METHOD AND APPARATUS FOR FORMING SEVERAL BALES AND DEPOSITING THEM ON THE GROUND AT SUITABLE LOCATIONS

Abstract

A bale forming apparatus forms a plurality of bales and deposits every bale at a suitable location. A ground property sensor measures a value indicative of a ground property. The bale forming apparatus receives loose material and processes the loose material in a processing chamber and completes the process in a further processing chamber positioned vertically or angularly above a bale carrier.

Claims

1. A method for forming a plurality of bales on board of a bale forming apparatus, wherein the bale forming apparatus comprises: a processing device providing a processing chamber, a bale carrier positioned outside of the provided processing chamber, a baler computer, and at least one ground property sensor, wherein the bale carrier is arranged for carrying at least one bale, wherein the formation of a bale comprises the steps that the bale forming apparatus; is moved over ground, receives loose material, injects received loose material into the processing chamber, processes injected loose material in the processing chamber by means of the processing device, transfers processed loose material from the processing chamber onto the bale carrier, forms the bale such that the formed bale is ready for being deposited onto the ground, and deposits the formed bale from the bale carrier onto the ground, wherein for every bale of the plurality the further steps are performed at least once that: the or one ground property sensor measures at least one value indicative of a property of the ground occurring at the current location of the bale forming apparatus, and the baler computer makes at least one time depending on the or at least one measured ground property value automatically a decision whether or not the current location is suitable for depositing the bale there, wherein the bale forming apparatus provides at least temporarily a further processing chamber which is positioned vertically or angularly above the bale carrier, wherein the step that processed loose material is transferred from the processing chamber onto the bale carrier comprises the step that processed loose material is moved from the processing chamber into the further processing chamber, wherein the step that a bale of the plurality is formed comprises the steps that the moved loose material is further processed in the further processing chamber and the formation of the bale is completed in the further processing chamber, and wherein the step that a formed bale is deposited on the ground comprises the step that the formed bale is moved out of the further processing chamber and is performed after the bale forming apparatus is moved over ground to a location suitable for depositing this bale and the step of injecting loose material into the processing chamber is temporarily interrupted if a value indicative of the amount of loose material in the processing chamber reaches a given or calculated amount threshold and a bale is still formed or carried in the further processing chamber.

2.-4. (canceled)

5. The bale forming method according to claim 1, wherein the amount threshold is automatically calculated while the bale forming apparatus is moved over ground, wherein the amount threshold is calculated depending on a value indicative of the amount of loose material in the further processing chamber.

6. The bale forming method according to claim 1, wherein the method comprises the further steps that the interruption is terminated and loose material is injected in the processing chamber after the formed bale is moved out of the further processing chamber and processed loose material is transferring from the processing chamber into the further processing chamber.

7. The bale forming method according to claim 1, wherein the step of receiving loose material is temporarily interrupted if a value indicative of the amount of loose material on board of the bale forming apparatus reaches a given amount threshold and the interruption is terminated and loose material is received again after the or one bale is deposited on the ground.

8. (canceled)

9. The bale forming method according to claim 1, wherein the bale forming apparatus is moved over ground in an area and the method comprises the further steps that the or one ground property sensor measures at least one value indicative of the or at least one ground property occurring at a location of the area which is different from the current location of the bale forming apparatus and depending on the measured ground property value the baler computer makes a decision if this different location is suitable for depositing a bale there.

10. The bale forming method according to claim 9, wherein the result that the or at least one different location is not suitable for depositing a bale there triggers the step that the formation of a bale in the further processing chamber is completed and the formed bale is deposited on the ground as soon as the bale forming apparatus reaches a suitable location.

11. The bale forming method according to claim 10, whereas the result that the different location is not suitable triggers the further step that processed loose material is transferred from the processing chamber into the further processing chamber and is used for forming the bale.

12.-13. (canceled)

14. The bale forming method according to claim 9, wherein the method comprises the further steps that a trajectory is generated while the bale forming apparatus moves over ground, wherein the trajectory comprises the current location of the bale forming apparatus and at least one location in the area which is different from the current location of the bale forming apparatus and which is, according to the measured ground property value, suitable for depositing a bale there, wherein the trajectory is calculated depending on the or one measured ground property value for the or at least one different location, and wherein the trajectory is used for further moving the bale forming apparatus over ground from the current location towards the or one suitable location.

15. The bale forming method according to claim 14, wherein a value indicative of the amount of loose material currently being in the processing chamber and/or a value indicative of the amount of loose material currently being in the further processing chamber is measured and the trajectory is calculated further depending on the or at least one measured amount value.

16. The bale forming method according to claim 9, wherein the step that the or one ground property value occurring at the location different from the current location is measured is performed by applying a first measuring method and the method comprises the further steps that the bale forming apparatus is moved to the different location, the or one ground property sensor measures the value of the or one ground property occurring at the different location now being the current location by applying a second measuring method being different from the first measuring method, and the bale is deposited at this location if the first as well as the second measuring method yield the result that this location is suitable.

17. The bale forming method according to claim 9, wherein a respective required final value for every property of a bale of the plurality is given, wherein the method comprises the further step that an expected completion area is calculated such that the bale forming apparatus will reach the calculated expected completion area when the bale property value for the or one bale formed on board of the bale forming apparatus reaches the required final value, wherein the calculated expected completion area comprises the or one different location for which the or one ground property value is measured.

18. The bale forming method according to claim 17, wherein the bale forming apparatus deposits the or one bale on the ground before the bale property value for the bale reaches the required final value if no location within the completion area is suitable for depositing the bale there.

19. The bale forming method according to claim 9, wherein an amount threshold for the maximal amount of loose material which can be carried on board of the bale forming apparatus is given, wherein the method comprises the further step that an expected amount area is calculated such that the bale forming apparatus will reach or will be within the calculated expected amount area when the amount of loose material on board of the bale forming apparatus reaches the given amount threshold, wherein the expected amount area comprises the or one different location for which the or one ground property value is measured.

20. The bale forming method according to claim 17, wherein the completion area and/or the amount area are calculated by using at least one of the following inputs: a sequence of bale property values for the or one bale to be formed on board of the bale forming apparatus wherein the property values have been measured at different time points, a sequence of values for the amount of loose material carried on board of the bale forming apparatus wherein the amount values have been measured at different time points, a given loose material map which provides for different locations of a given area in which the bale forming apparatus is moved the respective amount of loose material to be received at this location, a given trajectory along which the bale forming apparatus is moved, or the current geo-position of the bale forming apparatus.

21. (canceled)

22. The bale forming method according to claim 1, wherein the step that loose material is received comprises the step that the bale forming apparatus picks up loose material from the ground while moving over ground, wherein the step of picking up loose material is at least temporarily also performed while the picked-up, processed, and transferred loose material is further processed in the further processing chamber and the step of picking up loose material from the ground is temporarily interrupted if a value indicative of the amount of loose material in the processing chamber reaches a given threshold and the formed bale is still carried on board of the bale forming apparatus.

23.-25. (canceled)

26. The bale forming method according to claim 1, wherein the bale forming apparatus comprises a further bale carrier arranged for carrying at least one formed bale, wherein the method comprises the further step that at least one formed bale is moved out of the further processing chamber onto the further bale carrier and is deposited from the further bale carrier onto the ground at a suitable location.

