUM> will generally be described herein with reference to performance of the bale production and collection operation following the example baling operation described herein. However, it should be appreciated that the system <NUM> may generally be utilized to perform a bale collection and transportation operation following the performance of any suitable baling operation within any suitable field.

The system <NUM> includes at least one agricultural vehicle, which may be at least one baler <NUM> and/or at least one bale retriever <NUM> configured to collect bales previously deposited within a field. In some embodiments, the bale retriever <NUM> may be towed by the tractor <NUM> described previously with reference to <FIG>. For example, upon completion of the baling operation, the baler <NUM> may be unhitched from the tractor <NUM> and a suitable bale pick up or other implement (e.g., a bale spear) may be installed on the tractor <NUM> to allow for the collection of bales from the field. In some embodiments, the bale retriever <NUM> may correspond to another suitable vehicle that can be used to collect bales standing within the field, including any suitable autonomous vehicle and/or any suitable operator-driven vehicle (e.g., a skid-steer loader). It should be appreciated that, in some embodiments, the baler(s) <NUM> and the bale retriever(s) <NUM> are separate vehicles in the system <NUM> that can operate simultaneously within a field to produce and collect crop material bales.

As shown in <FIG>, the bale retriever <NUM> may include various components for allowing the bale retriever <NUM> to be moved across the field during the bale collection operation. For example, the bale retriever <NUM> may include an engine <NUM> and a transmission <NUM> coupled to the engine <NUM> for propelling the vehicle <NUM> through the field. In addition, the bale retriever <NUM> may include a steering assembly <NUM> for steering the bale retriever <NUM>. In some embodiments, the steering assembly <NUM> may be configured to be manually operated via the operator to steer the vehicle <NUM>. The steering assembly <NUM> may also be configured to be automatically and/or autonomously controlled to allow the bale retriever <NUM> to be directed along a predetermined path(s) across the field, either additionally or alternatively to manual control of the steering assembly <NUM>. For example, in some embodiments, the steering assembly <NUM> may include or form part of an auto-guidance system for automatically steering the bale retriever <NUM>. In such an embodiment, the bale retriever <NUM> may correspond to a fully autonomous vehicle, a semi-autonomous vehicle, or an otherwise manually operated vehicle having one or more autonomous functions (e.g., automated steering or auto-guidance functions). The bale retriever <NUM> also includes a bale pick up <NUM>, which may be a fork or other component that is configured to pick up crop material bales from a field and, for example, place the picked up bale on a holding platform (which may include a conveyor) of the bale retriever <NUM>.

Additionally, the bale retriever <NUM> may also include a positioning device <NUM> configured to monitor or track the position of the vehicle <NUM> as it is traversed across a field. For example, in some embodiments, the positioning device <NUM> may be configured to determine the exact location of the bale retriever <NUM> using a satellite navigation position system (e.g. a GPS system, a Galileo positioning system, the Global Navigation satellite system (GLONASS), the BeiDou Satellite Navigation and Positioning system, and/or the like).

As shown in <FIG>, the bale retriever <NUM> may also include a controller <NUM>, which may also be referred to herein as a "retriever controller. " The controller <NUM> is operatively coupled to the steering assembly <NUM> and, in some embodiments, one or more other components of the bale retriever <NUM> (e.g., the engine <NUM> and/or the transmission <NUM>) for electronically controlling the operation of such component(s) (e.g. electronic control based on inputs received from the operator and/or automatic electronic control for executing one or more autonomous control functions). As will be described in greater detail herein, the controller <NUM> is configured to generate one or more paths for the bale collection operation while being capable of taking into account any negative impacts to the field (e.g., compaction and/or yield losses). For example, the controller <NUM> may be configured to generate guidance lines for collecting the various bales deposited within the field and for transporting such bales to a selected location defined relative to the field (e.g., a staging area). The controller <NUM> may then utilize the guidance lines for guiding the bale retriever <NUM> across the field as each bale is collected and subsequently delivered to the selected staging area. For example, in some embodiments, the controller <NUM> may be configured to automatically control the operation of the bale retriever <NUM> via control of the steering assembly <NUM> such that the bale retriever <NUM> is moved across the field along the determined guidance lines without any operator input (e.g., for autonomous vehicle operation and/or when otherwise operating in an autonomous mode). Alternatively, the controller <NUM> may be configured to display the determined guidance lines on an associated display <NUM> of the bale retriever <NUM> to allow the operator to navigate the vehicle <NUM> across the field based on the displayed guidance lines.

