Patent Description:
It is known to provide balers of the kind that gather harvested crop from a windrow formed on the ground and then compact the harvested crop into bales. In a known kind of apparatus, the harvested crop is lifted from a formed windrow by a pick up mechanism and transferred to a stuffer chute before being introduced into a first end of a baling chamber. A reciprocating plunger is provided to compress the crop material into a flake and by advancing consecutive flakes within the baling chamber under the action of the plunger to form a bale. Such parallelepiped bales are generally elongate and known as square bales. Once a bale of a certain size has been formed a knotter mechanism is actuated to tie the formed bale. The formed bale will then be driven from a second end of the baling chamber to an ejection chute or platform from where the formed bale will be deposited to the ground. Collection of the deposited formed bales then follows as a separate operation.

<CIT>) discloses an example of an agricultural baler in which formed bales are driven from a baling chamber to an ejection chute or platform from where the formed bale(s) will be deposited to the ground. One embodiment shown can be operated to select between a straight drop of a released bale using concurrent opening of chute doors, and a drop involving a <NUM>° turn using phased opening of the two doors, depending on deposit requirements.

Nevertheless, it is not ideal that formed bales are dropped from the end of an ejection platform. In particular there can be a lack of control as to how the bales are ejected and their subsequent orientation on the ground, the orientation of the bales affecting the ease of collection of such bales. Accordingly, there is a desire to more closely control the depositing of formed bales from such a baler.

It is an advantage of the disclosed apparatus that this problem is addressed.

In certain embodiments an operator can elect how a formed bale is deposited. However, it is also advantageous to have a specific deposit mode based on a machine parameter, for example in order easily to distinguish bales above or below a predetermined moisture threshold.

According to a first aspect of the present invention a control system for controlling operation of one or more controllable components of an agricultural baler is provided, the control system comprising one or more controllers, and configured to: receive data indicative of a machine parameter of the agricultural baler; determine, in dependence on the machine parameter, a deposit strategy for depositing one or more formed bales from the agricultural baler, the deposit strategy including an indication of a deposit mode; and generate and output one or more control signals for controlling one or more operational components associated with the baler in dependence on the determined bale deposit strategy.

Preferably, the deposit strategy may comprise executing one or more of a linear deposit mode and a quarter turn deposit mode.

Preferably, the control system of the present invention is operable to determine a deposit strategy based on moisture content of the one or more formed bales.

Preferably, the one or more operational components comprises a user interface, such as a display screen. Preferably, the user interface is operable to provide information indicative of the determined deposit strategy to an operator of the baler. Preferably, the control system is configured to generate and output the one or more control signals for controlling operation of the user interface to display the determined deposit strategy to an operator of the agricultural baler.

Preferably, the operational component comprises a ejection chute for automating deposit of one or more formed bales in accordance with the determined deposit strategy. Preferably, the control system is configured to generate and output the one or more control signals for automatically controlling the ejection chute to deposit the one or more formed bales.

Preferably the control system is configured to: receive sensor data from a moisture sensor associated with the agricultural baler; and determine a moisture level of a formed bale in dependence thereon. Preferably, the moisture sensor comprises one or more of: an infrared sensor, a resistive sensor, an optical sensor; and a capacitive sensor. Preferably, the moisture sensor is mounted or otherwise coupled to the agricultural baler and configured to monitor material collected into the agricultural baler. Preferably, the moisture sensor is mounted or otherwise coupled to the agricultural baler and configured to monitor material being collected by a crop pick-up of the agricultural baler. Preferably, the moisture sensor may be configured to monitor material within a baling chamber of the baler.

Preferably, the control system is configured to determine an expected moisture level in dependence on data indicative of the operating environment of the agricultural baler. Preferably, the operating environment data comprises a mapped environment comprising information indicative of a measured or expected moisture level for material at one or more locations within the mapped environment. More preferably, the operating environment data comprises an indication of one or more environmental conditions, including one or more of: a temperature, a time of year; a time of day; a rainfall measurement; and a humidity.

Preferably, the control system is configured to receive a user input indicative of a moisture level provided by an operator of the baler and determine the deposit strategy in dependence thereon. Preferably, the user input may be provided via a user interface of the baler.

Alternatively, or additionally, the control system of the present invention is operable to determine a deposit strategy based on bale length, bale weight or flake count of the one or more formed bales within the ejection chute.

Alternatively, or additionally, the control system of the present invention is operable to determine a deposit strategy based on one or more of the determined protein content, fibre content, nitrate content, ash content, moisture content, nitrate content or ash content of the one or more formed bales within the ejection chute.

