System and method for controlling an autonomous BALE mover

Abstract

An autonomous bale mover includes an integral power system in communication with a ground drive system, a bale loading system, and a bale carrying system. The bale loading system may be positioned in proximity to the bale carrying system such that the bale loading system may be configured to pick a bale material from a space and the bale carrying system may be configured to carry at least the bale material picked by the bale loading system. A sensor may be mounted with respect to an outer portion of the bale loading system, the sensor may be movable between a first position and a second position and configured to determine at least a parameter of the bale loading system.

Description

SYSTEM AND METHOD FOR CONTROLLING AN AUTONOMOUS BALE MOVERCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit to U.S. Provisional Patent Application Serial No. 63 / 518,085. filed August 7. 2023, which is incorporated herein by reference in its entirety.FIELD OF THE DISCLOSURE

[0002] The field of the disclosure relates generally to systems and methods for detecting and moving bale materials using a bale mover machine, and more particularly to detecting and moving bale materials using an autonomous bale mover.BACKGROUND

[0003] Moving bale materials is conventionally accomplished using a tractor with a loader that is controlled by a tractor operator seated on the tractor. Bale movers (towed and self-propelled) that move through the field to load and move bales to an unloading site have been developed. For bale movers to be accepted by customers, such bale movers should reliably pick-up bale materials in the field, be able to pick-up a plurality of bale materials and safely transport bale materials to an unload location.

[0004] Typically, the bales to be moved are located in a large field. The bales may be separated from the next proximate bale by a considerable distance. When the bales are formed, each fully formed and wrapped bale is released by the bale forming machine and dropped in the field at the location where the bale forming process was completed. The bale forming machine continues across the field, forming and releasing bales throughout the field. Once the bale forming process is completed, a number of bales in spaced apart relation are located in the field. The formed bales then need to be moved from the field to a location where the bales are collected in groups, e.g.. near a building or at a location in the field. Due to the large distances a bale moving machine will need to travel to complete bale movement in the field and between bales, it is important that the bale moving machine move through the field and load the bales as efficiently as possible. A need exists for bale movers that areable to reliably and efficiently move bale materials from the ground onto the bale mover and unload the bales at a building or other field location, and that are able to accommodate a variety of bale material sizes (e g., diameters), and / or that improve sensor and controller reliability’.

[0005] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the disclosure, which are described and / or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art.BRIEF SUMMARY

[0006] One embodiment relates to a method of grouping bale materials in a space. The method includes scanning a space. The space includes one or more bale materials, and an autonomous bale mover. The autonomous bale mover includes an integral power system, a ground drive system, and a rack system. The rack system is loaded with at least one bale material. The method includes searching the space to identify one or more bale materials to establish a stack location, delivering the at least one loaded bale material to the stack location, and unloading the at least one loaded bale material at the stack location to create a stack.

[0007] Another embodiment relates to a method for selecting a bale material in a space. The method includes querying a world model of the space for one or more bale materials, identifying the one or more bale materials that may possibly be picked by an autonomous bale mover, and assigning a value to the identified one or more bale materials to rank each bale material based on desirability to be picked by the autonomous bale mover. The method further includes assessing the identified one or more bale materials to be picked against a cost map of the space to adjust the value assigned to the identified one or more bale materials if a cost is found in proximity thereto, and loading the identified one or more bale material to the autonomous bale mover based on the rank of each of the identified one or more bale materials.

[0008] Another embodiment relates to an autonomous bale mover. The bale mover includes an integral power system in communication with a ground drive system, a baleloading system, and a bale carry ing system. The ground drive system is at least partially positioned to engage with a driving surface. The bale loading system is positioned in proximity to the bale carrying system such that the bale loading system is configured to pick a bale material from a space and the bale carrying system is configured to carry at least the bale material picked by the bale loading system. The bale loading system is positioned peripheral to the bale carrying system in a loading direction of conveyors of the bale loading system. The bale mover further includes a sensor mounted to at least one of the bale carrying system and the bale loading system. The sensor is movable between a first position and a second position and configured to detect at least a parameter of the bale loading system and the space.

