Feed speed control for round bale baler.

Description

"FEED SPEED CONTROL FOR ROUND BALE BALER" FIELD OF THE INVENTION

[001] The present invention relates to agricultural balers and, more particularly, to a round baler and, even more particularly, to a system for controlling a baler's collection. FUNDAMENTALS OF THE INVENTION

[002] As described in U.S. Patent No. 11,612,108, which is incorporated by reference in its entirety, agricultural harvesting machines, such as balers, are used to consolidate and package harvest material in order to facilitate the storage and handling of the harvest material for later use. In the case of hay or silage, a mower conditioner is typically used to cut and condition the harvest material. In the case of straw, a combine harvester discharges crop material other than grain from the rear of the combine, setting the straw (such as wheat or oat straw) to be collected by the baler. The cut crop material is typically swept into a windrow, and a baler, such as a large square baler or a round baler, traverses the windrows and moves along the windrows to collect the harvest material and form it into bales.

[003] A round baler may generally include a wheel-supported frame, a hydraulic system, a pickup unit for engaging and lifting the crop material into the baler, a cutting unit, a main bale chamber for forming a bale, and a wrapping mechanism for wrapping or tying material around the bale after it has been formed in the main bale chamber. As the baler is towed (or moved) over a windrow, the pickup unit lifts the crop material into the baler. After that, the crop material may be cut into pieces. Petition 870250001305, dated 07 / 01 / 2025, page 10 / 31 2 / 16 smaller by the cutting unit. As the harvested material enters the main bale chamber, multiple conveying elements, for example, rollers, chains and slats and / or belts, will begin to roll a bale of hay within the chamber. These conveying elements may be movable so that the chamber can initially contract and subsequently expand to maintain an appropriate amount of pressure on the periphery of the bale. The size of the bale chamber may be variable, as described above, or the size of the bale chamber may be fixed. After the bale is formed and wrapped by the baling mechanism, the rear of the baler is set to open to allow the bale to be discharged into the field.

[004] Most round balers are towed by a tractor or other vehicle, and these round balers receive power from a power take-off (PTO) shaft that extends from the tractor. In such an arrangement, the picking unit rotates at a constant speed due to its connection to the PTO shaft. It would be desirable to operate the picking unit (and / or other baler components) using a variable power source in the interest of efficiency (e.g., fuel, time, and crop feed rate), controlling bale shape, estimating baler crop yield, and much more. SUMMARY OF THE INVENTION

[005] According to one aspect, an agricultural vehicle includes a baler that is connected to or integrated into the agricultural vehicle. The baler has a collection unit including a rotating reel for introducing crop material into a baling chamber of the baler. A drive system rotates the reel. A feed speed control system is configured to calculate an indicative value of a quantity of crop entering the baler at the collection unit and adjust a function of the vehicle based on the calculated value. BRIEF DESCRIPTION OF THE DRAWINGS Petition 870250001305, dated 07 / 01 / 2025, page 11 / 31 3 / 16

[006] The above-mentioned features and advantages of this invention, and the manner of obtaining them, will become more evident and the invention will be better understood by reference to the following description of embodiments of the invention taken together with the accompanying drawings, in which:

[007] Figure 1 illustrates a side cross-sectional view of a round bale agricultural baler, according to an exemplary embodiment of the present invention.

[008] Figure 2 represents a schematic of a variable speed drive system for feeding the collection unit of the baler in Figure 1.

[009] Figure 3 represents a schematic of another variable speed drive system for feeding the baler's collection unit in Figure 1.

[010] Figure 4 depicts a schematic of yet another variable speed drive system for powering the baler pickup unit of Figure 1.