According to a further aspect of the invention there is provided a system, comprising: a ejection chute for depositing a plurality of formed bales; and a control system of any preceding aspect of the invention configured to control operation of the ejection chute in accordance with a determined deposit strategy.

According to a second aspect of the invention there is provided an agricultural baler comprising and/or being controllable by a control system, or comprising a system as described herein with reference to any preceding aspect of the invention.

A third aspect of the invention provides a method of controlling operation of one or more controllable components of an agricultural baler, comprising: receiving data indicative of a machine parameter relating to one or more formed bales formed by the agricultural baler; determining, in dependence on the machine parameter, a deposit strategy for depositing the one or more formed bales, the deposit strategy including an indication of a deposit mode for each formed bale; and controlling one or more operational components associated with the baler in dependence on the determined deposit strategy. More preferably, the machine parameter is the moisture content of each formed bale.

Preferably, the one or more operational components comprises a user interface, such as a display screen. Preferably, the user interface is operable to provide information indicative of the determined deposit strategy to an operator of the baler. Preferably, the method includes controlling operation of the user interface to display the determined deposit strategy to an operator of the agricultural baler.

Preferably, the operational component comprises a ejection chute for automating deposit of each of the formed bales in accordance with the determined deposit strategy.

Preferably, the method includes: receiving sensor data from a moisture sensor associated with the agricultural baler; and determining a moisture level of each formed bale in dependence thereon. Preferably, the moisture sensor comprises one or more of: an infrared sensor, a resistive sensor, an optical sensor; and a capacitive sensor. Preferably, the moisture sensor is mounted or otherwise coupled to the agricultural baler and configured to monitor material collected into the baler. Preferably, the moisture sensor is mounted or otherwise coupled to the agricultural baler and configured to monitor material being collected by a crop pick-up of the agricultural baler. Preferably, the moisture sensor is configured to monitor material within a baling chamber of the agricultural baler.

Preferably, the method includes determining an expected moisture level in dependence on data indicative of the operating environment of the baler. Preferably, the operating environment data comprises a mapped environment comprising information indicative of a measured or expected moisture level for material at one or more locations within the mapped environment. Preferably, the operating environment data comprises an indication of one or more environmental conditions, including one or more of: a temperature, a time of year; a time of day; a rainfall measurement; and a humidity.

Preferably, the method includes receiving a user input indicative of a moisture level provided by an operator of the agricultural baler and determine the deposit strategy in dependence thereon. The user input may be provided via a user interface of the baler.

Alternatively, or additionally, the method includes receiving sensor data based on bale length, bale weight or flake count of the one or more formed bales within the ejection chute to determine a deposit strategy.

Alternatively, or additionally, the method includes receiving sensor data based on one or more of the determined protein content, fibre content, nitrate content, ash content, moisture content, nitrate content or ash content of the one or more formed bales within the ejection chute to determine a deposit strategy.

A further aspect of the invention provides a computer readable program comprising instructions which, when the program is executed by a computer, causes the control system of the first aspect or the agricultural baler of the second aspect to implement the method of the third aspect.

With reference to <FIG>, an agricultural baler <NUM> is shown. The baler <NUM> has a wheeled chassis or frame including an axle <NUM> and a pair of laterally spaced wheels <NUM> that support the chassis above the ground. The baler <NUM> is provided with a forwardly extending tongue <NUM> for connecting the baler <NUM> to a towing vehicle, such as a tractor <NUM> (Figure <NUM>).

The baler <NUM> additionally comprises a baling chamber <NUM>, extending generally in a fore- and-aft direction and which are supported on the chassis. The baler <NUM> is provided with a pick up apparatus <NUM> by which harvested crop material arranged in a windrow on a ground surface may be lifted and directed towards the baling chamber <NUM>. The harvested crop material is directed to a stuffer chute at a forward end of the baling chamber <NUM>. The harvested crop material there forms a flake of harvested crop material. The baler <NUM> is further provided with a reciprocating plunger that compresses the flake of harvested crop and pushes it rearwards into the baling chamber <NUM> to generate a forming bale within the baling chamber. Movement of the plunger is enabled by a drive connection <NUM> adapted to be connected to a Power Take Off (PTO) of the towing vehicle.

The baler <NUM> additionally comprises a plurality of knotter units <NUM> immediately downstream of the baling chamber <NUM> for tying one or more strands of binding material (such as twine, wire, cord or the like) around the bales of crop material being formed in the baling chambers.

