AGRICULTURAL APPARATUS WITH PICK-UP DEVICE

Abstract

An agricultural apparatus configured to travel over the ground includes a pick-up device for picking up an agricultural bale from the ground. The pick-up device includes a sensing system configured to sense position and/or size of an object on the ground as the agricultural apparatus travels towards the object, a pick-up mechanism engageable with opposite sides of the object and operable to lift the object, and a controller configured to determine a position of the pick-up mechanism relative to the object based on signals received from the sensing system prior to picking-up the object, and to operate the pick-up mechanism when the pick-up mechanism is positioned correctly relative to the object.

Claims

1-15. (canceled)

16. An agricultural apparatus configured to travel over the ground, the agricultural apparatus comprising: a pick-up device for picking up an agricultural bale from the ground, wherein the pick-up device includes: a sensing system configured to sense a position and/or size of an object on the ground as the agricultural apparatus travels towards the object, a pick-up mechanism engageable with opposite sides of the object and operable to lift the object, and a control unit configured to determine a position of the pick-up mechanism relative to the object based on signals received from the sensing system prior to picking-up the object, and to operate the pick-up mechanism when the pick-up mechanism is positioned correctly relative to the object.

17. An agricultural apparatus according to claim 16, wherein the control unit is configured to determine the position of the pick-up mechanism relative to the object before the pick-up mechanism arrives at a correct pick-up position relative to the object.

18. An agricultural apparatus according to claim 16, wherein the pick-up mechanism is configured to pick-up the object while the pick-up mechanism is moving relative to the object.

19. An agricultural apparatus according to claim 16, wherein the sensing system is configured to sense length and/or height of the object.

20. An agricultural apparatus according to claim 19, wherein the control unit is configured to halt operation of the pick-up mechanism without engaging the object if the sensed length and/or height of the object is outside predetermined limits.

21. An agricultural apparatus according to claim 20, wherein the pick-up mechanism is configured to pass over an object without engaging the object.

22. An agricultural apparatus according to claim 16, wherein the control unit is configured to operate the pick-up mechanism when the object is centrally positioned with respect to the length of the pick-up mechanism.

23. An agricultural apparatus according to claim 16, wherein the pick-up mechanism includes at least two rotatable rollers that are rotatable to lift the object.

24. An agricultural apparatus according to claim 16, wherein the sensing system includes at least one non-contact sensing device.

25. An agricultural apparatus according to claim 24, wherein the non-contact sensing device includes an optical sensing device.

26. An agricultural apparatus according to claim 25, wherein the optical sensing device is configured to emit a light beam and to sense light reflected by an object in a path of the light beam.

27. An agricultural apparatus according to claim 26, wherein the optical sensing device is configured to emit the light beam in a direction having at least a vertical component, or inclined to the vertical at an angle of approximately 45, or inclined forwards in a direction of travel of the pick-up device relative to the object.

28. An agricultural apparatus according to claim 27, wherein the light beam lies in a vertical plane that extends parallel to a direction of travel of the pick-up device.

29. An agricultural apparatus according to claim 16, wherein the sensing system includes at least one sensing device for sensing a distance travelled by the agricultural apparatus.

30. An agricultural apparatus according to claim 16, further comprising a bale wrapper device that includes a wrapping system for wrapping a film wrapper around an agricultural bale that has been picked-up by the pick-up mechanism.

Description

[0047] An embodiment of the invention will now be described by way of example with reference to the accompanying drawings, in which:

[0048] FIG. 1 is a perspective view showing the front and right-hand side of a bale wrapper apparatus according to an embodiment of the invention, which is towed by a tractor;

[0049] FIG. 2 is a front elevation showing the bale wrapper apparatus and tractor of FIG. 1 from the front;

[0050] FIG. 3 is a side elevation showing the bale wrapper apparatus and tractor of FIG. 1 from the right hand side;

[0051] FIG. 4 is a plan elevation showing the bale wrapper apparatus and tractor of FIG. 1 from above;

[0052] FIG. 5 is a side elevation showing the bale wrapper apparatus and part of tractor of FIG. 1 from the right hand side;

[0053] FIG. 6 illustrates an output signal from a sensing device associated with the pick-up device; and

[0054] FIG. 7 is a schematic diagram illustrating certain components of a control system for the bale wrapper apparatus.