In general, the controller <NUM> may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, as shown in <FIG>, the controller <NUM> may generally include one or more processor(s) <NUM> and associated memory devices <NUM> configured to perform a variety of computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations and the like disclosed herein). As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory <NUM> may generally comprise memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory <NUM> may generally be configured to store information accessible to the processor(s) <NUM>, including data <NUM> that can be retrieved, manipulated, created and/or stored by the processor(s) <NUM> and instructions <NUM> that can be executed by the processor(s) <NUM>.

In some embodiments, the data <NUM> may be stored in one or more databases. For example, the memory <NUM> may include a bale collection database <NUM> for storing data associated with the bales to be collected from the field during the performance of the bale collection operation. Such data may, for instance, include any data collected during the performance of the prior baling operation, such as the position data associated with the location of the baling paths relative to the field, the heading data associated with the heading of the vehicle/baler along each baling path, and/or the position data associated with the specific location of each bale within the field. In addition, various other types of data may be stored within the bale collection database <NUM>. For example, in some embodiments, data may be stored within the bale collection database <NUM> that is associated with one or more operator inputs, one or more user-defined system preferences, and/or other system inputs relevant to one or more aspects of the present disclosure, such as data associated with the specific type of bales being collected (e.g., round bales vs. square/rectangular bales), data associated with the specific size of bales being collected (e.g., <NUM>×<NUM>, <NUM>×<NUM>, or <NUM>×<NUM>), data associated with a desired or selected location for the staging area at which the bales will be aggregated, data associated with a desired spacing or arrangement of the collected bales within the staging area, and/or any other relevant data.

Additionally, as shown in <FIG>, the memory <NUM> may also include a guidance database <NUM> for storing data associated with guiding the bale retriever <NUM> during the performance of the bale collection operation. For example, as indicated previously, the controller <NUM> may be configured to generate guidance lines along which the bale retriever <NUM> is to be traversed when collecting the bales and subsequently aggregating the bales at the desired staging area. As such, the guidance database <NUM> may, for example, include data associated with the computer-generated guidance lines, such as GPS data or map data that maps each guidance line across the field.

Referring still to <FIG>, in some embodiments, the instructions <NUM> stored within the memory <NUM> of the controller <NUM> may be executed by the processor(s) <NUM> to implement a staging area module <NUM>. In general, the staging area module <NUM> may be configured to determine a location(s) relative to the field that will serve as a "staging area," which is also called a "bale drop zone," for aggregating the various bales being collected from the field. Specifically, in some embodiments, the staging area module <NUM> may be configured to automatically select the location for the staging area based on one or more factors, including, but not limited to, the locations of the various bales within the field, the size and/or shape of the field, and/or any user-defined or predetermined system preferences associated with the desired location of the staging area relative to the field. The instructions <NUM> stored within the memory <NUM> of the controller <NUM> may also be executed by the processor(s) <NUM> to implement a path planning module <NUM>, which may be configured to plan a travel path of the bale retriever <NUM>, and a vehicle guidance module <NUM>, which may be configured to guide the bale retriever <NUM>.