27.-30. (canceled)

31. The bale forming method according to claim 1, wherein the bale forming apparatus is mechanically connected with a further vehicle comprising a further ground property sensor, wherein the bale forming apparatus and the further vehicle jointly move over ground, wherein the step that the baler computer makes the decision whether the current and/or a further location is suitable is performed depending on the or one ground property value measured by the ground property sensor of the bale forming apparatus and additionally depending on the or one ground property value measured by the ground property sensor of the further vehicle.

32. The bale forming method according to claim 1, wherein the or at least one measured ground property is the ground inclination around an axis which is parallel to a bale center axis when the bale is in that orientation in which it is to be deposited on the ground and wherein the formed bale extends along the bale center axis.

33. (canceled)

34. A bale forming apparatus for forming a plurality of bales wherein the bale forming apparatus comprises a processing device providing a processing chamber, at least one bale carrier positioned outside of the provided processing chamber, a baler computer, and at least one ground property sensor, wherein the bale carrier is arranged for carrying at least one bale, wherein the bale forming apparatus is arranged to be moved over ground, to receive loose material, to inject received loose material into the processing chamber, to process injected loose material in the processing chamber by means of the processing device, to transfer processed loose material from the processing chamber onto the or one bale carrier, to form a bale such that the formed bale is ready for being deposited on the ground, and to deposit the formed bale from the bale carrier onto the ground, wherein the or every ground property sensor is arranged to measure at least one value indicative of a property of the ground occurring at the current location of the bale forming apparatus, and wherein the baler computer is arranged to make depending on the or at least one measured ground property value a decision whether or not the current location is suitable for depositing there at least one bale currently being on board of the bale forming apparatus, wherein the bale forming apparatus is arranged for providing a further processing chamber which is positioned vertically or angularly above the or one bale carrier, wherein the bale forming apparatus is arranged to move processed loose material from the processing chamber into the further processing chamber, to further process moved loose material in the further processing chamber, to complete the formation of the bale in the further processing chamber, and to be moved over ground until it reaches a location suitable for depositing at least one formed bale there, the or one ground property sensor is arranged to measure a value indicative of the or one ground property occurring at a location which is different from the current location of the bale forming apparatus, and the baler computer is arranged to decide depending on the or at least one measured ground property value whether this different location is suitable for depositing a bale there.

35.-36. (canceled)

37. The bale forming apparatus according to claim 34, wherein the baler computer is arranged to calculate a trajectory which comprises the current location of the bale forming apparatus and at least one suitable location which is different from the current location and the baler computer is further arranged to generate control outputs for guiding or steering the bale forming apparatus to the suitable different location along the generated trajectory.

38. The bale forming apparatus according to claim 34, wherein the bale forming apparatus is adapted for being mechanically connected with a further vehicle comprising the or one ground property sensor, wherein the bale forming apparatus and the connected further vehicle are arranged to jointly move over ground and wherein the baler computer is in data connection with the ground property sensor of the further vehicle.

39.-41. (canceled)

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0118] FIG. 1 shows in a side view schematically a combination of a pulling tractor and a round baler operating on a hilly ground;

[0119] FIG. 2 shows a continuous bale forming apparatus according to a preferred embodiment with the tailgate in the bale forming position;

[0120] FIG. 3 shows the bale forming apparatus of FIG. 2 with the tailgate in the first bale wrapping position;

[0121] FIG. 4 shows the bale forming apparatus of FIG. 3 with the tailgate in the second bale wrapping position and with a larger distance to the front housing and with a new bale;

[0122] FIG. 5 shows the bale forming apparatus of FIG. 2 with the tailgate in the bale ejecting position;

[0123] FIG. 6 shows a baler-wrapper combination according to a further embodiment of the invention;

[0124] FIG. 7 shows a further bale carrier in the form of a tilting unit;

[0125] FIG. 8 shows a control scheme of an embodiment of a bale forming apparatus according to the invention;

[0126] FIG. 9 shows an inclination map and a planned trajectory in accordance with an embodiment of the invention.

DETAILED DESCRIPTION OF EMBODIMENT

[0127] In all embodiments described below the invention is used in a bale forming apparatus (baler). Such a baler is pulled over ground in a travelling direction TD, picks up loose crop material (hay, straw, silage, e.g.) from the ground, conveys the picked-up crop material through a feeding channel towards a pressing chamber or channel, optionally cuts the conveyed crop material in the feeding channel, injects the cut crop material into the pressing chamber, and forms round-cylindrical or cuboid bales in the drum-shaped pressing chamber or rectangular pressing channel from the injected crop material.

[0128] FIG. 1 shows schematically in a side view an agricultural combination comprising [0129] a bale forming apparatus (round baler) 1 configured to form round-cylindrical bales B from loose crop material such as hay or straw or silage and [0130] a pulling tractor 70 configured to pull the round baler 1 in a travelling direction TD over an agricultural field having a ground surface GS.

[0131] On the ground surface GS several swaths with crop material are formed in advance by mowing and raking. These swaths have to be picked up and to be pressed into several bales. The formed bales are deposited on the ground GS and are later transported away. The baler 1 is configured to pick up from the ground this crop material contained in the swaths and to compress the picked-up crop material into several round-cylindrical bales B. These bales constitute the plurality of bales to be formed and deposited on the ground GS.

[0132] The baler 1 comprises a rotated pick-up unit arranged to pick up crop material from the ground surface GS. According to a first embodiment the baler 1 comprises a bale forming chamber serving as the processing chamber and a bale wrapping chamber serving as the further processing chamber (to be explained below) to form a bale B from the crop material. The picked-up loose material is injected into and compressed in the bale forming chamber for creating a round-cylindrical bale B. The created bale B is moved into the wrapping chamber. Without being wrapped the bale would fall apart after being deposited on the ground. Once the bale B is formed, it may be ejected from the baler 1 by using a bale ejection device 30 at the rear side of the baler 1. This bale ejection device 30 may open a pivotal discharge gate 11 and/or comprise a so-called bale accumulator 90 which can carry at least one bale ready to be deposited.

[0133] The circumferential surface of the bale B is wrapped in the bale wrapping chamber. In the embodiment the term forming a bale comprises the steps of pressing crop material to a bale and of wrapping the circumferential surface of this bale into wrapping material. The term formed bale therefore denotes a wrapped bale ready for being deposited on the ground.

[0134] The baler 1 is arranged for being used to form and deposit bales in a hilly area. In such hilly area not every location of the ground surface GS is suitable to deposit a bale B. When a round-cylindrical bale B is ejected at a slope having a too large inclination, the bale B may roll downwards in a direction perpendicular to the bale center axis. This event can be caused by the force of gravity and the slope. This event is dangerous and may lead to injury of persons or other living beings and/or may seriously damage objects. In the embodiment the inclination serves as one ground property to be measured and to be considered in the depositing decisions. In addition the wrap of the deposited bale should not be damaged and the deposited bale should not be polluted by the soil, in particular not by a rigid object on the ground.