[0055] The bale wrapper apparatus, which is indicated generally by the reference number 2, includes an arch-shaped wheel frame 4 in the form of a portal having a cross-beam 6 and two side stanchions 8a, 8b, each of which is supported by a wheel 10. The cross-beam 6 is in two parts that are connected telescopically, allowing the width of the portal to be reduced for road transit. A tow bar 12 is connected to the left-side stanchion 8a by a pivot 14. The angle of the tow bar 12 relative to the frame 4 can be adjusted by means of a hydraulic cylinder 16, so that the bale wrapper apparatus can be towed either directly behind a tractor T or displaced to one side thereof.

[0056] The bale wrapper apparatus 2 includes a bale pick-up and support assembly indicated generally by the reference number 22 for picking-up and supporting an agricultural bale 24. In this example a rectangular bale is shown. It will be understood however that the bale wrapper apparatus may also be used to wrap bales of different shapes. The bale pick-up and support assembly 22 includes a pair of roller assemblies 26, each of which is connected to one of the side stanchions 8a, 8b by a respective swing arm assembly 28. This swing arm assembly 28 allows the respective roller assembly 26 to be moved inwards and outwards substantially parallel to the ground (that is, substantially horizontally). Movement of the swing arm assembly 28 is controlled by a hydraulic actuator (not shown).

[0057] Each roller assembly 26 includes a pair of rotatable rollers, comprising an upper roller 42a and a lower roller 42b. Hydraulic drive motors (not shown) are provided for driving each pair of rollers independently in a clockwise or anti-clockwise direction.

[0058] The bale wrapper apparatus includes a pair of dispensers 50 for wrapping film. Each dispenser 50 is mounted on the end of a support arm 52 that is rotatably attached to a dispenser drive mechanism 54 mounted on the cross-beam 6. A safety device comprising a shut-off arm 56, which halts operation of the film dispenser if it encounters an obstacle, is associated with each support arm 52. The film dispensers 50 and the shut-off arms 56 are conventional and they will not therefore be described in detail.

[0059] The bale wrapper includes a sensor device 60, shown in FIG. 5, for sensing the presence of a bale 24. The sensor device 60 is associated with a control unit 64 (FIG. 7) that controls operation of the bale pick-up and support assembly 22 when picking up a bale 24 from the ground.

[0060] In this case the sensor device 60 comprises an optical sensor, for example a laser sensor, which is mounted in front of the bale pick-up and support assembly 22 in the direction of forward travel A. The sensor device 60 may for example be carried by a support arm (not shown) that is attached to the cross-beam 6 of the wheel frame 4. The optical sensor 60 emits a pulsed beam of light B downwards towards the ground G and detects any light reflected back towards the sensor 60 from the ground G or from any object, such as a bale 24, that intercepts the beam B. The distance from the sensor 60 to the reflecting surface can then be determined from the time lapse between emitting a pulse of light and detecting the reflected light. Thus, as illustrated in FIG. 5, the sensor can measure the distance DO to the ground or the distance D1 to the upper surface of the bale 24 when the bale intercepts the beam of light B.

[0061] Preferably, the sensor 60 is positioned to direct the light beam B downwards in a vertical plane that passes through the direction of forward travel A. The beam B is preferably angled forwards in this plane, so that it strikes the ground at a location in front of the sensor 60 in the direction of forward travel A. For example, the sensor 60 may be configured to direct the beam of light at an angle relative to the vertical direction, where the angle is in the range 0 to 60, preferably 10 to 45.

[0062] Providing that the angle is known, the height of the sensor above any reflecting surface can be calculated by simple trigonometry. For example, as illustrated in FIG. 5, the height H0 of the sensor 60 above the ground G will be: H0=D0.cos and height H1 of the sensor 60 above the upper surface of the bale 24 will be: H1=D1.cos . The height H of the bale is: H=H0H1.

[0063] The bale wrapper 2 preferably also includes a second sensor device 62, shown in FIG. 5, for sensing the distance X travelled by the bale wrapper 2. The second sensor device 62 is associated with the control system 64 that controls operation of the bale pick-up and support assembly 22 when picking up a bale 24 from the ground.

[0064] The second sensor device 62 may for example be associated with a wheel 10 of the bale wrapper and configured to sense rotation of the wheel, allowing the distance X travelled by the bale wrapper to be calculated. Alternatively, the second sensor 62 may sense movement of the bale wrapper by any other suitable means. The signals from the first sensor 60 and the second sensor 62 can be used to calculate the length L of the bale 24 as illustrated in FIG. 6.