[0009] Another embodiment relates to a method of grouping bale materials in a space. The method includes scanning the space, where the space includes one or more bale materials, a sensor mounted with respect to an autonomous bale mover, the autonomous bale mover including an integral power system, a ground drive system, and a rack system. The rack system including at least one loaded bale material. The method includes establishing a stack location by searching the scanned space to identify a point with a surrounding obstacle free area large enough for a predefined stack quantity including a number of bale material, delivering the at least one loaded bale material to the stack location, and unloading the at least one loaded bale material at the stack location to create a stack.

[0010] Various refinements exist of the features noted in relation to the above- mentioned aspects. Further features may also be incorporated in the above-mentioned aspects as well. These refinements and additional features may exist individually or in any combination. For instance, various features discussed below in relation to any of the illustrated embodiments may be incorporated into any of the above-described aspects, alone or in any combination.

[0011] As used herein, the term "autonomous" refers to the operation of a bale mover based on at least one of the following levels, in no particular order. Level 1, the bale mover includes partial autonomation and partial manual operation of required tasks and in instances of partial automation, an operator still monitors operation and may take control at any time. Level 2, the bale mover can detect its environment and can perform most operational tasks, but operator intervention is still required in some instances. Level 3, thebale mover has a high level of autonomation for all tasks under certain situations, typically within a geofenced area (e.g., a space), and operator intervention is an option but not required within the defined space. Level 4, operation of the bale mover is fully automated with no human intervention required. Said differently, the bale mover performs all machine safety- critical and operational-critical functions related to its defined operations without operator interaction.

[0012] As used herein, the terms “automation” and “automated” refer to the operation of a bale mover where an operator retains overall control of the bale mover but can transfer limited control over a specific function to the bale mover.

[0013] As used herein, the term “world model” refers to a map of an area within a space where a bale material is located.

[0014] As used herein, the term “cost map” refers to a grid representation of a space the bale mover is working within, where obstacles are given a high cost and free space (or nearly free space) is given a low (or zero) cost.

[0015] As used herein, the term “cost”, may refer to a value associated with a location costs on the cost map, wherein a high cost is associated with an obstacle being present at a location. In some embodiments, cost may also be associated with the size of the obstacle, e.g., a larger obstacle may have a higher cost compared to a smaller obstacle. In some embodiments, cost may be associated with the position or location of the obstacle, e.g.. in addition to the size of the obstacle.

[0016] As used herein, an “obstacle” may include, but is not limited to, an item (e.g.. tree, rock, fence, humans or animals, equipment, such as tractors, irrigation equipment, etc., a bale or bale material such as a bale that has not yet been identified), a semi-permanent item (e.g., an abandoned piece of equipment), an unpicked bale material, a group of picked bale materials, and / or any combinations of items that may interfere with movement of the bale mover.

[0017] As used herein, the “space” refers to an area where a bale mover may operate. In non-limiting examples, the space refers to a field, a building, a road, a lot, a yard, a field, and combinations thereof.

[0018] As used herein, "scour", “scouring’; may refer to an action a bale mover conducts as it navigates along a preplanned path searching for objects, such as obstacles and bale materials, within a space.

[0019] As used herein, “a”, “an”, and “the” refer to both singular and plural referents unless the context clearly dictates otherwise.

[0020] As used herein, the term “or”, including the claims, is used to mean “and / or” unless explicitly indicated to refer to alternatives only or to refer to the alternatives that are mutually exclusive.

[0021] As used herein, the term “about” refers to a measurable value such as a parameter, an amount, a temporal duration, and the like and is meant to include variations of + / - 15% or less, preferably variations of + / - 10% or less, more preferably variations of + / - 5% or less, even more preferably variations of + / - 1% or less, and still more preferably variations of + / - 0.1% or less of and from the particularly recited value, in so far as such variations are appropriate to perform in the invention described herein. Furthermore, it is also to be understood that the value to which the modifier “about” refers is itself specifically disclosed herein.

[0022] As used herein, spatially relative terms, such as “beneath”, “below”, “lower”, “above”, “upper”, “front”, “back”, “side”, “left”, “right”, “rear”, and the like, are used for ease of description to describe one element or feature’s relationship to another element(s) or feature(s). It is further understood that the terms “front”, “back”, “left”, and “right” are not intended to be limiting and are intended to be interchangeable, where appropriate. Further, it should be noted that the terms “first,” “second,” and the like herein do not denote any order, quantity, or relative importance, but rather are used to distinguish one element from another.