[0135] The baler 1 comprises a geo-position sensor 40, for example a GPS sensor, and an inclination sensor 41. The position sensor 40 is configured to determine the current geoposition of the baler 1 on the ground surface GS. The inclination sensor 41 is configured to measure a ground inclination at the current position of the baler 1. In one embodiment the inclination sensor 41 may additionally predict a future inclination, i.e. an inclination at a location which the baler 1 may reach in the future. The inclination sensor 41 measures or predicts the inclination around one axis or around two or even more axes, e.g. around a horizontal axis parallel to the travelling direction TD and a horizontal axis perpendicular to the travelling direction TD.

[0136] The baler 1 comprises a data-processing controller 50 which belongs to a baler computer and automatically processes signals from the position sensor 40, from the inclination sensor 41, and from further sensors on board of the baler 1 and/or on board of the pulling tractor 70. Depending on some of these signals the controller 50 determines for every formed bale B a suitable bale depositing location SBL. In one embodiment the controller 50 provides an activation signal when a bale B is ready to be deposited and the bale forming apparatus 1 is located on the suitable bale depositing location SBL. The bale ejection device 30 automatically deposits the bale there. In a further embodiment the controller 50 generates an output for an operator and/or processes a user input for depositing a bale now.

[0137] A suitable bale depositing location SBL is typically a relatively flat location where a bale B cannot roll downwards after being deposited, or, in some cases, a location where the bale B can roll downwards over a certain distance in an area where this rolling down of the bale B does not result in any risk on dangerous situations. In FIG. 1 two suitable bale depositing locations SBL are indicated. A round-cylindrical bale B must not be deposited, however, on a location positioned between these two suitable bale depositing locations SBL. A flat location is only a suitable location if the bale wrap is not damaged and the bale is not polluted.

[0138] When the baler 1 reaches such a suitable bale depositing location SBL and carries a bale B ready for being deposited, the controller 50 may provide an activation signal to eject the bale from the baler 1. The activation signal may be a signal to the operator indicating that it is safe to eject a bale from the baler 1, i.e. the baler 1 carries a bale B ready to be deposited and the baler 1 is located at a suitable bale depositing location SBL. In an alternative embodiment the activation signal may be sent directly to the bale ejection device 30 such that the formed bale is automatically ejected and deposited on the ground GS without any user command.

[0139] In one embodiment the invention is used on board of a continuous round baler 1 as disclosed in WO 2013/157950 A1 and WO 2013/157949 A1, e.g. In one implementation this baler 1 comprises one broad pressing belt (mono-belt baler). A first segment of the pressing belt surrounds a bale forming chamber serving as the processing chamber. A second segment of the same pressing belt surrounds a bale wrapping chamber which is positioned behind the bale-forming chamber and which serves as the further processing chamber. In a further implementation several parallel pressing belts surround the bale forming chamber as well as the bale wrapping chamber.

[0140] The or every pressing belt and thereby both chambers are surrounded by a casing comprising a stationary front housing serving as a further casing part and a pivotal tailgate 11 serving as a moveable discharge gate. In the embodiment the tailgate (discharge gate) 11 can be pivoted with respect to the stationary front housing into four different positions: [0141] a bale forming position, [0142] two different bale wrapping positions, and [0143] a bale ejecting position.

[0144] A hydraulic actuator can move the tailgate 11 between these positions.

[0145] The tailgate 11 being in the bale forming position and the front housing together entirely cover the or every pressing belt and thereby both chambers. Only a small nip between the tailgate 11 being in the bale forming position and the front housing occurs.

[0146] The bottom of the tailgate 11 being in the bale wrapping position carries a bale. A gap being broader than the nip occurs between the front housing and the tailgate being in the bale wrapping position. A segment of the bale surface is visible through this gap. The tailgate is rigidly but releasable connected with the front housing when the tailgate is in the bale forming position or is in the or one bale wrapping position. The tailgate remains in the or one bale wrapping position while the bale on the tailgate is wrapped and until the wrapped bale is to be ejected and deposited on the ground.

[0147] In one implementation the hydraulic actuator keeps the tailgate in the current position and moves the tailgate into a further position. In a further implementation the connection between tailgate and front housing is released when a bale in the bale wrapping chamber is readily wrapped and is ready for being deposited at the current location and the tailgate is to be moved in the bale ejecting position.

[0148] An aperture between the front housing and the tailgate being in the bale ejecting position occurs. This aperture suffices for ejecting a formed bale out of the round baler. When being ejected, the center axis of the round-cylindrical bale is perpendicular to the travelling direction TD of the baler 1 and parallel to the ground GS.

[0149] FIG. 2 to FIG. 5 show a continuous bale forming apparatus of the first embodiment with the tailgate being in the bale forming position (FIG. 2), in the first and second bale wrapping positions (FIG. 3, FIG. 4), and in the bale ejecting position (FIG. 5). The bale forming apparatus 1 comprises the following parts: [0150] a towing unit 4 for connecting the baler 1 with the pulling tractor 70, [0151] a chassis 2, [0152] two ground-engaging wheels 3 which are rotatably mounted at the chassis 2, [0153] a pick-up unit 6 with a driven pick-up drum carrying several spring-mounted pick-up tines (not shown), [0154] a feeding channel 5 guiding from the pick-up unit 6 to a channel outlet 7 serving as a crop material inlet guiding into the bale forming chamber Ch, [0155] two driven starter rollers 8.1, 8.2 which delimit from two opposing sides the crop material inlet 7, [0156] a bale forming device 9 comprising the starter rollers 8.1, 8.2 and the or every tensioned elastic endless pressing belt 10, [0157] the bale forming chamber Ch and the bale wrapping chamber Ch provided by the bale forming device 9, [0158] a stationary front housing 15 which serves as the further casing part, [0159] a pivotal tailgate 11 which serves as the moveable discharge gate and comprises a tailgate frame 17 and a pivotal tailgate bottom 18, [0160] a tailgate bottom roller 19 mounted at the free end of the tailgate bottom 18, [0161] a wrapping device 20 with an unrolling station for carrying a supply reel 88 with wrapping material, [0162] two supporting discs 23 which can rotate around a common pivoting axis 25 (shown in FIG. 4, perpendicular to the drawing planes of FIG. 2 to FIG. 5), [0163] two pushing rollers 24.1, 24.2 mounted between the supporting discs 23 and near the circumferential surface of the supporting discs 23, [0164] a hydraulic actuator 35 for the discs 23, [0165] a coupling device 32 with a disc-engaging hook 33 and several coupling pins 34.1, 34.2, . . . [0166] two pivotal guiding rollers 28.1, 28.2 for the or every pressing belt 10 which are connected with the supporting discs (23) by means of two guiding arms, [0167] a pivotal tensioning device for the or every pressing belt 10 carrying several further deflecting rollers and pivotally being mounted at the front housing 15, [0168] a lever arm 60 carrying a further guiding roller and rigidly being mounted at the tailgate frame 17, and [0169] a pivotal ramp 37.

