COMBINATION OF THE MOVABLE TRACTOR AND THE BALER, A METHOD OF CONTROLLING THE COMBINATION OF THE MOVABLE TRACTOR AND THE BALER AND A MACHINE-READABLE MEDIUM CONTAINING INSTRUCTIONS FOR REALIZING THE METHOD Russian patent published in 2020 - IPC A01B69/04 A01F15/08 

FIELD: agriculture.

SUBSTANCE: group of inventions relates to agriculture. Combination of the movable tractor and the baler, the control method thereof and the machine-readable medium containing the commands for implementing the method of controlling said combination, including a self-propelled tractor having a plurality of elements interacting with the ground and a steering mechanism for controlling the direction of movement of at least one said element interacting with the earth in order to cause changes in the direction of movement of the tractor. Baler hinged to tractor is towed behind the tractor as the tractor moves translating. Combination of the movable tractor and the baler comprises one or more sensors for reading one or more lines of the harvester of the harvester material corresponding to the maximum amount of the collected material per unit length of the roll, and a control device which operates depending on at least one output signal of one or more sensors, in order to actuate the tractor steering mechanism so that the said roller line adheres to the baler so as to optimize the intake of the harvested material into the baler for baling. One or more said sensors are at least temporarily operable to read the roller line offset laterally from the tractor translational direction. At least one said sensor is mounted on tractor. Method of controlling a combination of a movable tractor and a baler comprising a self-propelled tractor having a plurality of elements interacting with the ground and a steering mechanism for controlling the direction of movement of the at least one said element interacting with the earth, so as to cause changes in tractor movement direction. Baler hinged to tractor is towed behind the tractor as the tractor moves translating. For reading of one or more lines of the removed material roll, which correspond to the maximum amount of material to be retracted per unit length of the roll, in the method of controlling a combination of a movable tractor and a baler, one or more sensors are provided, and a control device which operates depending on at least one output signal of one or more sensors, in order to actuate the tractor steering mechanism so that the said roller line adheres to the baler so as to optimize the intake of the harvested material into the baler for baling. At least one said sensor is at least temporarily operable to read the roll line offset laterally from the direction of tractor translational movement, i.e. shifted in the lateral direction of the roll line. Method includes steps of causing said sensor to read a shifted lateral direction of roller, while baler does not follow along roll line, and using the output signal of said sensor as an input to the control device to thereby actuate the steering mechanism, so that baler equalization becomes optimized relative to shifted in lateral direction of roller line before receiving intake inside harvester material.

EFFECT: enabling increase in the baler inflation optimization accuracy.

14 cl, 6 dwg