[0023] As used herein, the terms “comprise(s)”, “comprising”, and the like, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0024] As used herein, the terms “configure(s)”, “configuring’", and the like, refer to the capability of a component and / or assembly, but do not preclude the presence or addition of other capabilities, features, components, elements, operations, and any combinations thereof.

[0025] All ranges disclosed herein are inclusive of the endpoints, and the endpoints are independently combinable with each other. Each range disclosed herein constitutes a disclosure of any point or sub-range lying within the disclosed range.

[0026] All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary' language (e.g., “such as”), is intended merely to better illustrate the invention and does not pose a limitation on the scope of the invention or any embodiments unless otherwise claimed.

[0027] Any combination or permutation of features, functions and / or embodiments as disclosed herein is envisioned. Additional advantageous features, functions and applications of the disclosed systems, methods and assemblies of the present disclosure will be apparent from the description which follows, particularly when read in conjunction with the appended figures. All references listed in this disclosure are hereby incorporated by reference in their entireties.BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Features and aspects of embodiments are described below7with reference to the accompanying drawings, in which elements are not necessarily depicted to scale. Corresponding reference characters indicate corresponding parts throughout the several views of the drawings.

[0029] Exemplary embodiments of the present disclosure are further described with reference to the appended figures. It is to be noted that the various features, steps, and combinations of features / steps described below and illustrated in the figures can be arranged and organized differently to result in embodiments which are still within the scope of the present disclosure.

[0030] To assist those of ordinary skill in the art in making and using the disclosed assemblies, systems and methods, reference is made to the appended figures, wherein:

[0031] Fig. 1 depicts a front left perspective view of an autonomous bale mover with a bale loading system in a first position, according to the present disclosure;

[0032] Fig. 2 depicts a front view- of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0033] Fig. 3 depicts a top view of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0034] Fig. 4 depicts a bottom view of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0035] Fig. 5 depicts a left-side view of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0036] Fig. 6 depicts a right-side view of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0037] Fig. 7 depicts a back view of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0038] Fig. 8 depicts a front right perspective view of the autonomous bale mover of Fig. 1 according to the present disclosure;

[0039] Fig. 9 depicts a front left perspective view of an autonomous bale mover with a bale loading system in a second position, according to the present disclosure;

[0040] Fig. 10 depicts a front view of the autonomous bale mover of Fig. 9 according to the present disclosure;

[0041] Fig. 11 depicts a top view of the autonomous bale mover of Fig. 9 according to the present disclosure;

[0042] Fig. 12 depicts a left-side view of the autonomous bale mover of Fig. 9 according to the present disclosure;

[0043] Fig. 13 depicts a right-side view of the autonomous bale mover of Fig. 9 according to the present disclosure;

[0044] Fig. 14 depicts a front right perspective view of the autonomous bale mover of Fig. 9 according to the present disclosure;

[0045] Fig. 15 depicts a back right perspective view of the rack system of the autonomous bale movers of Figs. 1-14, according to the present disclosure;

[0046] Fig. 16 depicts a top view of the rack system of Fig. 15 according to the present disclosure;

[0047] Fig. 17 depicts a bottom view of the rack system of Fig. 15 according to the present disclosure;

[0048] Fig. 18 depicts a left-side view of the rack system of Fig. 15 according to the present disclosure;

[0049] Fig. 19 depicts a right-side view of the rack system of Fig. 15 according to the present disclosure;

[0050] Fig. 20 depicts a back view of the rack system of Fig. 15 according to the present disclosure;

[0051] Fig. 21 depicts a back left perspective view of the rack system of Fig. 15 according to the present disclosure;

[0052] Fig. 22 depicts a back right perspective view of another example rack system of the autonomous bale movers of Figs. 1-14, according to the present disclosure;

[0053] Fig. 23 depicts a top view of the rack system of Fig. 22 according to the present disclosure;

[0054] Fig. 24 depicts a right-side view of the rack system of Fig. 22 according to the present disclosure;

[0055] Fig. 25 depicts a back view of the rack system of Fig. 22 according to the present disclosure;