Referring now to <FIG>, the system <NUM> is illustrated in graphical form on a field map <NUM>. The controller <NUM> of the bale retriever <NUM> and/or a controller <NUM> of the baler <NUM> (illustrated in <FIG>) is configured to define the field map <NUM>, which corresponds to a field. For ease of reference, functionality of the controller <NUM> of the bale retriever <NUM> provided according to the present invention will be described further herein, but it should be appreciated that the controller <NUM> of the baler <NUM> and/or a controller of a different agricultural vehicle, such as a mower-conditioner, can perform the described functionality. In some embodiments, the field map <NUM> is constructed and updated solely within the controller <NUM>; in other embodiments, the field map <NUM> is presented as a graphic on the display <NUM> in a manner that is similar to the graphical illustration of the field map <NUM> of <FIG>, as will be described further herein. It should thus be appreciated that the field map <NUM> may be constructed solely for use by the controller <NUM> or, alternatively, may also be presented graphically on a display <NUM> or elsewhere so an operator may see the state of the field via the field map <NUM>.

Field information corresponding to the field map <NUM> may come from a variety of sources. In some embodiments, the field information comes from the baler <NUM> as it operates and is continuously output to a communication interface <NUM> of the bale retriever <NUM>, which is operatively coupled to the controller <NUM> and may also be referred to as a "retriever communication interface," so the controller <NUM> is configured to receive real-time information corresponding to various aspects of the baler <NUM> and the field. For example, the communication interface <NUM> of the bale retriever <NUM> may interface with a corresponding communication interface <NUM> operatively coupled to the controller <NUM> of the baler <NUM> (illustrated in <FIG>) using radio signals or other types of communication signals to receive the field information. Alternatively, field information corresponding to the field map <NUM> may be received from a network <NUM> that is established with the system <NUM> using one or more communication protocols and a network hub <NUM> that interfaces with the respective communication interfaces <NUM>, <NUM> but is not carried by either the baler <NUM> or the bale retriever <NUM>. The network hub <NUM> may be, for example, a device commonly known as a "router" or similar device. It should be appreciated that the controller <NUM> of the bale retriever <NUM> may receive field information from other sources, such as a vehicle other than the baler <NUM>, e.g., a mower-conditioner and/or an unmanned aerial vehicle. Further, while the field information is described previously as being transmitted to the controller <NUM> wirelessly, in some embodiments the field information corresponding to the field map <NUM> is received by the controller <NUM> from a physical connection, i.e., a wired connection, and/or a physical data source, e.g., a memory module. It should thus be appreciated that the field information corresponding to the field map <NUM> may be received by the controller <NUM> in a variety of ways.

In some embodiments, the controller <NUM> is configured to define at least one windrow, illustrated as a plurality of windrows <NUM> in <FIG>, on the field map <NUM> that correspond to windrows in the field. The windrow(s) <NUM> can be defined in a variety of ways. In some embodiments, the windrow(s) <NUM> are defined based on swath lines that the baler <NUM> follows to travel through the field, with the swath lines being generally aligned with the windrows <NUM> so the baler <NUM> follows the windrows <NUM> to collect and pack crop material into bales <NUM>, as illustrated.

In known systems, an operator may define an area of a field as a bale drop zone that is not sufficiently sized to hold all of the bales that will be produced from crop material on the field. In such a scenario, the operator will not know that the bale drop zone is not sufficiently sized to hold all of the bales until the operator has placed a number of bales in the bale drop zone, which may be a large number of bales by the time that the operator realizes that the bale drop zone will not be large enough for all of the bales. The operator must then decide whether to place the bales that do not fit in a separate area, which makes further transportation of the bales cumbersome, or define a new bale drop zone, which requires moving all of the previously placed bales and is also susceptible to not being large enough.