Once the forming bale has been formed, the formed bale is directed to a discharge or ejection chute <NUM>. In practice the baling chamber <NUM> and the discharge chute <NUM> may be formed as a single channel. Alternatively, the discharge chute <NUM> may be coupled to the baling chamber <NUM> in any suitable manner. The preference is to form the ejection chute of the present invention as part of the channel forming the baling chamber to avoid lengthening this channel. However, certain advantages may still be obtained by forming the ejection chute of the present invention as a "bolt-on" component to existing ejection chutes.

Turning to <FIG>, a section of an ejection chute <NUM> for use with the invention is shown. The ejection chute <NUM> comprises a channel having a base wall <NUM> and first and second side walls <NUM>,<NUM> extending upwards from either side of the base wall <NUM>. The base wall <NUM> conveniently includes an outwardly extending flange <NUM> extending to one side of the ejection chute <NUM>. The ejection chute <NUM> may optionally include an upper wall extending between the first and second side walls <NUM>,<NUM>.

A region of the base wall is provided with an opening or window <NUM>. The window <NUM> is suitable shaped and sized to allow a formed bale B to pass though the window <NUM>. A first selectively displaceable panel <NUM> is adapted to pivot about a longitudinal axis <NUM> located to a first side of the window <NUM>. In the illustrated embodiment the longitudinal axis <NUM> of the first selectively displaceable panel <NUM> extends along a distal end of the flange <NUM>. A second selectively displaceable panel <NUM> is adapted to pivot about a longitudinal axis <NUM> located at a second side of the window. In the illustrated embodiment the longitudinal axis <NUM> of the second selectively displaceable panel <NUM> extends along a base of the second wall <NUM>.

The first and second selectively displaceable panels <NUM>,<NUM> are operable between a first position in which travel of a formed bale through the window <NUM> is prevented by the first and second selectively displaceable panels <NUM>,<NUM> and a second position in which controlled egress of the formed bale through the window is permitted (as described below). As such, operation of the first and second selectively displaceable panels <NUM>,<NUM> provides a deposit mechanism for controlled deposit of the formed bales through the window <NUM>.

It is not necessary for the first and second selectively displaceable panels <NUM>,<NUM> to extend across the window <NUM>. In the illustrated embodiment, the first and second selectively displaceable panels <NUM>,<NUM> only extend part way across the window <NUM> and are sufficient to retain the formed bale B within the ejection chute <NUM>.

The first and second selectively displaceable panels <NUM>,<NUM> are each provided with suitable actuators <NUM>,<NUM>, for example hydraulic actuators. A controller <NUM> is provided to control movement of the actuators <NUM>,<NUM> and so movement of the first and second selectively displaceable panels <NUM>,<NUM>. A sensor <NUM> in communication with the controller <NUM> may optionally be provided to determine when the formed bale B is in position above the window <NUM>.

The ejection chute <NUM> is also provided with a second window <NUM> is provided in the second side wall <NUM> (<FIG>). The second window <NUM> is again sized and shaped to allow passage of a formed bale B. A lower edge of the second window <NUM> is contiguous with the first window <NUM> to form a single large opening.

In a first deposit strategy, the first and second selectively displaceable panels <NUM>,<NUM> are actuated together to perform a linear deposit of formed bale from within the ejection chute <NUM>.

As seen in <FIG>, and the actuator <NUM> allows a relatively small angular movement of the first selectively displaceable panel <NUM> and the actuator <NUM> allows a relatively large angular movement of the second selectively displaceable panel <NUM>. The formed bale B is allowed to descend a short distance though the window <NUM>.

Once the second selectively displaceable panel <NUM> is arranged to depend substantially vertically the actuator <NUM> ceases to move the second selectively displaceable panel <NUM>. The actuator <NUM> continues to control movement of the first selectively displaceable panel <NUM> about the longitudinal axis <NUM> so as allow the formed bale B to descend from the ejection chute <NUM> in a controlled manner (<FIG>).

Continued movement of the first selectively displaceable panel <NUM> about the longitudinal axis <NUM> under the action of the actuator <NUM> then removes the first selectively displaceable panel <NUM> from the path of the formed bale B (<FIG>) allowing the formed bale B to drop out of the ejection chute <NUM> (<FIG>) toward the ground (<FIG> before the formed bale B lands on the ground beneath the ejection chute <NUM> of the baler <NUM> (<FIG>).

In this way the bale the formed bale B is falling freely for a shorter distance than when ejected from the rear of the ejection chute. As a result, the formed bale B is deposited to the ground in a far more controlled manner.