[0056] Fig. 26 is a perspective view of a sensor hub of the autonomous bale mover of Figs. 1-25, according to the present disclosure;

[0057] Fig. 27 is a schematic of the bale mover approaching a bale in the transport position (self-propelled, towed or wheeled);

[0058] Fig. 28 is a schematic of the bale mover approaching a bale in an intermediate position;

[0059] Fig. 29 is a schematic of the bale mover approaching a bale in the bale load position;

[0060] Fig. 30 is a block diagram of a control system of the autonomous bale mover, according to the present disclosure;

[0061] Fig. 31 is a block diagram of a control system for controlling an autonomous bale mover, according to the present disclosure;

[0062] Fig. 32 is a flow chart illustrating a method of grouping bale materials within a space, according to the present disclosure;

[0063] Fig. 33 is a flow chart illustrating another method of grouping bale materials within a space, according to the present disclosure;

[0064] Figs. 34A-B is a flow chart illustrating another method of grouping bale materials within a space, according to the present disclosure;

[0065] Figs. 35A-B is a flow chart illustrating another method of grouping bale materials within a space, according to the present disclosure;

[0066] Fig. 36 is a flow chart illustrating a method of selecting a bale material within a space, according to the present disclosure;

[0067] Fig. 37 is another flow chart illustrating a method of selecting a bale material within a space, according to the present disclosure;

[0068] Fig. 38 is a flow chart illustrating a method of selecting a bale material within a space, according to the present disclosure;

[0069] Fig. 39 is another flow chart illustrating a method of selecting a bale material within a space, according to the present disclosure;

[0070] Fig. 40 illustrates an autonomous bale mover moving through a space and picking up bale materials, according to the present disclosure.

[0071] Fig. 41 shows an example image displayed on a screen; and

[0072] Fig. 42 shows another example image displayed on a screen.DETAILED DESCRIPTION

[0073] The present disclosure is generally directed to an autonomous (or nearly autonomous) bale mover that is configured to detect bale materials within a specified space using a sensor system. The autonomous bale mover may automatically (without human intervention) detect bale materials within a specified space using the sensory' system, confirm that the detected bale materials are actual bale materials, pick up individual bale material, and transport the bale materials to a specified stacking location. The autonomous bale mover may pick up a plurality of bale materials and / or may transport a plurality of bale materials. The bale materials may be round bales, rectangular bales, and combinations thereof.

[0074] Referring to Figs. 1-14. the bale mover 100 includes a power system 200. a ground drive system 300, and a rack system 400. The rack system 400 is mounted to the ground drive system 300, either directly or indirectly. The power system 200 is connected to the ground drive system 300 and the rack system 400. either directly or indirectly. The power system 200 may be electrically connected, mechanically connected, or electrically connected and mechanically connected to the ground drive system 300, the rack system 400, or the ground drive system 300 and the rack system 400. The bale mover 100 is configured to detect bale materials within a specified space using a sensor system. The bale mover 100 defines a longitudinal axis LI that extends between the front 102 and the rear 104. The rack system 400 of the bale mover 100 defines a longitudinal axis L2 that extends between the front 102 and the rear 104.

[0075] The ground drive system 300 includes a first ground track 302, a second ground track 304, and a main frame 306. The first and second ground track 302, 304 are mounted with respect to the main frame 306. It should be understood, however, that the firstand second ground tracks 302, 304 may be substituted and / or combined with other suitable ground drive systems (e.g., wheels). Therefore, unless otherwise stated, referencing the first and second ground tracks 302, 304 includes alternative ground drive systems. The main frame 306 is mounted with respect to the rack system 400, either directly or indirectly. The bale mover 100 defines a front 102 where bale materials may be loaded and unloaded and a rear 104 that is opposite the front 102.

[0076] The power system 200 is mounted with respect to the main frame 306, either directly or indirectly. The power system 200 generates power to drive the first and second ground tracks 302, 304. The power system 200 may generate power to drive various conveyors mounted with respect to the bale mover 100. The power system 200 may directly or indirectly generate power to operate various electrical and sensor systems. The power system 200 may include a diesel or gasoline internal combustion engine and a fuel tank. The engine may power hydraulic pumps that power the driven components of the bale mover 100. For example, the pump may power hydraulic motors that drive the first and second ground tracks 302, 304 of the ground drive system 300. Hydraulic pumps may also power the moving components of the rack system 400 and power components for raising or lowering the rack system 400 as further discussed below. In some embodiments, the power system 200 may be configured to provide battery power (e.g., include batteries and electric motors that drive the various components). The present disclosure should not be limited to a particular power system 200 or arrangement of the components of the power system 200 and any power system 200 that allows the bale mover 100 to function as described herein may be used unless stated otherwise.