[011] Corresponding reference characters indicate corresponding parts along the various views. The examples set forth herein illustrate embodiments of the invention and such examples should not be construed as limiting the scope of the invention in any way. DETAILED DESCRIPTION

[012] The terms “forward”, “backward”, “left” and “right”, when used in conjunction with the agricultural baler and / or its components, are generally determined with reference to the forward operating direction of the towing vehicle, but should not be interpreted as limiting. The terms “longitudinal” and “transverse” are determined with reference to the forward and backward direction of the towing vehicle and likewise should not be interpreted as limiting. The terms “connected”, “coupled” and variants thereof refer to direct or indirect connections. Petition 870250001305, dated 07 / 01 / 2025, page 12 / 31 4 / 16

[013] With reference now to the drawings, and more particularly to Figure 1, a side cross-sectional view of a round bale baler 10 is shown which can be towed by a vehicle 14 in a forward direction of travel F. The vehicle 14 can be any vehicle desired, such as an agricultural vehicle in the form of a tractor 14.

[014] The harvested material can be lifted from windrows in the field to the baler 10 by a picking unit 16. The picking unit 16 includes a rotating picking reel 18 with toothed bars and teeth 20, which move the harvested material backwards towards a variable bale chamber 22. The reel 18 is rotating in one operating direction to lift the harvested material from the ground and in one reverse direction, i.e., opposite to the operating direction.

[015] The bale chamber 22 is configured as a variable bale chamber 22 that includes several rollers or rollers 24, 26, such as several stationary rollers 24 and moving rollers 26, actuators and pivot arms coupled to the moving rollers 26, and at least one belt 28. The rollers 24, 26 may comprise a floor roller, starting roller, fixed roller(s), pivot roller(s), separating roller, and / or follower roller(s). Together, the rollers 24, 26 and the belt(s) 28 create a round circulation chamber that expands between an empty bale position and a full bale position to engage and roll the bale. As the bale grows inside chamber 22, it begins to act on the belts 28 so that the belts 28 pull against the pivot arms, which in turn causes the movable rollers 26 to move upwards, so that the variable bale chamber 22 expands incrementally with the size of the bale.It should be understood that the invention is not limited to the particular details of the baling chamber, as the baling chamber may vary. Furthermore, the baler is not limited to being a round baler. For example, the baler may be a small or large square baler. Petition 870250001305, dated 07 / 01 / 2025, p. 13 / 31 5 / 16

[016] When the bale reaches a predetermined size, the bale is wrapped with a wrapping material (e.g., mesh or twine) by a baler. Then, once completely wrapped, the bale is ejected out of the rear gate 12. The rear gate 12 can articulate upwards around the pivot shaft 30 to open the bale chamber 22. Then, the bale rolls out of the bale chamber 22 and onto a bale ramp, accumulator, ejector or kicker 32, which propels the bale backwards, away from the baler 10, so that the rear gate 12 can articulate downwards, freeing the ejected bale.

[017] The baler 10 may further include an electrical processing circuit 34, for example, a controller 34 with a memory 36, to conduct various baling procedures. For example, the controller 34 may be configured to perform the bale discharge operation. Therefore, the controller 34 may open the rear gate 12 by means of accompanying actuators upon detecting a full bale condition by a bale size sensor (not shown). The controller 34 may communicate with the tractor controller 14 in order to, for example, adjust the speed of the tractor 14. Although the controller 34 is shown as being associated with the baler 10, it should be understood that the controller 34 may be associated with the tractor 14. Further details in conjunction with the baler 10 may be found in US Patent No. 11,612,108.

[018] As noted above, most round balers are towed by a tractor or other vehicle, and these round balers receive power from a power take-off (PTO) shaft extending from the tractor. In such an arrangement, the picking unit rotates at a constant speed due to its connection to this PTO shaft. It would be desirable to operate the picking unit (and / or other baler components) using a variable power source in the interest of efficiency (fuel, time, crop yield, etc.), controlling bale shape, estimating crop yield, etc. Petition 870250001305, dated 07 / 01 / 2025, page 14 / 31 6 / 16 baler (i.e., the amount of harvest that enters the baler to be processed by the baler) and more.

[019] Returning now to Figures 2-4, reel 18 of collection unit 16 can be fed by a variable speed drive 200. The drive 200 can take various forms, and several variants of the drive 200 (i.e., 200a, 200b, 200c, etc., which may be individually or collectively referred to as drive 200) are described below.