To address some of the previously described issues, and referring still to <FIG> and now <FIG> as well, the controller <NUM> is configured to receive at least one bale drop zone input signal and define a bale drop zone Z within the field map <NUM> based on the received bale drop zone input signal(s). The bale drop zone Z, as illustrated, defines a location and a bale drop area within the field map <NUM>. It should be appreciated that while the term "area" is used, the "bale drop area" may also encompass a volume if, for example, bales can be stacked in the bale drop zone Z. The controller <NUM> is configured to determine if the bale drop zone Z is sufficiently sized for a number of bales <NUM> formed from crop material on the field to be placed in the bale drop zone Z and output a drop zone insufficient signal if the bale drop zone Z is not sufficiently sized for the number of bales <NUM> to be placed in the bale drop zone Z, i.e., if the number of bales <NUM> will not fit within the bale drop zone Z according to defined parameters. In some embodiments, the controller <NUM> takes into account spacing requirements between the bales to be placed in the bale drop zone Z when determining if the bale drop zone Z is sufficiently sized, which is illustrated in <FIG> and <FIG> by placed bales <NUM> in the bale drop zone Z having space therebetween.

As illustrated in <FIG>, the agricultural vehicle with the controller defining the bale drop zone Z may be the bale retriever <NUM>, which has a steering assembly <NUM> that can steer the bale retriever <NUM>. The controller <NUM> is operatively coupled to the steering assembly <NUM> and may be configured to set the bale drop zone Z as a return location if the bale drop zone Z is sufficiently sized for the number of bales <NUM> and control the steering assembly <NUM> to steer the bale retriever <NUM> toward the bale drop zone Z upon the bale retriever <NUM> retrieving a defined retrieved number of bales from the field. The defined retrieved number of bales may, for example, correspond to the maximum number of bales that the bale retriever has space and/or power to hold and transport. In such embodiments, the controller <NUM> can be configured to keep count of the number of bales retrieved by the bale retriever <NUM> and cause the steering assembly <NUM> to steer the bale retriever <NUM> toward the bale drop zone Z upon the bale retriever <NUM> reaching its capacity of picked-up bales.

In some embodiments, and referring now to <FIG> as well, the controller <NUM> is operatively coupled to the display <NUM>, as previously described. The display <NUM> is configured to receive the drop zone insufficient signal from the controller <NUM> and present a bale drop zone error <NUM> responsively to receiving the drop zone insufficient signal. In some embodiments, the bale drop zone error <NUM> is in the form of text and/or another graphical representation that alerts an operator to the fact that a defined bale drop zone Z" is insufficiently sized for the number of bales to be placed in the defined bale drop zone Z". The display <NUM> may be further configured as a touch screen or other input device that is configured to output the bale drop zone input signal(s) to the controller <NUM>. As illustrated in <FIG>, an operator may draw a desired bale drop zone Z" on a graphical representation of the field map <NUM> presented on the display <NUM>. When the desired bale drop zone Z" is set by the operator, the display <NUM> outputs one or more bale drop zone input signals to the controller <NUM>, which defines the desired bale drop zone Z" within the field map <NUM> and determines if the desired bale drop zone Z" is sufficiently sized for the number of bales to be placed in the desired bale drop zone Z". In the scenario illustrated in <FIG> where the desired bale drop zone Z" is insufficiently sized, the controller <NUM> outputs the drop zone insufficient signal to the display <NUM>, which then presents the bale drop zone error <NUM>.

In some embodiments, the controller <NUM> is configured to determine at least one modifiable parameter so the bale drop zone Z" is sufficiently sized for the number of bails and output the drop zone insufficient signal to incorporate data about the modifiable parameter. For example, the controller <NUM> may be configured to output the drop zone insufficient signal incorporating data about the modifiable parameter to the display <NUM>, which may display the modifiable parameter(s) that can be modified so the bale drop zone Z" is sufficiently sized for the number of bales. Example modifiable parameters include, but are not limited to: a bale diameter, a bale density, a bale spacing within the bale drop zone, a bale stacking height, and/or a drop zone area required for the bale drop zone to be sufficiently sized. By presenting such information on the display <NUM>, an operator may choose one or more of the parameters to change so the desired bale drop zone Z" is sufficiently sized for the bales.