[0077] Referring further to Figs. 15-21, the rack system 400 is configured to pick up / load a bale material onto the bale mover 100. The rack system 400 is configured to carry the bale material. The rack system 400 may defme / include a bale loading system 410 and a bale carrying system 450, where the bale loading system 410 is configured to pick up / load a bale material onto the bale mover 100, and the bale carrying system 450 is configured to cany7the bale material. In some instances, the bale loading system 410 is configured to pick up / load a plurality of bale materials onto the bale mover 100. The bale carrying system 450 may be configured to carry at least one bale material. The bale carrying system 450 may be configured to cany' a predetermined maximum amount of bale materials. In a non-limitingexample, the bale carrying system 450 may be configured to carry about three (3) bale materials or any suitable maximum or full amount of bale materials.

[0078] The bale loading system 410 includes afirst bale loading conveyor 412 (see, e.g., Figs. 1 and 9) on a first side 106 of the bale mover 100 and a second bale loading conveyor 422 (see, e.g.. Figs. 8 and 14) on the second side 108. The first bale loading conveyor 412 includes a first bale loading conveyor frame 414 which is mounted to a first bale loading arm 416 (see, e.g., Fig. 3). The second bale loading conveyor 422 includes a second bale loading conveyor frame 424 which is mounted to a second bale loading arm 426 which generally opposes the first bale loading arm 416 (see, e.g.. Fig. 3). The first and second bale loading conveyor frames 414, 424 each support a driven roller 418 and an idler roller 420. A belt 428 rotates about the idler roller 420 and driven roller 418.

[0079] The bale loading system 410 is configured to move between a first position and a second position. The first bale loading conveyor 412 and the second bale loading conveyor 422 of the bale loading system 410 are configured to move relative to each other between a first position and a second position in a horizontal direction between the first and second sides 106, 108. For example, Figs. 1-8 depict the bale loading system 410 of the bale mover 100 in a first position such that the first and second bale loading conveyors 412, 422 are positioned further from each other (e.g., a wide position). Figs. 9-14 depict the bale loading system 410 of the bale mover 100 in a second position such that the first and second bale loading conveyors 412, 422 are positioned closer to each other (e.g., a narrow position). The first and second bale loading conveyors 412. 422 are positioned in a first position defined by Wl (see, e.g., Figs. 2 and 3) and are positioned in a second position defined by W2 (see, e.g., Figs. 10 and 11), wherein W1 is greater than W2. In a non-limiting example, W1 may have a distance of about 49 inches. In a non-limiting example, W2 may have a distance of about 22 inches. Thus, Wl and W2 may define a range of about 22 inches to about 49 inches. Additionally, in the first position, the first and second bale loading conveyors 412. 422 may define a distance Wl’ between the center points (Cl) of each of the first and second bale loading conveyors 412, 422 (see, e.g., Fig. 3). In a non-limiting example, Wl’ may have a distance of about 54 inches. Additionally, in the second position, the first and second bale loading conveyors 412, 422 may define a distance W2’ between the center points (Cl) of each of the first and second bale loading conveyors 412, 422 (see, e.g.. Fig. 1 1). In a non-limiting example, W2‘ may have a distance of about 28 inches. Thus, Wl’ and W2‘ may define a range of about 28 inches to about 54 inches. The first and second bale loading conveyors 412, 422 in the first position may define a first angle Al (see, e.g., Fig. 2). The first and second bale loading conveyors 412, 422 in the second position may define a second angle A2 (see, e.g., Fig. 10). The first angle Al may be greater than the second angle A2. In other instances, the first angle Al may be substantially equal to the second angle A2. In a non-limiting example, Al may define an angle of about 90 degrees (+ / - 10 degrees). In a non-limiting example, A2 may define an angle of about 90 degrees (+ / - 10 degrees).