[0170] The tailgate frame 17 of the tailgate 11 is pivotal with respect to the front housing 15. The tailgate bottom 18 is pivotal with respect to the tailgate frame 17 around a horizontal pivoting axis 22 (perpendicular to the drawing planes of FIG. 2 to FIG. 5). The tailgate bottom 18 is positioned below the bale wrapping chamber Ch and belongs to the bale carrier of the embodiment.

[0171] The or every pressing belt 10 is guided around the deflecting roller 19 at the tailgate bottom 18, around the guiding roller mounted on the lever arm 60, around one of the pivotal guiding rollers 28.1, 28.2, and around several further deflecting rollers, among them the moveable deflecting rollers of the tensioning device. Every guiding roller 28.1, 28.2 is mounted between the free ends of two guiding roller arms. One guiding roller 28.1 or 28.2 delimits the belt segment around the bale forming chamber Ch from the belt segment around the bale wrapping chamber Ch. Every guiding arm is pivotally mounted at one supporting disc 23. The bale forming chamber Ch and the bale wrapping chamber Ch extend between the supporting discs 23.

[0172] The wrapping device 20 is rigidly mounted at the tailgate frame 17. A pivotal cover (not shown) covers the unrolling station which rotatably holds the supply reel 88 with wrapping material, preferably a net. The cover can be opened for replacing the supply reel 88.

[0173] The baler 1 according to the embodiment operates as follows: [0174] The baler 1 is pulled in the travelling direction TD over the ground surface GS. [0175] The pick-up drum of the pick-up unit 6 is rotated and picks up loose crop material from the ground GS. Thereby the baler 1 receives loose crop material. [0176] The picked-up loose crop material is conveyed through the feeding channel 5 and the crop material inlet 7 into the drum-shaped bale forming chamber Ch which is delimited by the starter rollers 8.1, 8.2 and by a segment of the or every pressing belt 10. The supporting discs 23 belong to the opposing sidewalls of this bale forming chamber Ch. This bale forming chamber Ch serves as the processing chamber and can radially expand. [0177] An increasing round-cylindrical bale B is formed under pressure in the bale forming chamber Ch. Thereby the injected loose material is processed in the bale forming chamber Ch. Simultaneously further loose material is picked up and is injected into the bale forming chamber Ch such that the bale B increases in the bale forming chamber Ch. [0178] The diameter and/or weight of the increasing bale B in the bale-forming chamber Ch is measured, preferably with a given sample time. The bale diameter can be measured by measuring the pivoting angle of the tensioning device. The weight can be measured by using a load cell at the towing unit 4 and two further load cells at the two axles for the ground-engaging wheels 3. [0179] After the round-cylindrical bale B has reached the required diameter or length and/or required weight, a web of wrapping material taken from the supply reel 88 is pressed against the outer surface of the or at least one moved pressing belt 10. The or one moved pressing belt 10 conveys the pressed web towards a nip N. This nip N occurs between the stationary front housing 15 and the pivotal tailgate 11 still being in the bale forming position. In the embodiment this nip N occurs between the deflecting roller 19 at the tailgate bottom 18 on the one side and the lower starting roller 8.2 on the other side, cf. FIG. 4. [0180] The conveyed wrap is injected from below through the nip N into the bale forming chamber Ch. The inserted web is clamped between the rotated bale B and the or every pressing belt 10 and is pulled from the supply reel 88 and is placed on the circumferential surface of the rotated bale B in the bale wrapping chamber Ch. [0181] A hydraulic actuator moves the tailgate 11 into the first and later into the second bale wrapping position after the injected web is clamped and conveyed over a given distance. Now the small gap G.s and later the large gap G.l between the front housing 15 and the tailgate 11 occurs, cf. FIG. 3 and FIG. 4. [0182] Simultaneously the disc actuator 35 jointly rotates both supporting discs 23 around 180 degrees. For doing so the hydraulic actuator 35 is temporarily coupled with the discs 23 by means of the coupling device 32 and expands. [0183] The rotation of the supporting discs 23 causes one of the pushing rollers 24.1 or 24.2 to push the formed bale B backwards, i.e. away from the pick-up unit 6, onto the tailgate bottom 18. By this step loose material is transferred from the bale forming chamber Ch into the bale wrapping chamber Ch. For enabling the bale B to be pushed and subsequently being wrapped, the tailgate bottom 18 belonging to a bale carrier is lowered and is slightly moved away from the front housing 15 and is no longer in the bale forming position but is in one bale wrapping position. [0184] The bale B pushed onto and resting on the tailgate bottom 18 is now in the bale wrapping chamber Ch which is surrounded by a further segment of the or every pressing belt 10, cf. FIG. 3 and FIG. 4. This bale wrapping chamber Ch serves as the further processing chamber and is positioned above the bale carrier with the tailgate bottom 18. The or every pressing belt 10 rotates the bale B resting on the tailgate bottom 18 and pulls the web from the supply reel 88. [0185] Simultaneously further crop material is picked up and is injected into the bale forming chamber Ch. Thereby a new bale B is formed, cf. FIG. 4. Thanks to the second wrapping position with extended gap G.l more space is provided for the bale forming chamber Ch to extend. Thanks to the bale forming chamber Ch and the bale wrapping chamber Ch the step of picking up crop material can be continued while the circumferential surface of the bale B is wrapped in the wrapping chamber Ch. The baler 1 can further be moved over ground GS. [0186] After the circumferential surface of the bale B on the tailgate bottom 18 is wrapped into the required number of wrapping material layers, the web is severed and the hydraulic actuator opens the tailgate 11 by pivoting it into the bale ejecting position. The step of opening the tailgate 11 can automatically be triggered by the control unit 50 or manually by the operator. Thanks to the tensioning force of the or every pressing belt 10 the wrapped bale B is ejected out of the bale wrapping chamber Ch, cf. FIG. 5. [0187] The ejected wrapped bale B is deposited on the ground GS. [0188] In one embodiment every bale B rolls over the ramp 37 on the ground GS and is deposited such that a strip of the bale's circumferential surface points to the ground GS. In a further implementation a tilting unit (cf. FIG. 7) tilts the bale B around 90 degrees onto a front face. In yet a further embodiment the bale B rolls onto a further bale carrier outside of the bale wrapping chamber Ch, e.g. onto a bale accumulator or onto the wrapping table of a bale wrapper.

[0189] One guiding roller 28.1 or 28.2 delimits the two segments of the or every pressing belt 10 which surround the two chambers Ch and Ch, resp. At every time one guiding roller 28.1 or 28.2 is in a belt-guiding position and the other guiding roller 28.2 or 28.1 is in a parking position. By rotating the discs 23 around 180 degrees the rollers 28.1, 28.2 exchange their functions.

[0190] As already mentioned the bale B can be moved onto a further bale carrier after its circumferential surface is wrapped in the bale wrapping chamber Ch. In one embodiment the entire surface of the bale is wrapped into plastic sheet. In this embodiment a combination of a continuous baler and a wrapper is provided.

[0191] FIG. 6 shows in a side view a baler-wrapper combination 100 on board of which the invention can also be used. Identical reference signs denote parts of the combination 100 of FIG. 6 which correspond to similar parts of the baler 1 of FIG. 2 to FIG. 5.