A second deposit strategy may be adopted as illustrated in <FIG>. In this strategy, the actuators <NUM>, <NUM> are operated only to permit movement of the first selectively displaceable panel <NUM> about the longitudinal axis <NUM>, with the second selectively displaceable panel <NUM> being held in position extending horizontally beneath the window <NUM>. In this embodiment the formed bale B will topple over the second selectively displaceable panel <NUM> and as it passes through the first and second windows <NUM>,<NUM> perform a quarter turn. The substantially vertically depending first selectively displaceable panel <NUM> will act as a guide such that the formed bale B is directed to be deposited on the ground G on a shorter side (<FIG>).

Other arrangements or constructions of the second selectively displaceable panel may be considered. For example, the second selectively displaceable panel <NUM>' may be formed as an angled plate comprising a first portion extending from the longitudinal axis <NUM> and a second portion extending downward at an angle to the first portion (<FIG>). It will be understood that in this embodiment greater control of the quarter turn of the formed bale B is provided for as the second portion of the second selectively displaceable panel <NUM>' and the substantially vertically depending first selectively displaceable panel <NUM> together provide greater guidance for the movement of the formed bale as it is deposited from the ejection chute <NUM> to the ground.

A further embodiment is shown in <FIG>. While the first selectively displaceable panel <NUM> takes the form of the first embodiment, the ejection chute <NUM> is further provided with a deflector element <NUM>. In the illustrated embodiment, the deflector element <NUM> is substantially L-shaped. A first limb of the deflector <NUM> extends substantially vertically from the second selectively displaceable panel <NUM> and the second limb extends substantially horizontally inward beneath the ejection chute <NUM>. The second limb extends further than the second selectively displaceable panel <NUM>. In practice movement of the lower end of the toppling formed bale B is further guided or constrained between a distal end of the second limb and the substantially vertically depending first selectively displaceable panel <NUM>.

It will be appreciated that in these embodiments both the first and second selectively displaceable panels <NUM>, <NUM> may be operated as in the first embodiment so to allow the formed bale B to drop and be deposited on a longer side. The operator may select which of the drop methods is to be utilised by way of a Human Machine Interface <NUM> in electronic communication with the controller <NUM>. The Human Machine interface <NUM> my be provided on the baler <NUM> such that a selection may be made prior to baling or incorporated into the towing vehicle, for example by being located within the driver's cab, allowing the operator to select the chosen deposit method while baling.

The electronic controller <NUM> may communicate with the other elements by way of a suitable communications network <NUM>.

A still further embodiment is shown in <FIG>. In this embodiment a second ejection chute <NUM> is shown alongside the first. The second ejection chute <NUM> is provided with a first selectively displaceable panel <NUM> and a second selectively displaceable panel <NUM> to selectively obstruct a window <NUM> in a base wall of the second ejection chute <NUM>. Additional actuators <NUM>,<NUM> are provided in electronic communication with the controller <NUM>. An additional sensor <NUM> in communication with the controller <NUM> may optionally be provided to determine when the formed bale B' is in position above the window <NUM>.

It will be understood that the second ejector chute <NUM> is of similar construction to the first and second embodiments save that the constructions are reversed such that the second selectively displaceable panel <NUM> of the first ejection chute <NUM> is located adjacent the second selectively displaceable panel <NUM> of the second ejection chute <NUM>. It will be understood that the controller <NUM> operates so that formed bales B, B1 may be ejected vertically (linear deposit mode) or rotated during deposit (quarter turn deposit mode) as desired.

It will be understood that should the actuators <NUM>,<NUM>,<NUM>,<NUM> cease to operate for any reason the formed bales B, B' will remain supported within the ejection chute <NUM> or chutes <NUM>,<NUM> such that continued operation of the reciprocating plunger to form further bales will simply lead to the ejection of the formed bale B or bales B,B' from the rear of the ejection chute <NUM> or chutes <NUM>,<NUM> as is currently known.

A moisture level for each formed bale may be determined. For example, the baler <NUM> may include one or more moisture sensors for monitoring a moisture level associated with the crop material collected by the pick up apparatus <NUM>. In an illustrated embodiment (<FIG>) the moisture sensor comprises a capacitive moisture sensor <NUM> mounted on an interior wall of the baling chamber <NUM>. The capacitive sensor <NUM> has a sensing element which contacts the crop material within the baling chamber <NUM> in use to obtain a measurement of the moisture level associated with the crop material, as is known in the art. The moisture sensor <NUM> is used by a control system <NUM> of the baler <NUM>, to determine a moisture level associated with each formed bale and determine therefrom an appropriate deposit strategy for each formed bale.