In some embodiments, such as embodiments where the controller <NUM> is incorporated in an autonomous vehicle, the controller <NUM> is configured to choose at least one of the modifiable parameters according to a defined priority and/or an allowable range and output a modification signal to adjust at least one parameter of the desired bale drop zone Z" and/or the baler <NUM>. For example, the controller <NUM> may be configured to receive an allowable adjustment range, from user input or otherwise, and determine a highest priority modifiable parameter that is adjustable to be within the allowable adjustment range and also satisfying the condition that the desired bale drop zone Z" is sufficiently sized for the number of bales. The controller <NUM> may be configured, for example, to prioritize modifiable parameters as: <NUM>) drop zone area, <NUM>) bale diameter, <NUM>) bale density, and <NUM>) bale stack height within the bale drop zone. If the controller <NUM> determines that the bale diameter and bale stack height can be modified to be within the respective allowable adjustment ranges, but the drop zone area and the bale density cannot, the controller <NUM> may choose the bale diameter as the modifiable parameter, owing to its higher priority, and output a modification signal to the baler <NUM> to adjust the bale diameter of formed bales so the desired bale drop zone Z" is sufficiently sized for the number of bales to be formed.

While the bale drop zone input signal may come from an element of the bale retriever <NUM>, such as the display <NUM>, in some embodiments the bale drop zone input signal comes from outside the bale retriever <NUM>. For example, the bale drop zone input signal may be generated by the controller <NUM> of the baler <NUM> and output to the communications interface <NUM> of the bale retriever <NUM> by the communication interface <NUM> of the baler <NUM>, either directly or via the network <NUM>. Thus, in some embodiments, the communications interface <NUM> is configured to receive the bale drop zone input signal from another agricultural vehicle, such as the baler <NUM>, and/or the network <NUM>.

In some embodiments, the controller <NUM> determines the number of bales formed from crop material on the field based on operator input. For example, as illustrated in <FIG>, the display <NUM> may present a bale input graphic <NUM> that allows the operator to input the number of bales that will be formed from crop material on the field. The display <NUM> may also present a size input graphic <NUM> that allows the operator to input the size of each bale that will be formed. Upon those values being entered, the display <NUM> can output a bale number signal and a bale volume signal to the controller <NUM>. From the bale number signal and the bale volume signal, the controller <NUM> can determine a total space requirement for the number of bales and compare the total space requirement to the desired bale drop zone Z" in order to determine if the desired bale drop zone Z" is sufficiently sized for the number of bales.

In some embodiments, the controller <NUM> is configured to determine the number of bales formed from crop material on the field based on a variety of inputs. In some embodiments, the controller <NUM> is configured to define an expected volume of crop material on the field, define a volume of crop material per bale, and determine the number of bales based on the expected volume of crop material and the volume of crop material per bale. For example, the expected volume of crop material can be defined based on operator input by the display <NUM> presenting a crop material volume graphic <NUM>. Upon the operator entering the expected volume of crop material in the graphic <NUM>, the display <NUM> can output an expected crop volume signal to the controller <NUM>. The controller <NUM> can be configured to define the volume of crop material per bale based on the bale volume signal, as previously described, since the size of the bale corresponds to the volume of crop material packed into the bale and the packing density, which the controller <NUM> can also account for in making the determination. Once the expected volume of crop material and the volume of crop material per bale are known, the controller <NUM> can determine the number of bales by dividing the expected volume of crop material by the volume of crop material per bale.