[0192] The concept of such a baler-wrapper combination is known from EP 2434862 B1, e.g. The baler-wrapper combination 100 comprises [0193] a baler 1 and [0194] a wrapper 12 positioned behind the baler 1.

[0195] The baler 1 forms a round bale B in a bale forming and wrapping chamber Ch serving as the further processing chamber. A buffering chamber Ch (only schematically shown) serves as the processing chamber and is positioned between the pick-up unit and the feeding channel (both not shown). While the circumferential surface of a bale in the bale forming and wrapping chamber Ch is wrapped, further picked-up loose material is injected into the buffering chamber and is stored and pre-pressed there until the wrapped bale is ejected out of the bale forming and wrapping chamber Ch. A casing (only partially shown) surrounds the buffering chamber Ch and the bale forming and wrapping chamber Ch whereas the wrapper 12 is positioned behind and outside of this casing. The circumferential surface of the bale B is wrapped in the bale forming and wrapping chamber Ch into a net or plastic sheet or into several strands of twine.

[0196] The tailgate 11 is in a bale forming position while a bale B is formed in the bale forming and wrapping chamber Ch. In this embodiment the circumferential surface of the bale is wrapped while the tailgate 11 is in the bale forming position. A hydraulic or electric tailgate actuator 16 (e.g. two lateral piston-cylinder devices) can move the tailgate 11 in one movement from a bale forming position into a bale ejecting position. A locking device 13 releasable connects and locks the tailgate 11 at the front housing 15. After the locking device 13 is released by the actuator 14, the tailgate actuator 16 opens the tailgate 11.

[0197] The wrapped bale B is ejected out of the bale forming and wrapping chamber Ch and is afterwards transferred onto a wrapping table 62 of the wrapper 12. In the embodiment the wrapping table 62 is positioned partly below the bale forming and wrapping chamber Ch and the bale B drops onto the wrapping table 62. The wrapping table 62 rotates the bale B around the bale center axis (perpendicular to the drawing plane of FIG. 6,) in the rotating direction RD (in FIG. 6 anti-clockwise).

[0198] A wrapping device 80 wraps the entire surface of the rotated bale B on the wrapping table 62 into several layers of impermeable plastic sheet. Afterwards the wrapping table 62 is pivoted around the horizontal pivoting axis 68 (perpendicular to the drawing plane of FIG. 6). The entirely wrapped bale B rolls over the wrapping table 62 on the ground surface GS and is deposited on a suitable bale depositing location SBL. It is possible that a tilting unit (quarter turn, cf. FIG. 7) tilts the wrapped bale B onto a front face.

[0199] The wrapping device 80 comprises [0200] a wrapping ring 63 which carries two holders (film dispensers) belonging to a supply reel holding device 61, [0201] a carrying structure 64 for the wrapping ring 63, [0202] a hydraulic or electric actuator 67 for pivoting the carrying structure 64 around a pivoting axis 66 (adjacent to the chassis 2), and [0203] a drive (not shown) for rotating the wrapping ring 63 around its own rotational axis (in the drawing plane of FIG. 6 and nearly vertical to the ground GS).

[0204] As the carrying structure 64 can be pivoted around the axis 66, the wrapping device 80 can be adapted to the diameter of the rotated bale B to be wrapped. The wrapping ring 63 is rotated around the ring center axis (in the drawing plane of FIG. 6, slightly differing from a vertical direction). The rotated supply reel holding device 61 moves two supply reels 88 with two plastic films around the rotated bale B on the wrapping table 62.

[0205] If required the wrapping actuator 67 pivots the carrying structure 64 around the axis 66. Thereby the pivoting angle of the wrapping ring 63 depends on the measured diameter of the bale B to be wrapped on the wrapping table 62. When the hydraulic actuator 16 moves the tailgate 11 from the bale forming position into the bale ejecting position, the outer edge of the tailgate 11 is moved along a curved trajectory Tr_11. This trajectory Tr_11 does not overlap with the circumferential surface of the bale B on the wrapping table 62 and also not with the trajectory of the rotated holders 61 for the supply reels 88.

[0206] The wrapping table 62 of the baler-wrapper combination as shown in FIG. 6 is a first example of a further bale carrier outside of both processing chambers Ch, Ch. FIG. 7 shows a second example, namely a tilting unit 90. This tilting unit 90 comprises [0207] a frame 94, [0208] a ground-engaging wheel 91, [0209] two mounting points 96.1, 96.2 in which the tilting unit 90 can be connected with the baler 1 of FIG. 2 to FIG. 5 or with the baler-wrapper combination 100 of FIG. 6 [0210] a pivotal receptacle 92 in the form of a segment of a tube, [0211] an actuator 93 for tilting the receptacle 92 and [0212] two damping elements 95.1, 95.2 which carry the receptacle 92 in a bale receiving position.

[0213] The travelling direction TD is from right to left. A wrapped bale (not shown) is moved onto the receptacle 92 being in a horizontal receiving position. The bale center axis is perpendicular to the travelling direction TD. The actuator 94 tilts the receptacle 92 upwards into an inclined bale depositing position. The bale is deposited on the ground on a front face. In the situation shown in FIG. 7 the bale is tilted to the left. In one implementation of the tilting unit 90 the actuator 93 can selectively tilt the receptacle 92 to the right or to the left.

[0214] FIG. 8 shows a scheme of the control system with the baler control unit (baler controller) 50 which controls the baler 1 of the embodiment of FIG. 2 to FIG. 5 of the invention. The same control system can also be used for controlling the baler-wrapper combination 100 of FIG. 6.

[0215] The geo-position sensor 40 provides a position signal PS indicative of the current baler's geo-position to the controller 50. This position sensor 40 can be mounted on board of the baler 1 or of the pulling tractor 70. The inclination sensor 41 is mounted on board of the baler 1 and provides an inclination signal InS indicative of the inclination at the current and/or at least one future location of the baler 1 to the controller 50. The optional inclination sensor 42 is mounted on board of the pulling tractor 70 and provides an inclination signal Ins.1 indicative of the current inclination of the tractor 70. Preferably the baler controller 50 is connected with the controller of the pulling tractor 70 by means of a data connection according to the ISObus Standard (ISO 11783).

[0216] In one embodiment the controller 50 comprises a storage device 51 comprising an electronic map showing the ground contour and the respective inclination at several locations of the ground surface GS over which the baler 1 travels and from which the baler 1 collects crop material to form bales B. The inclination map may for instance indicate the level of inclination for several locations of the ground surface GS within a given area, e.g. a field. The storage device 51 may also comprise data on the location and size of swaths of crop material created on the ground surface GS wherein the swath data is created before the baling operation, e.g. during raking of the crop material into the swaths. Thereby an amount map is provided which shows for different locations the respective amount of crop material to be picked up at this location.

[0217] These inclination values of the inclination map and the location of the swaths or amount values may for example be obtained during the mowing and/or raking of the crop material on the ground surface GS during a preceding operation but may also be made available in any other suitable way.

[0218] On the basis of the position signal PS and the data of the inclination map and/or the signals InS, InS.1, the controller 50 can determine whether the baler 1 is currently located at a suitable bale depositing location SBL on which a deposited bale B will not roll away. The inclination sensor signal InS and optionally the inclination signal InS.1 may be used as an indication of the level of inclination to determine whether a bale B can be ejected, or to check the inclination level obtained by matching the actual position with the inclination map of the ground surface GS.