[020] Returning specifically to Figure 2, in which a variable speed drive in the form of a hydraulic drive 200a is shown, the drive 200a may include a hydraulic motor 201a that is capable of measuring the energy supplied to the collection unit 16. The motor 201a receives fluid flow from a pump 15, which may be located on board the tractor 14, for example. The drive 200a may also include the fluid lines connected to it, as well as the circuitry for operating the motor 201a. The motor 201a may receive fluid energy directly from a hydraulic line 203a. The line 203a fluidly connects the motor 201a to a fluid distributor 204a. The fluid distributor 204a can supply power to a plurality of baler components 10. The fluid distributor 204a is fluidly connected by a fluid line 207a to a remote hydraulic connection 205a on the tractor 14.The speed of engine 201a can be controlled by controller 34 as needed. Alternatively, another controller, such as an onboard tractor controller 14, can be responsible for controlling the operation of engine 201a. Note that fluid distributor 204a is optional, and other means of supplying hydraulic fluid to engine 201a are provided.

[021] As an alternative to the hydraulic drive 200a, the drive 200 may be an electric drive 200b. The drive 200b generally comprises an electric motor 201b that is connected by the electrical line 203b to a distributor 204b. The drive 200b may also include the connected electrical lines Petition 870250001305, dated 07 / 01 / 2025, page 15 / 31 7 / 16 to it, as well as the circuit to operate the motor 201b. The distributor 204b can supply power to various systems of the baler 10. The distributor 204b is electrically connected by a line 207b to a remote electrical connection 205b on the tractor 14. The speed of the motor 201b can be controlled by the controller 34 as needed. The controller 34 can be responsible for supplying power to the motor 201b as needed. Alternatively, another controller, such as an onboard controller on the tractor 14, can be responsible for supplying power to the motor 201b. Note that the distributor 204b is optional, and other means of supplying electricity to the motor 201b are provided.

[022] Returning now to Figure 3, as an alternative to a hydraulic or electric drive 200, the drive 200c can be powered (or comprise) by the power take-off (PTO) shaft 301 of the tractor 14. The drive 200c constitutes or forms part of a mechanical drive line. The PTO shaft 301 is powered by a motor 305 of the tractor. The motor 305 can also be responsible for driving the ground wheels of the tractor 14. The PTO shaft 301 can variably power the collection unit 16 of the baler 10. The shaft 301 can be a variable speed PTO shaft on the tractor, where the variable speed PTO shaft is connected to the collection reel 18 by a power transmission device 303 in the form of a gearbox, for example. The variable speed PTO shaft 301 is capable of measuring the speed of the baler's collection unit 16 10. The speed of shaft 301 can be adjusted using controls on the tractor 14.

[023] Alternatively, if the PTO shaft 301 is a traditional constant speed PTO shaft and not a variable speed PTO shaft, then the power transmission device 303 may be a system-controlled clutch or a disconnect clutch that is configured to allow or prevent power from being transferred to the unit 16. The controller 34 may be electrically connected to the clutch to control the clutch to measure the speed of Petition 870250001305, dated 07 / 01 / 2025, page 16 / 31 8 / 16 rotation of the reel 18 of the collection unit 16. Alternatively, the power transmission device 303 may be a mechanical variator (as described in US Patent No. 4,311,061), a friction disc, a hydraulic CVT transmission, etc. Note that the devices mentioned above may also be used with a variable speed PTO shaft, if desired.

[024] Turning now to the first benefit arising from the use of a variable speed pickup unit drive 200, the use of a variable speed pickup unit drive can result in several efficiencies in terms of fuel economy, time savings, reduced component wear and maximization of harvest yield. In a traditional baler configuration, the pickup unit rotates at a constant speed due to its connection to the PTO shaft, and the pickup unit operates continuously. For example, the traditional pickup unit continues to operate even when it is not needed for operation during bale wrapping and ejection, as well as when passing through headland areas or between windrows. This traditional configuration can result in parasitic power loss, loss of fuel efficiency and increased component wear.By using the variable speed drive 200, the drive 200 operates the picking unit 16 only as needed, thus avoiding the disadvantages mentioned above associated with continuous operation of the baler 10 at a constant speed.