In some embodiments, the controller <NUM> is configured to receive a crop yield signal corresponding to a volume of crop material on the field, define a volume of crop material per bale, and determine the number of bales based on the volume of crop material and the volume of crop material per bale. The crop yield signal may be received by the controller <NUM>, for example, via the communications interface <NUM> interfacing with the communications interface <NUM> of the baler <NUM>. The controller <NUM> of the baler <NUM> may be configured to keep track of how much crop material the baler <NUM> has handled and define the volume of crop material accordingly. Alternatively, or in addition, the crop yield signal may be output by a mower-conditioner that cut crop material in the field and has a controller configured to track the volume of crop material as it is cut. Other ways that the controller <NUM> may be configured to determine the amount of crop material may be based on, but is not limited to: receiving a yield signal generated during a raking and/or a merging operation that corresponds to the crop material yield of the field; receiving a yield estimate signal during baling that estimates a crop material yield of a first portion of a field and, based on the estimated yield, extrapolating the crop material yield to the entirety of the field; and/or receiving a yield signal corresponding to one or more historical crop material yields from the field. The defined volume of crop material per bale may be defined by the controller <NUM> of the bale retriever <NUM>, based on operator input or otherwise, or, alternatively, may be defined based on the controller <NUM> receiving a bale volume signal from the controller <NUM> of the baler <NUM>, which may control the volume of crop material that is packed into each bale formed by the baler <NUM>. The controller <NUM> may then determine the number of bales by dividing the volume of crop material by the volume of crop material per bale, as previously described. It should thus be appreciated that the controller <NUM> may be configured in a variety of ways to determine the number of bales formed from crop material on the field to be placed in the bale drop zone Z, Z", if the number of bales is not directly input by an operator.

As illustrated in <FIG>, the controller <NUM> may be configured to predict a number of unformed bales <NUM> that are left in a field based on the volume of crop material left in the field and the volume of crop material per bale. The controller <NUM> may be further configured to determine if a previously defined bale drop zone Z' is sufficiently sized to hold the number of unformed bales <NUM>, taking into account a number of bales <NUM> already placed in the bale drop zone Z'. If the controller <NUM> determines the bale drop zone Z' is insufficiently sized, the controller <NUM> may be configured to extend the bale drop zone Z' to a modified bale drop zone Z and output a modified bale drop zone signal with the drop zone insufficient signal to the display <NUM>, alerting an operator to the fact that the bale drop zone Z' is not sufficiently sized while also providing the modified bale drop zone Z as a potential modification to the bale drop zone Z' for the operator to consider.

While the previous description focuses on the controller <NUM> of the bale retriever <NUM> performing the previously described functionality, it should be appreciated that, in some embodiments, the controller <NUM> of the baler <NUM> is configured to perform such functionality. Alternatively, or in addition, the controller may be part of the tractor <NUM> that tows the baler <NUM>. In such embodiments, the controller <NUM> of the baler <NUM> may be configured to output different types of signals to the retriever controller <NUM> via the respective communications interfaces <NUM>, <NUM>. For example, the controller <NUM> may be configured to determine if a defined bale drop zone, such as the bale drop zone Z, is sufficiently sized for the number of bales to be placed in the bale drop zone Z and, if the bale drop zone is sufficiently sized, output a drop zone set signal corresponding to the sufficiently sized bale drop zone. The retriever controller <NUM> may be configured to receive the drop zone set signal output by the controller <NUM> via the retriever communication interface <NUM> and define the sufficiently sized bale drop zone as a return location for autonomous control of the steering assembly <NUM> and propulsion of the bale retriever <NUM> through the field. Such functionality can also be implemented in the controller of a different agricultural vehicle, such as a mower-conditioner. It should thus be appreciated that there are numerous ways to configure an agricultural vehicle in accordance with the present disclosure to assist an operator in defining a sufficiently sized bale drop zone for the number of bales that will be formed from crop material on a field.

From the foregoing, it should be appreciated that agricultural vehicles provided according to the present disclosure have a controller that can assist an operator determine if a bale drop zone is sufficiently sized for holding crop material bales that will be formed from a field and, if the bale drop zone is not sufficiently sized, alert the operator. The operator knowing that the bale drop zone is unlikely to be sufficient to hold the bales can save the operator time and aggravation by allowing the operator to, for example, see if one or more alternative bale drop zones are sufficiently sized for the number of bales before starting to place bales in the bale drop zone. The operator may also choose to alter the size, density, and/or spacing of the bales, for example, so the bales fit in the bale drop zone. If the system is partially or entirely autonomous, the controller determining if the bale drop zone is sufficiently sized can prevent the system from operating so bales are placed in an undesired way and/or location. Thus, exemplary embodiments provided according to the present disclosure can address the problems associated with a bale drop zone being insufficiently sized to hold the bales that are formed from crop material on a field.