[0080] In another instance, the first bale loading conveyor 412 and the second bale loading conveyor 422 of the bale loading system 410 are configured to move relative to bale mover 100 between a first position and a second position in a vertical direction (e.g., along a direction perpendicular to the ground) towards or away from the ground drive system 300. Figs. 27-29 show various positions first bale loading conveyor 412 and the second bale loading conveyor 422, e.g., relative to the ground drive system 300. It should be understood that first and second bale loading conveyors 412, 422 may be positioned at any position between the first position and the second position. The first and second bale loading conveyors 412, 422 may move between the first position and the second position to accommodate one or more bale materials. The movement of the first and second bale loading conveyors 412, 422 between the first and second positions may, in part, be directed by the sensor system, as discussed in more detail below.

[0081] The first and second bale loading conveyors 412, 422 may further include a plurality of components configured to move the first and second bale loading conveyors 412, 422 between the first horizontal position and the second horizontal position (e.g., along a direction parallel to the ground) as described herein. Referring to Fig. 17, the first bale loading conveyor 412 includes a first linkage 417 and a second linkage 419 pivotally coupled to and extending between the first bale loading conveyor 412 and the rack system 400, either directly or indirectly. For example, the first linkage 417 is pivotally coupled to and extending between the bale loading arm 416 and an actuator 430 (e.g., at connection point 432) (see Fig. 17). The second linkage 419 is pivotally coupled to and extending between the first bale loading conveyor 412 and the bale carrying system 450 (e.g., a front cross structure 470), either directly or indirectly. The bale loading arm 416 is pivotally coupled to and extendingbetween the first bale loading conveyor 412 and the bale carrying system 450 (e.g., a front cross structure 470). either directly or indirectly. The second bale loading conveyor 422 includes a first linkage 427 and a second linkage 429 pivotally coupled to and extending between the second bale loading conveyor 422 and the rack system 400, either directly or indirectly. For example, the first linkage 427 is pivotally coupled to and extending between the bale loading arm 426 and the actuator 430 (e.g., at connection point 432). The second linkage 429 is pivotally coupled to and extending between the second bale loading conveyor 422 and the bale carrying system 450 (e.g., a front cross structure 470), either directly or indirectly. The bale loading arm 426 is pivotally coupled to and extending between the second bale loading conveyor 422 and the bale carrying system 450 (e g., a front cross structure 470), either directly or indirectly.

[0082] First linkage 417, second linkage 419, and the bale loading arm 416 cooperate to move the first bale loading conveyor 412 in a horizontal direction between the first and second sides 106. 108. First linkage 427, second linkage 429. and the bale loading arm 426 cooperate to move the second bale loading conveyor 422 in a horizontal direction between the first and second sides 106, 108. The first linkage 417, second linkage 419, and the bale loading arm 416 of the first bale loading conveyor 412 and the first linkage 427, second linkage 429, and the bale loading arm 426 of the second bale loading conveyor 422 are configured to ensure the first and second bale loading conveyors 412, 422 are parallel to each other and to the direction of travel as the first and second bale loading conveyors 412, 422 move between the range of W1 and W2. The rack system 400 may further include an actuator 430 that is configured to controllably move the first and second bale loading conveyors 412, 422. The actuator 430 is pivotally coupled to the bale carrying system 450 (e.g., a bed frame 480) and with the first linkages 417, 427, either directly or indirectly.

[0083] The bale carrying system 450 includes a first bale carrying conveyor 452 (see, e.g.. Fig. 1 and 9) on a first side 106 of the mover 100. a second bale carrying conveyor 462 (see, e.g., Figs. 8 and 14) on a second side 108, and a bed frame 480 (see, e.g., Figs. 8 and 14). The first and second bale carry ing conveyors 452, 462 may define a first angle Bl (see, e.g., Fig. 2). In a non-limiting example, Bl may define an angle of about 140 degrees (+ / - 10 degrees). The width between the first and second bale carrying conveyors 452, 462 may be similar to the width between the first and second bale loading conveyors 412, 422.Thus, the width between the first and second bale carrying conveyors 452, 462 may define a range of about 22 inches to about 49 inches. The width between center points (C2) of the first and second bale carrying conveyors 452, 462 may be similar to the width of the first and second bale loading conveyors 412, 422. Thus, the width between center points (C2) of the first and second bale carrying conveyors 452, 462 may define a range of about 28 inches to about 54 inches. The first bale carrying conveyor 452 includes a first bale carrying conveyor frame 454. The second bale carrying conveyor 462 includes a second bale carrying conveyor frame 464. The first bale carrying conveyor frame 454 and second bale canydng conveyor frame 464 are connected by a front cross structure 470 and a rear cross-structure 472. The bale loading arms 416, 426 of the bale loading system 410 are mounted to the front crossstructure 270, either directly or indirectly, and extend from the bed frame 480.