[025] The ability to activate or deactivate drive 200 of the collection unit 16 can be automated and based on a number of conditions, including (i) activating drive 200 when a sensor, such as sensor 250, detects a windrow in the field, (ii) deactivating drive 200 when the baler is packing and / or ejecting bales, and / or (iii) activating drive 200 when harvest material is detected by a sensor associated with the baler 10 or the tractor 14. Petition 870250001305, dated 07 / 01 / 2025, page 17 / 31 9 / 16

[026] Turning now to the second benefit arising from the use of a variable speed pickup unit drive 200, the drive 200 can be used to adjust the shape of the bale while the bale is forming in the bale chamber 22. Most operators seek to produce a bale with a uniform circular cross-section. On the other hand, it may also be desirable to produce a bale with a non-uniform shape to prevent the bale from rolling away when placed on a hill. The drive 200 can be operated to adjust the cross-sectional shape of the bale to achieve a uniform or non-uniform shape as desired. In other words, the variable drive 200 can be used to impact the cross-sectional shape of a bale, either achieving or correcting a non-round bale shape.

[027] For an operator seeking to produce a bale having a uniform shape, as a first step, the controller 34 is operated to detect the bale shape based on readings provided by one or more bale shape sensors 220 (Figure 2). Such bale shape sensors are described in U.S. Patents Nos. 9,585,310, 8,571,744 and 7,437,866, for example, which are each incorporated by reference herein. Alternatively, the bale shape can be detected using a non-contact measurement method that detects the outer surface of the bale. As another alternative, and with reference to the embodiment of Figure 4, which is described later, the bale shape can be detected by comparing the belt tension / elongation on the left and right sides of the baler, for example.

[028] The circumferential shape of the bale can be adjusted by speeding up or slowing down the collection unit 16. By briefly increasing the rotational speed of the collection unit 16, the additional harvest flow (due to the increased speed) can be added to an undersized area of ​​the bale, thus making the cross-section of the bale more uniform. The circumferential location of Petition 870250001305, dated 07 / 01 / 2025, page 18 / 31 The undersized bale area (10 / 16) is known as a result of the bale shape sensor 220, and the increased speed of the picking unit is timed so that the increased picking flow is coextensive with the known location of the undersized bale area. The time delay between the increase in the speed of the picking unit and the moment when the additional picking flow reaches the undersized area can be a known value derived from factory tests. It is also noted that by directly monitoring the rotational speed of the rollers 24 / 26, the linear speed of the belt 28, or the rotation of the picking material in the bale chamber 22, the speed changes of the picking unit 16 can be timed in conjunction with the bale rotation. In this way, the bale shape can be improved during the period when the bale is being formed.

[029] Similarly, the shape of the bale can be intentionally made to be non-uniform (i.e., not circular). In scenarios where bales are likely to roll downhill, the collection speed can be varied so that the bale can be intentionally shaped with two, three, or four bulbous parts on the outer surface of the bale. To produce these bulbous parts, the speed of the collection unit is increased or decreased at predetermined intervals.

[030] With regard to predetermined intervals, for a bale intended to have two lobes, the picking speed may need to increase and then decrease twice within the time of one bale rotation. However, there may be cases where the picking speed cannot be changed in a period shorter than one bale rotation. In such a case, the picking speed may be timed by the controller 34 at a multiple of the desired frequency so that the crop can be added at a higher / lower rate to the outer surface of the bale on each second or third bale rotation, for example.