Referring now to <FIG>, an exemplary embodiment of a method <NUM> for controlling an agricultural vehicle provided according to the present disclosure is illustrated in flow chart form. The agricultural vehicle may be the previously described baler <NUM> and/or the bale retriever <NUM>, and/or, in some embodiments, a different agricultural vehicle such as a mower-conditioner. The method <NUM> is performed by a controller <NUM>, <NUM> of the vehicle <NUM>, <NUM> and includes defining <NUM> a field map <NUM> corresponding to a field; receiving <NUM> at least one drop zone input signal; defining <NUM> a bale drop zone Z, Z', Z" within the field map <NUM> based on the received bale drop zone input signal(s), the bale drop zone Z, Z', Z" defining a location and a bale drop area within the field map <NUM>; determining <NUM> if the bale drop zone Z, Z', Z" is sufficiently sized for a number of bales formed from crop material on the field to be placed in the bale drop zone Z, Z', Z"; and outputting <NUM> a drop zone insufficient signal if the bale drop zone Z, Z', Z" is not sufficiently sized for the number of bales to be placed in the bale drop zone Z, Z', Z". In some embodiments, the method <NUM> includes determining <NUM> the number of bales to be placed in the bale drop zone Z, Z', Z". The determining <NUM> may be based on an expected volume of crop material and a volume of crop material per bale, with the volume of crop material being defined based on operator input and/or signals that are generated during handling of the crop material and/or historical data.

It is to be understood that the steps of the method <NUM> are performed by the controller <NUM>, <NUM> upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller <NUM>, <NUM> described herein, such as the method <NUM>, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller <NUM>, <NUM> loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller <NUM>, <NUM>, the controller <NUM>, <NUM> may perform any of the functionality of the controller <NUM>, <NUM> described herein, including any steps of the method <NUM> described herein.

Claim 1:
An agricultural vehicle (<NUM>, <NUM>), comprising:
a chassis (<NUM>);
a crop material handler (<NUM>, <NUM>) carried by the chassis (<NUM>) and configured to handle crop material;
a communication interface (<NUM>, <NUM>) carried by the chassis (<NUM>) and configured to communicate with at least one of another agricultural vehicle (<NUM>, <NUM>) or a network (<NUM>);
a positioning device (<NUM>) to determine the exact location of the agricultural vehicle (<NUM>, <NUM>); and
a controller (<NUM>, <NUM>) operatively coupled to the communication interface (<NUM>, <NUM>) and configured to
receive real-time information corresponding to various aspects of the agricultural vehicle (<NUM>, <NUM>) and a field it is driving on and define a field map (<NUM>) corresponding to a field by using field information received by the controller (<NUM>, <NUM>) ;
characterized in that the controller (<NUM>, <NUM>) is further configured to:
receive at least one bale drop zone input signal;
define a bale drop zone (Z, Z', Z") within the field map (<NUM>) based on the received at least one bale drop zone input signal, the bale drop zone (Z, Z', Z") defining a location and a bale drop area within the field map (<NUM>) for aggregating the various bales when being collected from the field;
determine if the bale drop zone (Z, Z', Z") is sufficiently sized for a number of bales (<NUM>, <NUM>) formed from crop material on the field to be placed in the bale drop zone (Z, Z', Z"); and
output a drop zone insufficient signal if the bale drop zone (Z, Z', Z") is not sufficiently sized for the number of bales (<NUM>, <NUM>) to be placed in the bale drop zone(Z, Z', Z").