[0084] The first bale carrying conveyor frame 454 and the second bale carrying conveyor frame 464 each support a driven roller 456 (see, e.g., Fig. 6 and 13) and an idler roller 458. A control system 500 regulates the amount of power supplied to the driven rollers 456 by the power system 200. A belt 460 rotates about the idler roller 458 and the driven roller 456 of each conveyor 452, 462. The first bale carry ing conveyor frame 454 and the second bale carry ing conveyor frame 464 are connected to a front cross structure 470 and a rear cross-structure 472 to form a bed frame 480 (which may be a “rigid"’ bed frame). The bed frame 480 carries the first and second bale carry ing conveyors 452, 462.

[0085] The bed frame 480 is connected to and supported by the main frame 306 of the bale mover 100 by a pair of rear links 482, 483, and a pair of front links 484, 485 (see, e.g.. Figs. 1, 3, 8, 9, 11, and 14). Each link 482, 483, 484, 485 is pivotally connected to the main frame 306 and to the bed frame 480. Each link 482, 483, 484, 485 assist with moving the bed frame 480. In reference to Figs. 27-29, the bed frame 480 is moveable relative to the main frame 306 between a transport position (Fig. 27), and intermediate position (Fig. 28), and a bale load position (Fig. 28) when picking up a bale 466. e.g., bale material. As the bed frame 480 moves between the transport position and bale load position (and vice versa), the bed frame 480 passes through an intermediate position. The distance between the pivot points of the rear links 482, 483 (i.e.. the pivot point formed in bed frame 480 and the pivot point formed in the main frame 306) is less than the distance between the pivot points of each front link 484, 485 (e.g., the rear links 482, 483 are shorter than the front links 484, 485), whichcauses one end of the bed frame 480 to be lower in the bale load position relative to the transport position. In some instances, the bale loading system 410 and the bale carrying system 450 of the rack system 400 may pivot to load a bale material. In other instances, the bale loading system 410 of the rack system 400 may pivot to load a bale material while the bale carrying system 450 maintains its position. In yet another instance, the rack system 400 may pivot and translate in the direction of the front 102 to load a bale material. The pivot and translation of the rack system 400 may reduce the angle of at least the bale loading system 410 relative to the ground drive system 300 to more easily load a bale material and / or to ensure a more accurate view by the one or more sensors, as discussed below.

[0086] The bale loading system 410, which is mounted to the front cross structure 470 of the bed frame 480, is in its lowest position when the bed frame 480 is in the bale load position. In the transport position, the bed frame 480 is raised to its highest position relative to the main frame 306, which increases the clearance between bale materials being carried by. e.g., loaded on. the bale loading system 410 or the bale carrying system 450 and the first ground track 302 of the ground drive system 300.

[0087] The bed frame 480 is moved between raised and lowered positions by an actuator 486 which, in the illustrated embodiment, is a cylinder (e.g.. hydraulic cylinder). The actuator 486 is pivotally connected to the main frame 306 and is pivotally connected to the bed frame 480. With the bed frame 480 in the transport position, the actuator 486 may be extended, and with the bed frame 480 in the bale load position, the actuator 486 may be retracted.

[0088] The rack system 400 further includes one or more sensor hubs 550. In the embodiment shown in Figs. 1-21, the rack system 400 includes a single sensor hub 550 positioned generally in proximity to the front 102 of the rack system 400. For example, the sensor hub 550 may be mounted to the second bale loading conveyor 422 such that the sensor hub 550 is positioned in proximity to both the front 102 and the second side 108 of the bale mover 100.