[031] Returning now to Figure 4, the right and left sides of the bale can be individually controlled to adapt the shape of the cross-section. Petition 870250001305, dated 07 / 01 / 2025, p. 19 / 31 11 / 16 of the bale. To accomplish this task, the collection reel 18 can be divided into two separate collection reels 18a and 18b. Reels 18a and 18b, taken together, extend along the transverse width of the baler 10. Each reel 18a and 18b can be powered by a separate variable speed drive 200a / b. Each variable speed drive 200a can include a hydraulic motor 201a that is supplied with fluid by the fluid distributor 204a, as described above with reference to Figure 2. Alternatively, each variable speed drive 200b can include an electric motor 201b that is powered by a power distributor 204b, as described above with reference to Figure 2.

[032] Reels 18a and 18b can be controlled separately by variable speed drives 200a / b to make the cross-sectional shape of the bale uniform. Specifically, rollers 18a and 18b can be accelerated or decelerated as needed to direct the harvested material to specific locations on the left and / or right side of the bale.

[033] Turning now to the third benefit arising from the use of a variable speed harvesting drive unit 200, the drive 200 can be used to estimate the harvest yield through the baler 10. The estimate can be used for various purposes, including maximizing the efficiency of the baler 10, which is linked to the first benefit mentioned above. The harvest yield can also be referred to as the amount of harvest that enters the baler to be processed (i.e., baled) by the baler.

[034] Depending on the type of variable drive(s) 200, the estimated harvest yield can be used to control the operation of the picking unit 16 (or other baler system 10), the rotation speed of the PTO shaft 301 and / or the travel speed of the tractor 14. The travel speed of the tractor 14 can be changed, for example, by increasing the speed of the tractor engine 14, changing a transmission gear or tractor configuration, etc. Petition 870250001305, dated 07 / 01 / 2025, page 20 / 31 12 / 16

[035] As background, crop yield plays an important role in efficient baling operations. Baling operations are most efficient when the tractor can move through a field and maintain a relatively high load during baling. There is always some amount of “overhead” operating costs to operating a tractor and baler in terms of fuel use, soil compaction, operator wages. The goal is to bale as much crop material as possible relative to these costs, i.e., minimize time spent in the field, minimize the number of passes driven over the field, and maximize the rate at which the crop is packed into a bale (yield).

[036] Traditionally, the output of a round baler is estimated by weighing the finished bale and / or using LIDAR data, for example, to measure the volume of crop entering the baler. Weighing the finished bale only provides useful data after the bale has been formed, and LIDAR data provide no indication of crop density and can be expensive and subject to dust interference.

[037] Independently driving reel 18 using variable drive 200 allows the load on the collection unit 16 to be measured separately from other baler systems 10. For example, if drive 200 is an electric drive 200b, the current consumption of motor 201b can be calculated using a sensor 222b. Although sensor 222b is shown associated with motor 201b, it should be understood that the position of sensor 222b may vary. For example, sensor 222b may be connected directly or indirectly to line 207b and located inside the tractor 14. Crop yield can be calculated or estimated using a predetermined correlation between crop yield and measured current consumption. The correlation can be saved in a lookup table, for example. The correlation can be linear and / or calculated by a processor.

[038] Alternatively, if drive 200 is a hydraulic drive Petition 870250001305, dated 07 / 01 / 2025, page 21 / 31 13 / 16 200a, a torque load can be calculated by measuring the hydraulic pressure using a sensor 222a located in the fluid circuit that supplies flow to the manifold 16. The sensor 222a can be located upstream of the motor 201a to measure the pressure that is formed in the inlet line 203a due to the resistance of the manifold 16 to rotate. Another sensor can also be located downstream of the motor so that a pressure drop in the motor 201a can be calculated. In some cases, a sufficiently accurate measurement can be obtained by assuming that the output of the motor 201a has a fixed low pressure.

[039] Power can be calculated based on the calculated torque load. Finally, crop yield can be calculated or estimated based on the calculated power. The correlation can be saved in a lookup table or calculated by a processor.

[040] The following formulas can be used to calculate the torque and power for a 200a hydraulic drive.