The deposit strategy may be used by the control system <NUM> for controlling operational components of the baler <NUM>, including the ejection chute for automating deposit of each formed bale in accordance with the determined deposit strategy, and/or control over a user interface <NUM> associated with the baler <NUM>, e.g. provided as a display terminal of a coupled tractor <NUM> or indeed a handheld terminal, to provide an indication of the determined deposit strategy to an operator of the baler <NUM>.

<FIG> illustrates the example control system <NUM> further. As shown, the control system <NUM> comprises a controller <NUM> having an electronic processor <NUM>, an electronic input <NUM> and electronic outputs <NUM>, <NUM>. The processor <NUM> is operable to access a memory <NUM> of the controller <NUM> and execute instructions stored therein to perform the steps and functionality of the present invention discussed herein, e.g. by controlling the user interface <NUM>, to indicate, e.g. to an operator of the baler <NUM>, information indicative of the determined deposit strategy, and/or controlling operation of the ejection chute <NUM> through generation and output of one or more control signals thereto, or to a local control unit of the ejection chute <NUM> , e.g. control unit <NUM>.

The processor <NUM> is operable to receive sensor data via input <NUM> which, in the illustrated embodiment, takes the form of input signals <NUM> received from the moisture sensor <NUM>. Utilising this data, the processor <NUM> is configured to analyse the data and determine therefrom a measure of a moisture level associated with the material collected by the baler <NUM>. As discussed herein, the determined moisture level is used to determine a deposit strategy for the baler <NUM>, and in particular an indication of the deposit mode. A notification indicative thereof can be presented to an operator of the baler <NUM> via the user interface <NUM>.

As described above, the controller <NUM> includes an electronic output <NUM> configured output control signals <NUM> generated by the processor <NUM> for controlling operation of the ejection chute <NUM>. Specifically, processor <NUM> is operable to generate, and the controller <NUM> operable to then output via electronic output <NUM>, control signals <NUM> for controlling operation of the ejection chute <NUM> in the manner described herein, e.g. through selection of the appropriate deposit mode (as determined by the deposit strategy), controlling movement of the displaceable panels <NUM>, <NUM> as required. As will be appreciated, the controller <NUM> may output the control signals <NUM> to a local processing unit, e.g. the control unit <NUM> of the ejection chute <NUM> for controlling operation thereof.

Electronic output <NUM> is operably coupled to the user interface <NUM> of the baler <NUM>. Here, the control system <NUM> is operable to control operation of the user interface <NUM>, e.g. through output of control signals <NUM> in order to display data to an operator of the baler <NUM> relating to the operation of the control system <NUM>. Specifically, the control system <NUM> is operable to control the user interface <NUM> to display to the operator an indicator of the deposit strategy.

The electronic input may additionally or alternatively receive data representative of other machine parameters including for example receiving sensor data based on bale length, bale weight or flake count of the one or more formed bales within the ejection chute to determine a deposit strategy. Where the moisture sensor is a NIR (near infrared) sensor the machine parameter may include one or more of the determined protein content, fibre content, nitrate content, ash content, moisture content, nitrate content or ash content of the formed bale.

By way of example the deposit strategy may be determined to separate the bales deemed to have an overly high moisture content, by configuring the baling strategy to deposit such bales in a first mode and all remaining bales in a second mode to show the stacker or operator that that any individual bale deposited meets or does not meet the predetermined moisture criteria. Alternatively, a deposit strategy may be implemented to alert a stacker or operator of a different condition such as bale length (if the bale was too long or too short), weight (if the bale was too heavy or light), or flake count (if there were too many or too few flakes in a given formed bale). Such a strategy could be set by the operator in the user interface <NUM>.

<FIG> illustrates an agricultural vehicle in the form of a tractor <NUM> operably coupled to baler <NUM>. It will be appreciated that, in use, the tractor <NUM> and baler <NUM> may be operably coupled at tow hitch of the baler <NUM>, although other couplings are envisaged and will be appreciated by the skilled reader.

Claim 1:
A control system for controlling operation of one or more controllable components of an agricultural baler (<NUM>), the control system comprising one or more controllers (<NUM>), and configured to: receive data indicative of a machine parameter of the agricultural baler (<NUM>); determine, in dependence on the machine parameter, a deposit strategy for depositing one or more formed bales (B) from the agricultural baler (<NUM>), the deposit strategy including an indication of a deposit mode; and generate and output one or more control signals for controlling one or more operational components associated with the baler (<NUM>) in dependence on the determined bale deposit strategy.