[0219] If the baler 1 is located at a suitable bale depositing location SBL, the controller 50 may provide an activation signal AS to indicate that a bale B may be ejected from the baler 1. This activation signal AS activates the bale ejection device 30 comprising the actuators for the tailgate 11. The activation signal AS may be sent directly to the bale ejection device 30 to automatically deposit the bale B at the bale depositing location SBL. In one embodiment the step of ejecting and depositing the bale B is performed fully automatic. It is also possible that a human operator is informed about the possible bale ejection such that the user can interrupt the bale depositing and can later manually trigger the step of depositing the bale.

[0220] As an alternative the activation signal AS may be provided as a warning signal to the user of the baler 1 to activate the bale ejection device 30 in order to eject the bale at the suitable bale depositing location SBL. In this alternative embodiment only an activation signal AS is provided to the user to indicate that a bale is ready to be deposited and the baler 1 is located at a suitable bale depositing location SBL. The activation signal AS may for example be displayed at a display device 72 mounted on board of the pulling tractor 70 or provides an audible warning signal to the user. The user input may be a reaction on the activation signal AS generated by the controller 50.

[0221] If the baler 1 is not located at a suitable bale depositing location SBL, the controller 50 can also automatically determine a suitable bale depositing location SBL on which a deposited bale B will not roll away and will not be damaged. This suitable bale depositing location SBL is selected to enable a continuous operation or at least minimize the duration of the necessary interruptions of picking-up material while preventing an overload of the baler 1, e.g. Preferably the controller 50 also determines a trajectory from the current location to the suitable bale depositing location SBL.

[0222] In one embodiment the controller 50 is configured to provide a steering signal StS to the operator, i.e. to the driver steering the tractor 70 which pulls the baler 1. The steering signal StS may provide direction indications, e.g. on a display device 72, to steer the tractor 70 pulling the baler 1 to the suitable bale depositing location SBL. The steering indications may for instance be provided as displayed arrows in which direction the pulling tractor 70 should be steered and/or a map indicating the trajectory and the actual position, and possibly speed of the pulling tractor 70, e.g. similar to direction indications used in car navigation systems. It is also possible that acoustic signals are presented to the driver. The display device 72 is mounted in the driver's cabin of the pulling tractor 70. The display device 72 may belong to the standard equipment of the pulling tractor 70 and is in data connection with the baler controller 50 via the tractor controller, e.g. according to the ISObus standard. In addition, or as an alternative, the steering signal may be provided as an audible signal, or as another suitable signal in a human-perceptible form.

[0223] In an alternative embodiment the controller 50 is configured to provide a steering signal for an automatic steering device 71 of the pulling tractor 70. In this implementation the tractor 70 is automatically steered and pulls the baler 1 to the determined suitable bale depositing location SBL. In this embodiment the controller 50 and the automatic steering device 71 automatically steer or drive the baler 1 to the determined suitable bale depositing location SBL.

[0224] In the embodiment described above a suitable bale depositing location SBL is determined when the baler 1 is ready or almost ready to eject a bale out of the bale wrapping chamber Ch by using the bale ejection device 30 or from the bale accumulator 90 or wrapping table 62. In a further embodiment, however, the controller 50 may also be configured to determine a trajectory comprising a path and a sequence of suitable bale depositing locations SBL along which the baler 1 can be moved to pick up the crop material from the ground surface GS. The trajectory may also be determined by another device and transferred to the storage device 51. The trajectory may be calculated in advance, i.e. before the baler 1 starts its operation. The trajectory may also be calculated or updated during operation, e.g. by calculated an amended trajectory starting in the current baler's geo-position. Calculating an amended trajectory during operation may in particular be performed if it turns out during operation that a scheduled depositing location of an initial trajectory is actually not suitable or if the actual amount of crop material on the ground GS differs from an expected amount used for calculating the initial trajectory.

[0225] The trajectory comprising several suitable bale depositing locations may be determined by considering one or more constraints and criteria, or a combination thereof. A first constraint is that it must be avoided that a deposited bale rolls downhill. A further constraint is that no further ground property value makes a depositing location being not suitable. Yet a further constraint is that the entire amount of crop material on board of the baler 1 must not exceed a given amount threshold. Thereby an overload situation is avoided.

[0226] An optimization criterion for selected the depositing locations is to minimize the time required for processing the whole ground surface GS to be processed. The trajectory should have a length as short as possible. The step of picking up crop material should be interrupted as seldom or at least as short as possible. A further criterion may be to minimize the distance along which a further vehicle has later to travel over the ground surface GS to process all deposited bales, in particular to lift the bales for transporting them away. Further constraints and criteria may also be used such as desired driving directions on a slope.

[0227] The data to be used to compute in advance a trajectory comprises a height map or contour map and/or inclination map of an area. The map is used to determine whether it is safe to eject a bale B at a potential depositing location within this area. The location and size of swaths on the ground surface GS or a crop amount map may also be used as input data to determine the trajectory to be followed comprising suitable bale depositing locations SBL. The data on the swaths is preferably acquired in advance during raking of the crop material to create the swaths. In an alternative embodiment, the trajectory is determined based on suitable bale depositing locations and is calculated before creating the swath and can be used to determine where the swaths have to be created during raking of the crop material.

[0228] Further parameters used for generating the trajectory are [0229] the required diameter or length or further dimension or weight of a completed bale, [0230] the maximal pressure to be applied onto the crop material in the bale forming chamber Ch or in the bale wrapping chamber Ch, [0231] the storing capacity of the bale forming chamber Ch while a completed bale is in the bale wrapping chamber Ch, and [0232] the maximal amount of crop material which can be on board of the baler 1.

[0233] These parameters determine the maximal amount of crop material which can be contained in one formed bale and determine how many crop material can be stored in the bale forming chamber Ch while a completed bale B is in the bale wrapping chamber Ch. If the baler 1 comprises a further bale carrier, the capability of this further bale carrier to carry a bale to a suitable location for depositing the bale there is also considered when generating the trajectory.

[0234] When automatic use is made of a trajectory comprising suitable bale depositing locations provided by the controller 50, the controller 50 may provide a steering signal that indicates to the operator (driver), e.g. on the display device 72, the trajectory to be followed. The baler 1 may also be automatically steered along the trajectory by an automatic steering device 71 of the pulling tractor 70.

[0235] In one embodiment it is up to the operator (the tractor driver) to find a suitable path over the field. In a further embodiment the controller 50 may adapt the scheduled trajectory on the basis of data obtained during formation and/or handling of bales B. In one embodiment the controller 50 may calculate an amended trajectory during the operation of the baler 1 wherein the amended trajectory starts in the current location of the baler 1 and leads to a suitable location. This calculation of an amended trajectory may be triggered by the event that a bale cannot be deposited at the intended location and is therefore deposited at a location differing from the intended location.