[041] Equation 1: Torque = Pressure * Displacement / (2*pi)

[042] Equation 2: Power = Torque * Speed ​​ / 63,025, where Power is calculated in horsepower (HP), Torque is in lb-in units, and Speed ​​is the engine speed in rpm units. Speed ​​can be the maximum rated speed of the engine, which is a known quantity.

[043] Once the Power is calculated, this value can be used to compare the relative yield of one part of the field to another. It is also possible to use an alternative 'on-the-go' style calibration that can be implemented using bale weight information (e.g., onboard scale or external user input measured by transporting the bale(s)) to calibrate relative yield maps for fields that have already been baled. In addition, as an alternative to using Equation 1, the mechanical drive of the collection unit 16 can include torque and / or speed sensors. Petition 870250001305, dated 07 / 01 / 2025, page 22 / 31 14 / 16

[044] The baler 10 includes a feed speed control system that uses the measured or estimated harvest yield described above to control the operation of the picking unit 16 (or other baler 10 system), the rotation speed of the PTO shaft 301 and / or the travel speed of the tractor 14, depending on the type of variable drive(s) 200 employed. The feed speed control system may constitute the controller of the baler and / or the tractor, for example.

[045] As background to the need for a feed speed control system, in a round bale baling operation, operators often push to drive as fast as they can to form a bale quickly, which can result in clogging of the baler. Alternatively, some operators may operate slowly to avoid clogging and miss the opportunity to improve their efficiency by speeding up when baling low-volume harvest sections. Both scenarios could be improved through the implementation of a feed speed control system that uses the estimated harvest yield described above to control the operation of the picking unit 16 (or other baler system 10), the rotation speed of the PTO shaft 301 and / or the travel speed of the tractor 14, depending on the type of variable speed drive(s) 200.

[046] The operation of the picking unit 16 (or other baling system 10), the rotational speed of the PTO shaft 301 and / or the travel speed of the tractor 14 can be controlled to promote optimal bale formation and greater field efficiency using the estimated harvest yield described above. The estimated harvest yield described above can be used to perform any of the following functions: (a) increase the travel speed of the tractor 14 if the estimated harvest yield is below a limit value; (b) control the rotational speed of the variable speed PTO shaft 301 based on a Petition 870250001305, dated 07 / 01 / 2025, pages 23 / 31 15 / 16 lookup table or algorithm that correlates estimated harvest yield with rotation speed; (c) control engine speed 201a based on a lookup table or algorithm that correlates estimated harvest yield with engine speed; and / or (d) control engine speed 201a based on detected tractor travel speed 14 to achieve an optimal relationship between them (using a feed speed control algorithm would cause the harvest speed to increase with yield because the tractor would be driven at a higher speed to achieve higher yield).

[047] As an alternative or in addition to using the variable drive(s) 200 to estimate crop yield, LIDAR or another type of non-contact sensor 250 (Figure 1) can be positioned in front of the baler 10 or tractor 14 to detect the size / shape of the entry swath. And, this crop yield measured by the sensor can be used in any of the functions (a) to (d) described above.

[048] It should be understood that the operational steps described above are performed by the controllers described above by loading and executing software code or instructions that are tangibly stored on a tangible computer-readable medium, such as on a magnetic medium, for example, a computer hard disk, an optical medium, for example, an optical disc, solid-state memory, for example, flash memory, or other storage media known in the art. Thus, any of the functionalities performed by the controller described herein, such as the method of operation mentioned above, is implemented in software code or instructions that are tangibly stored on the tangible computer-readable medium.By loading and executing such software code or instructions by the controller, the controller can perform any of the controller functionalities described herein, including any steps of the method mentioned above described herein. Petition 870250001305, dated 07 / 01 / 2025, pages 24 / 31 16 / 16

[049] The term “software code” or “code” used here refers to any instructions or set of instructions that influence the operation of a computer or controller. They can exist in a computer-executable form, such as machine code, which is the set of instructions and data executed directly by a computer’s central processing unit or by a controller, a human-understandable form, such as source code, which can be compiled to be executed by a computer’s central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler.As used herein, the term "software code" or "code" also includes any human-understandable computer instructions or set of instructions, for example, a script, that can be executed in real time with the aid of an interpreter run by a computer's central processing unit or by a controller.

