Combination of a traction vehicle and an implement

Patent metadata

Field	Value
Publication number	US-11912261-B2
Application number	US-202017247696-A
Country	US
Kind code	B2
Filing date	Dec 21, 2020
Priority date	Dec 20, 2019
Publication date	Feb 27, 2024
Grant date	Feb 27, 2024

Abstract

A system for picking up, bundling and depositing agricultural material having a traction vehicle and a towed implement, the system comprising: an actuator associated with the implement; a control device configured to generate control data for controlling the orientation of the implement and steering of the traction vehicle, the control data including information relating to the orientation of the implement adjustable by the actuator, a desired orientation of the deposited agricultural material and at least one of a speed and a direction of travel of the traction vehicle; and wherein, using the control data, the actuator adjusts the orientation about a vertical axis of the implement relative to the traction vehicle to deposit the agricultural material.

First claim

The invention claimed is:

1. A system for picking up, bundling and depositing agricultural material having a traction vehicle and a towed implement, the system comprising:
an actuator associated with the implement; and
a control device configured to generate control data:
for the actuator, resulting in the implement being laterally offset relative to the traction vehicle to move the implement into the appropriate orientation; and
for controlling the orientation of the implement and steering of the traction vehicle, the control data including information relating to the orientation of the implement adjustable by the actuator, a desired orientation of the deposited agricultural material and at least one of a speed and a direction of travel of the traction vehicle;

wherein, using the control data, the actuator adjusts the orientation about a vertical axis of the implement relative to the traction vehicle to deposit the agricultural material, and
wherein the implement is laterally offset to the right when the implement has to be rotated counterclockwise relative to the direction of travel adopted when picking up the material and offset to the left when the implement has to be rotated clockwise relative to the direction of travel adopted when picking up the material.

2. The system of claim 1 wherein the implement has a crop pick-up system for picking up agricultural material, a bundling arrangement for bundling the agricultural material and a discharge for depositing the bundled material.

3. The system of claim 1 wherein the control device is configured to transmit the control data automatically to at least one of the actuator and a user interface for providing instructions to an operator for manual activation of the actuator.

4. The system of claim 1 wherein the control device is configured to transmit the control data corresponding to at least one of the speed and direction of travel of the traction vehicle to a steering actuator of the traction vehicle.

5. The system of claim 1 wherein the control device is configured to transmit control data corresponding to at least one of the speed and direction of travel of the traction vehicle to a user interface for providing instructions to an operator for manual activation of steering which may be actuated by the operator.

6. The system of claim 1 wherein the control device is configured to activate the lateral offset as a function of a working width of a crop pick-up system of the implement and a width determined by a sensor of a swath of material to be picked up.

7. The system of claim 1 wherein the control device is configured to provide control data which result in an actuation of the actuator and steering of the traction vehicle being terminated when the implement has reached the appropriate orientation.

8. The system of claim 1 wherein the control device is configured to, using the control data, activate the actuator and steer the traction vehicle based on values from at least one of an onboard sensor or a planned path based on the characteristics of the field.

9. The system of claim 1 wherein the implement is a round baler and the control device is configured to control the sequence such that a round bale deposited by the implement is oriented with its axis of symmetry parallel to a slope inclination of the field.

10. The system of claim 1 wherein the actuator is configured to adjust the angle of a drawbar between the traction vehicle and the implement relative to each other.

11. A method for picking up, bundling and depositing agricultural material having a traction vehicle and a towed implement, the method comprising:
picking up an agricultural material from a field;
bundling the agricultural material within the implement;
generating control data, with a control device, corresponding to orientation of the implement, desired orientation of the deposited agricultural material and at least one of a speed and a direction of travel of the traction vehicle; and
adjusting, with an actuator, the orientation of implement according to the control data, resulting in the implement being laterally offset relative to the traction vehicle to move the implement into the appropriate orientation such that bundled material will be deposited in a desired orientation different from a standard orientation,
wherein the implement is laterally offset to the right when the implement has to be rotated counterclockwise relative to the direction of travel adopted when picking up the material and offset to the left when the implement has to be rotated clockwise relative to the direction of travel adopted when picking up the material.

12. A system for picking up, bundling and depositing agricultural material having a traction vehicle and a towed implement, the system comprising:
an actuator associated with the implement; and
a control device configured to generate control data for controlling the orientation of the implement and steering of the traction vehicle, the control data including information relating to the orientation of the implement adjustable by the actuator, a desired orientation of the deposited agricultural material and at least one of a speed and a direction of travel of the traction vehicle,
wherein, using the control data, the actuator adjusts the orientation about a vertical axis of the implement relative to the traction vehicle to deposit the agricultural material, and
wherein after the end of a procedure in which the material is picked up and bundled, the control device is configured to provide control data for controlling the speed of the traction vehicle, which result in the traction vehicle being brought to a standstill.

13. The system of claim 12 wherein after the end of the procedure in which the material is picked up and bundled, the control device is configured to provide control data for the actuator, which result in the implement rotating relative to the traction vehicle about the vertical axis in the direction of the appropriate orientation.

14. The system of claim 13 wherein the control device is configured to issue a command for lifting up a crop pick-up system of the implement before providing the control data for the actuator.

15. The system of claim 14 wherein after the rotation of the implement about the vertical axis, which is effected by actuating the actuator, the control device is configured to provide control data for which result in the traction vehicle traveling in a different direction relative to the direction of travel when picking up the material.

16. The system of claim 15 wherein the traction vehicle travels in a direction of travel oriented to the left relative to the direction of travel relevant for the pick-up of the material when the implement has to be rotated counterclockwise into the appropriate orientation relative and in a direction of travel oriented to the right relative to the direction of travel relevant for the pick-up of the material when the implement has to be rotated clockwise into the appropriate orientation.

17. The system of claim 15 wherein the traction vehicle travels in a reverse direction, the control device configured to provide control data for steering the traction vehicle which result in the rotation of the traction vehicle running in the direction opposing the previous rotational direction, as soon as the angle between the traction vehicle and the implement has reached a maximum value as detected by a feedback sensor which senses the angle between a drawbar and the implement or traction vehicle.

Assignees

• Deere & Co

Inventors

• Wolff Kilian
• Rossnagel Daniel

Classifications

• B60W10/20 Primary

  including control of steering systems · CPC title

• A01F15/07

  Rotobalers, i.e. machines for forming cylindrical bales by winding and pressing · CPC title

• B60W10/04

  including control of propulsion units · CPC title

• G05D1/021

  specially adapted to land vehicles · CPC title

• A01F15/0883 Primary

  for round balers · CPC title