[0236] FIG. 9 shows an inclination map of a ground surface on which crop material is to be collected. The ground surface GS comprises [0237] several suitable bale depositing areas SBA on which a bale can safely be deposited from the baler 1, and [0238] several non-suitable areas NSBA where a bale cannot be safely deposited on the ground GS as a bale deposited on a non-suitable area NSBA may roll downhill or be polluted or damaged.

[0239] Crop material is to be picked-up from every suitable bale depositing area SBA and from every non-suitable area NSBA. Therefore the baler 1 has to pass every area SBA, NSBA.

[0240] In FIG. 9 a schematic example of a trajectory Tr planned on the ground surface GS is indicated by arrows. In one embodiment almost every arrow has substantially the same length, indicating that a similar quantity of crop material will be received by the baler 1 while the baler 1 is moved along each of these arrows along the trajectory Tr. Each arrow end indicates a suitable bale depositing location SBL. In the map of FIG. 9 it can be seen that each of the arrow ends is located in a suitable bale depositing area SBA, while some arrows run over a non-suitable area NSBA. The step of transferring the bale B from the bale forming chamber Ch into the bale wrapping chamber Ch or of loose material from the buffering chamber Ch into the bale forming and wrapping chamber Ch is in general not triggered by the trajectory Tr but by the diameter or length or weight of the non-wrapped bale in the bale forming chamber Ch or amount in the processing chamber Ch. Exceptions are described below. This transferring step can therefore also be executed when the baler 1 is in a non-suitable area NSBA.

[0241] In one embodiment some arrows have a smaller length. This feature indicates that the event is triggered that the bale in the bale forming chamber Ch is pushed into the bale wrapping chamber Ch or that loose material is transferred from the buffering chamber Ch into the bale forming and wrapping chamber Ch. A bale is made ready for being deposited although the bale has not reached the desired diameter or length or weight. The bale B is wrapped in the bale wrapping chamber Ch or in the bale forming and wrapping chamber Ch and optionally further wrapped on the wrapping table 62. Immediately after the bale B is wrapped it is automatically depositing on the ground. The bale B is wrapped and deposited on the ground although the desired diameter or weight has not yet reached. This may be advantageous if the controller 50 has automatically discovered that the following situation threatens: When the bale wrapping is started after the required diameter or length or weight is reached, the controller 50 decides that the bale B cannot be deposited as the baler 1 travels in a non-suitable area NSBA. In addition the baler 1 does not reach a suitable bale depositing area SBA before the step of picking-up must be interrupted. The reason: The amount of loose material on board of the bale forming apparatus reaches the given amount threshold. In order to avoid this undesired situation, it may be advantageous, in view of efficiency, that a bale B with a smaller diameter or length or weight is deposited at a suitable bale depositing location SBL before entering an area NSBA where no bale can safely be deposited.

[0242] In an alternative or additional embodiment the baler 1 and the pulling tractor 70 may each comprise an inclination sensor 41 or 42, resp. The controller 50 may be configured to compare the inclination of the baler 1 and the pulling tractor 70 measured by both of the inclination sensor devices 41, 42. The comparison of the inclination of the baler 1 and the pulling tractor 70 may give an indication for a direction for a suitable bale depositing location SBL is obtained.

[0243] For example, when the measured baler inclination is larger than the measured tractor inclination, it may be concluded that the slope in the driving direction of the combination of the baler 1 and the pulling tractor 70 becomes less steep. As a result, further driving in the driving direction may soon result in reaching a suitable bale depositing location SBL. When, in contrast, the tractor inclination is larger than the baler inclination, it may be concluded that the slope, i.e. the inclination in the driving direction of the combination of the baler 1 and the pulling tractor 70 increases. In such case it may be advantageous to deposit a bale now, even if it has not reached the desired diameter or length or weight.

[0244] In a further alternative embodiment the inclination sensor 42 of the pulling tractor 70 can be used to predict the inclination of the baler 1 after traveling over a distance equal to the length of the pulling tractor 70. This information can be used to check whether it is safe to eject a bale as it may take some distance to eject a bale B with the bale ejection device 30 from the baler 1, in particular when this distance corresponds to the length of the pulling tractor 70.

[0245] Thanks to the bale forming chamber Ch and the bale wrapping chamber Ch the baler 1 can operate with higher flexibility. The main constraint to be considered is the requirement that a deposited bale B must not roll downhill, i.e. must be deposited on a suitable bale location SBL, and that no further ground property value makes a depositing location being not suitable. The constraints stemming from the baler 1 itself are [0246] the maximal overall amount, e.g. the weight or volume, of picked-up or otherwise received crop material which can be carried on board of the baler 1, [0247] the maximum amount of crop material which can be contained in the bale forming chamber Ch, [0248] the maximal possible diameter of a bale B in the bale wrapping chamber Ch or bale forming and wrapping chamber Ch, and [0249] in one embodiment the relationship between the current diameter of a bale B in the bale wrapping chamber Ch and the respective maximal crop material amount in the bale forming chamber Ch which can be carried when the bale B in the bale wrapping Ch has this diameter.

[0250] In the case of the baler-wrapper combination 100 of FIG. 8 the maximal possible diameter of a bale B on the wrapping table 62 provides one further constraint.

[0251] In addition a maximal pressure to be applied in the bale forming chamber Ch or bale forming and wrapping chamber Ch onto the crop material and a desired diameter of an ejected wrapped bale is given. In the case of a variable chamber Ch, Ch, Ch this desired diameter may be smaller than the maximal possible diameter. In general the operator determines this desired diameter. These further constraints may apply to both embodiments of the baler 1.

[0252] In a simple embodiment the controller 50 only processes the measured current inclination of the baler 1. The bale B is always transferred from the bale forming chamber Ch into the bale wrapping Ch and is wrapped there or in the bale forming and wrapping chamber Ch if the bale B in the bale forming chamber Ch has reached the required diameter or weight. The wrapped bale B in the bale wrapping chamber Ch is deposited on the ground GS as soon as the baler 1 reaches a suitable bale depositing location SBL. If the bale forming chamber Ch cannot take crop material which is picked up while the bale B is wrapped in the bale wrapping chamber Ch or on the wrapping table 62, the pick-up unit 5 is temporarily deactivated, preferably by disconnecting the pick-up drum drive and by lifting the pick-up unit 5 away from the ground GS.

[0253] In a further embodiment the fieldin general: that segment of the earth surfaceover which the baler 1 is moved is divided in advance into at least one suitable bale depositing area SBA andif necessaryat least non-suitable area NSBA. The safe areas SBA and non-suitable areas NSBA are detected and defined depending on inclination values and further ground property values for several locations on the field, cf. FIG. 9. The following steps are only required if at least one non-suitable area NSBA is detected.

[0254] In one implementation the current amount of crop material in the bale forming chamber Ch is measured, e.g. by measuring the current diameter of the bale forming chamber Ch. The chamber diameter is equal to the bale diameter. The current pivoting angle of a tensioning device for the pressing belt(s) 10 can be measured and can serve as a value indicative of the chamber diameter. If the baler 1 is currently on a suitable bale depositing area SBA but is to be moved into a non-suitable area NSBA, a prediction is made whether the baler 1 will pass the non-suitable area NSBA and will reach again a suitable depositing area SBA until one capacity threshold of the baler 1 is reached. If this is not the case, i.e. the baler 1 will not reach a suitable bale depositing area SBA, the bale in the bale forming chamber Ch is transferred into the bale wrapping chamber Ch and is wrapped and deposited before the baler 1 leaves the suitable bale depositing area SBA and enters the non-suitable area NSBA. The prediction makes use of a measured or estimated amount of crop material to be picked up while the baler 1 passes the non-suitable area NSBA.