[0065] FIG. 6 depicts the distance D measured by the first sensor 60 as the bale wrapper 2 travels in the forward direction A towards and past a bale 24. Part I of the graph represents the period as the bale wrapper approaches the bale in the forward direction A and the sensor 60 senses the distance D0 to the surface of the ground G. In part II of the graph the distance measured by the sensor 60 decreases from D0 to D1 as the light beam B passes up the front face of the bale 24. In part III the sensor 60 senses the distance D1 to the upper surface of the bale and in part IV the sensor 60 again senses the distance DO to the surface of the ground G, as the light beam B falls off the rear edge of the bale. The height H of the bale can be determined from the difference between two measured distances using the formula H=(D0D1).cos . The length L of the bale 24 is represented by the distance L travelled by the bale wrapper during part III of the graph.

[0066] It may be noted that the graph of FIG. 6 is asymmetrical, as during part II the distance measurement decreases progressively from D0 to D1 as the light beam B passes up the front face of the bale 24, whereas at the transition between part III and part IV the distance measurement increases abruptly from D1 to D0 as the light beam B falls off the rear edge of the bale 24. This asymmetry can be utilized to sense whether the bale wrapper is moving forwards in the direction A, or reversing in the opposite direction. In the case of reverse movement the asymmetry will be reversed: that is, the distance measurement will decrease abruptly from D0 to D1 as the light beam B hits the rear edge of the bale 24, and subsequently it will increase progressively from D1 to D0 as the light beam B passes down the front face of the bale 24.

[0067] FIG. 7 illustrates schematically a control circuit for the bale wrapper 2, which includes the first and second sensors 60, 62 and a control unit 64 that is connected to receive signals from the sensors. The control unit 64 is also optionally connected to receive control signals from an operator control interface 66, which is used by an operator to control operation of the bale wrapper. The control unit 64 is configured to send control signals to a drive system 68 that includes drive motors and actuators for driving the various components of the bale wrapper 2.

[0068] In order to wrap a bale 24, the bale wrapper apparatus 2 is first drawn up towards the bale so that the frame 4 straddles and then passes over the bale. The swing arm assemblies 28 are initially retracted outwards to allow the bale to pass between them. When the pick-up mechanism is in the correct position to pick-up the bale, the swing arm assemblies 28 are moved inwards so that the roller assemblies 26 engage the sides of the bale 24. At the same time the rollers 42a, 42b are rotated by the hydraulic motors so that the inner portion of each roller rotates upwards, thereby lifting the bale 24. As the bale is lifted the swing arm assemblies 28 are moved further inwards, so that the roller assemblies 26 then support the bale 24. These steps can all take place while the bale wrapper is being drawn forwards in the travel direction A, without it coming to a standstill.

[0069] Once the bale has been lifted to the supported position, wrapping film is dispensed by the dispensers 50 onto the surface of the bale 24. The rollers 42a, 42b are rotated in the same direction (clockwise or anti-clockwise), causing the bale 24 to rotate about a substantially horizontal axis. At the same time, the dispensers 50 rotate about the vertical axis of the dispenser drive mechanism 54, thereby applying a series of overlapping layers of film to the surface of the bale. This continues until the entire surface of the bale has been wrapped with one or more layers of film.

[0070] Once wrapping has been completed, the film is severed and the swing arm assemblies 28 are withdrawn outwards to deposit the wrapped bale on the ground. The process is then repeated with subsequent bales.

[0071] The control system comprising the sensors 60, 62 and the control unit 64 operates during the bale pick-up process to ensure that the bale 24 is picked-up correctly. The sensors 60, 62 measure the height and length of the bale 24 as the bale wrapper is approaching the bale, and the control system calculates the centre point of the bale and then operates the pick-up mechanism to pick-up the bale when the bale is positioned centrally between the ends of the rollers 42a, 42b. The control system can also control the height at which the bale 24 is supported during the wrapping process to ensure that it is wrapped efficiently, regardless of the height of the bale.

[0072] The control system can be programmed to halt operation of the pick-up mechanism if the height and length of the sensed object do not fall within predetermined limits, possibly indicating the presence of a foreign object, for example an animal or human being. The bale wrapper can then passes over the object without touching it, thus reducing the risk of an accident.

[0073] Various modifications of the invention are of course possible. For example, features of the invention can be applied to either a satellite-type bale wrapper as shown in the drawings, or to a turntable-type bale wrapper in which the bale is located on a turntable that rotates about a vertical axis while at the same time rotating the bale about a horizontal axis. The bale wrapper can also be arranged so that the bale rotates about a first axis and the dispenser rotates about a second axis that is substantially perpendicular to the first axis, where the first axis and the second axis are both substantially horizontal, or where one or both axes are inclined relative to the horizontal. The invention may also be embodied either in a dedicated bale wrapper apparatus or a combined baler and wrapper machine. It may also be used in other kinds of pick-up device, for picking up other kinds of objects in different situations.