[050] Although this invention has been described with respect to at least one embodiment, the present invention may be further modified within the character and scope of this description. For example, although variable speed drives have been described for use with a baler pickup unit, variable speed drives may be used to control any component of the baler.

[051] Features of the different variants and modalities described here can be combined in any way with each other.

[052] This application is therefore intended to cover any variations, uses or adaptations of the invention using its general principles. In addition, this application is intended to cover such deviations from the present description as they fall within known or customary practice in the art to which this invention belongs and which fall within the limits of the appended claims.

Claims

1. Agricultural vehicle, CHARACTERIZED in that it comprises: a baler that is connected or integrated into the agricultural vehicle, the baler having a collection unit including a rotating reel for introducing crop material into a baling chamber of the baler; a drive system for rotating the reel; and a feed speed control system that is configured to calculate an indicative value of a quantity of crop entering the baler at the collection unit and adjust a function of the vehicle based on the calculated value.

2. Agricultural vehicle, according to claim 1, CHARACTERIZED in that the drive system comprises (i) a vehicle engine, (ii) a vehicle power take-off (PTO) shaft that receives power from the engine and (iii) a baler PTO shaft that is connected to the vehicle PTO shaft and to the reel to rotate the reel.

3. Agricultural vehicle, according to claim 2, CHARACTERIZED in that the feed speed control system is configured to adjust a vehicle travel speed based on the calculated value.

4. Agricultural vehicle, according to claim 1, CHARACTERIZED in that the feed speed control system comprises a sensor to detect the amount of crop entering the baler at the collection unit, and the feed speed control system is configured to calculate the indicative value of the amount of crop entering the baler at the collection unit based on the detected amount of crop.

5. Agricultural vehicle, according to claim 4, CHARACTERIZED in that the sensor is a LIDAR sensor or a contactless sensor.

6. Agricultural vehicle, according to claim 1, CHARACTERIZED in that the drive system is a variable speed drive system comprising a hydraulic motor having an output shaft that is connected to the reel for reel rotation.

7. Agricultural vehicle, according to claim 6, CHARACTERIZED in that the hydraulic motor is fluidly connected to a fluid distributor which is configured to be fluidly connected to a pump on the tractor.

8. Agricultural vehicle, according to claim 6, CHARACTERIZED in that it further comprises one or more sensors for measuring the hydraulic pressure of a fluid within a hydraulic circuit to which the hydraulic motor is connected.

9. Agricultural vehicle, according to claim 8, CHARACTERIZED in that the feed speed control system is configured to calculate the indicative value of the amount of harvest entering the baler in the harvesting unit based on the measured hydraulic pressure.

10. Agricultural vehicle, according to claim 9, CHARACTERIZED in that the controller is configured to adjust a speed of the variable speed drive system as a function of the calculated value.

11. Agricultural vehicle, according to claim 1, CHARACTERIZED in that the drive system is a variable speed drive system comprising an electric motor having an output shaft that is connected to the reel for rotation of the reel.

12. Agricultural vehicle, according to claim 11, CHARACTERIZED in that the electric motor is configured to be electrically connected to an electric port on the tractor.

13. Agricultural vehicle, according to claim 11, CHARACTERIZED in that it further comprises a sensor for measuring the current consumption of the electric motor.

14. Agricultural vehicle, according to claim 13, CHARACTERIZED Petition 870250001305, dated 07 / 01 / 2025, page 27 / 31 3 / 3 by the fact that the feed speed control system is configured to calculate the indicative value of the amount of harvest entering the baler in the collection unit based on the measured current consumption.

15. Agricultural vehicle, according to claim 14, CHARACTERIZED in that the controller is configured to adjust a speed of the variable speed drive system as a function of the calculated value.

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