[0255] In yet a further embodiment it is inhibited that the diameters of the deposited bales differs too much from each other. To reach this goal, at least one simulation run with one given bale diameter is made in advance on a computer. Again an estimated crop material amount along the swath is given. In addition a diameter tolerance is given. In the or every simulation run a trajectory is given on a trial base. Using this trajectory it is calculated at which locations of this given trajectory the bale in the bale forming chamber Ch will reach the given diameter. It is automatically investigated if this location is in a suitable bale depositing area SBA or in a non-suitable area NSBA.

[0256] If at least one bale cannot be deposited on a suitable bale depositing location SBL, at least one of the following measures is taken: [0257] A new simulation run is performed wherein the diameter of at least one bale is varied within the given tolerance, i.e. this bale isin the simulation rundeposited slightly earlier or slightly later. [0258] The requirement that every deposited bale haswithin the given diameter tolerancethe same diameter is weakened. Only all bales with the exception of n bales have the same diameter and the n other bales have smaller and/or larger diameters. The number n is given. [0259] A new value for the common bale diameter is given and the new simulation run with the new given diameter value is performed. [0260] The trajectory is amended.

[0261] As a result of the simulation runs a scheduled common bale diameter and a scheduled trajectory Tr with several suitable bale depositing locations SBL are provided. The baler 1 can operate according to this scheduled trajectory without the need of interrupting the step of picking up loose material from the ground GS. As mentioned above it may be possible that during operation it turns out that a scheduled depositing location is not a suitable depositing location. Preferably an amended trajectory is calculated during operation.

[0262] Reference signs used in the claims will not limit the scope of the claimed invention. The term comprises does not exclude other elements or steps. The articles a, an, and one do not exclude a plurality of elements. Features specified in several depending claims may be combined in an advantageous manner.

TABLE-US-00001 LIST OF REFERENCE SIGNS 1 bale forming apparatus with the bale forming chamber Ch 2 chassis of bale forming apparatus 1 3 ground-engaging wheels of bale forming apparatus 1 4 front end of the bale forming apparatus 1 with towing unit 5 feeding channel for conveying picked-up crop material to an outlet 7 6 pick-up unit 7 outlet of the feeding channel 5, serves as the crop material inlet 8.1, 8.2 stationary driven starter rollers, delimit the crop material inlet 7 9 bale forming device, comprises the or every endless pressing belt 10 and the starter rollers 8.1, 8.2 10 driven endless pressing belt(s), belong to the bale forming device 9 11 pivotal tailgate, serves as the pivotal discharge gate, comprises the tailgate frame 17 and the tailgate bottom 18 12 wrapper behind the baler 1, belongs to the baler-wrapper combination 100 13 locking device for releasably locking the tailgate 11 at the front housing 15 14 hydraulic actuator for moving the locking device 13 15 stationary front housing 16 hydraulic or electric tailgate actuator for moving the tailgate 11 17 tailgate frame, carries the wrapping device 20 18 pivotal tailgate bottom, belongs to the bale carrier of the preferred embodiment 19 tailgate bottom roller, mounted at tailgate bottom 18 20 wrapping device mounted at the tailgate 11 comprises an unrolling station for carrying a supply reel 88 for wrapping material 22 pivoting axis of the tailgate bottom 18 with respect to the tailgate frame 17 23 supporting disks, carries the pushing rollers 24.1, 24.2 24.1 pushing roller, pushes the second bale B onto the tailgate bottom 18 24.2 further pushing roller, pushes the first bale B 25 common rotating axis of supporting disks 23 28.1, 28.2 pivotal guiding rollers for the belt(s) 10 30 bale ejection device, can comprise a bale accumulator 32 coupling device, comprises the disk engaging hook 33 the coupling pins 34.1, 34.2, . . . and the disk locking cylinder 83 33 disk engaging hook of the coupling device, can engage one coupling pin 34.1, 34.2, 34.3 34.1, 34.2, coupling pins which can be coupled with the disk engaging hook 33 34.3 35 hydraulic actuator for the supporting disks 23 36 fixed guiding roller above the starter roller 8.1 37 pivotal ramp over which a wrapped bale B rolls on the ground 40 geoposition sensor 41 inclination sensor, mounted on board of the baler 1 or the baler-wrapper combination 100 42 further inclination sensor, mounted on board of the pulling tractor 70 50 controller of bale forming apparatus 1, serving as the baler computer 51 storage device of controller 50 60 lever carrying a deflecting roller for the pressing belt(s) 10 61 supply reel holding device, mounted on the wrapping ring 63 62 wrapping table, rotates a bale B to be wrapped, belongs to a further bale carrier 63 wrapping ring, carries the supply reel holding device 61 64 carrying structure for the wrapping ring 63 65 rollers on the carrying structure 64 for enabling the rotation of the wrapping ring 63 66 pivoting axis of the carrying structure 64 67 hydraulic or electric wrapping actuator for pivoting the carrying structure 64 68 pivoting axis of the wrapping table 62 70 tractor pulling the baler 1, optionally comprises the further inclination sensor 42 71 automatic steering device of the pulling tractor 70 72 display device in the driver's cab of the pulling tractor 70 80 wrapping device for wrapping a bale B on the wrapping table 62 83 disk locking cylinder of the coupling device 32 88 supply reel for wrapping material 90 tilting unit, serves as a further bale carrier 91 ground-engaging wheel of the tilting unit 90 92 arcuate receptacle for receiving a wrapped bale 93 hydraulic actuator for tilting the receptacle 92 94 frame of the tilting unit 90 95.1, 95.2 damping elements for holding the receptacle 92 in a horizontal position 96.1, 96.2 mounting points of the tilting unit 90 100 baler-wrapper combination, comprising the baler 1 and the wrapper 12 AS activation signal B first bale B second bale, increases while the first bale B is wrapped Ch bale forming chamber Ch bale wrapping chamber Ch bale forming and wrapping chamber G.l large gap between the front housing 15 and the tailgate 11 being in the bale wrapping position G.s small gap between the front housing 15 and the tailgate 11 being in the bale wrapping position GS ground surface InS inclination signal provided by the inclination sensor 41 InS.1 inclination signal provided by the inclination sensor 42 on board of the tractor 70 NSBA non-suitable area N nip between the front housing 15 and the tailgate 11 being in the bale forming position PS position signal provided by the geoposition sensor 40 RD rotating direction of the bale B on the wrapping table 62 SBA suitable bale depositing areas StS steering signal for steering the pulling tractor 70 SBL suitable bale depositing location TD travelling direction of the bale forming apparatus 1 Tr planned trajectory of the baler 1 over ground with several suitable bale depositing locations SBL Tr_11 trajectory of the outer edge of the tailgate 11