[0089] In another embodiment of the rack system 400 shown in Figs. 22-28, the rack system 400 includes a pair of sensor hubs 550, including a first sensor hub 560 positioned in proximity to the front 102 and a second sensor hub 562 positioned in proximity'to the rear 104. The second sensor hub 562 may be mounted between the first bale carrying conveyor 452 and the second bale carrying conveyor 462. For example, the second sensor hub 562 may extend from the rear cross-structure 472 that extends between the first bale carrying conveyor 452 and the second bale carrying conveyor 462. In some embodiments, the second sensor hub 562 extends from the rear cross-structure 472 towards the first bale carrying conveyor frame 454. In some embodiments, the second sensor hub 562 is mounted to a bale stop 572 of the rack system 400. The bale stop 572 is an assembly that may be mounted, e.g., welded, to the rack system 400. Bales 466 carried by the first and second bale carrying conveyor 452, 462 may press against the bale stop 572 such that the bale stop 572 retains the position of the loaded bales 466 on the bale carrying system 450. The second sensor hub 562 may be used for object detection in proximity to the rear 104 and / or first side 106 of the rack system 400. For example, the second sensor hub 562 is positioned such that it captures images vertically below a bale(s) 466 that is being carried on the first and second bale carry ing conveyors 452, 462, and such that it has a view- along the outside edge of the first and second bale carrying conveyors 452, 462. In some embodiments, the second sensor hub 562 is mounted vertically lower than the first sensor hub 560. The second sensor hub 562 may be mounted at approximate the vertical height of the first and second bale carry ing conveyors 452, 462. In some embodiments, the second sensor hub 562 is mounted slightly vertically above the first and second bale carrying conveyors 452, 462.

[0090] Each of the sensor hubs 550, and in particular the LiDAR sensors (described below ), may have a 360-degree field of view'. In some embodiments, areas outside of zones of interest are filtered from the collected sensor data, e.g., fields of view of components of the bale mover 100 may be assumed to be unnecessary for data analysis and as such these images captured of the bale mover 100 may be removed from data analysis. Generally, the second sensor hub 562 has a field of view' A562 and the first sensor hub 560 has a field of view' of A560 (see Fig. 23 and Fig. 25). In reference to Fig. 23. the view A562 spans from the first side 106 of the rack system 400 and / or the bale mover 100 (e.g., a right side of the first and second bale carrying conveyors 452, 462) to the rear 104 of the rack system 400 and / or the bale mover 100. The view' A560 spans from the second side 108 tow'ards the front 102 of the rack system 400 and / or the bale mover 100. In alternative embodiments, one or more of the sensor hub(s) 550 may be mounted to any suitable location(s) on the rack system 400 tocapture a suitable field of view enabling the bale mover 100 and the rack system 400 to function as described herein.

[0091] In reference to Fig. 26, the sensor hub 550 includes a first sensor 552, which may be a LiDAR sensor and / or a stereo camera. The LiDAR sensor 552 is connected to a mounting bracket 554. The sensor 552 and bracket 554 form an assembly. The sensor hub 550 includes a hub base 556 with the LiDAR sensor 552 and mounting bracket 554 mounted thereon, either directly or indirectly. The bracket 554 and sensor 552 may be suspended with a relatively low stiffness in the vertical plane, while being held more rigid in the horizontal plane. The sensor hub 550 may be mounted with respect to an arm 558 that extends outwardly from the bale loading system 410, e.g., from the second bale loading conveyor frame 424 or outwardly from the bale carrying system 450, e.g., from the rear cross-structure 472. The arm 558 may define a cross-section that resembles a quadrilateral, an I-beam, a triangle, a circle, and combinations thereof. The arm 558 may be rigid or substantially rigid to limit vibration and / or flexing at the sensor 552. The LiDAR sensor 552 may include one or more isolators (not shown) positioned between the LiDAR sensor 552 and the mounting bracket 554, either directly or indirectly, to reduce (or eliminate) vibration. The geo-spatial sensor 504 (e.g., GPS sensor) may be mounted to and disposed above the power system 200 and, in the illustrated embodiment, is mounted toward the second side 108 of the bale mover 100. The sensor hubs 550 may run continuously, e.g., collecting data, at a suitable data collection and / or transmission rate. In particular, the sensor hubs 550 may run continuously, or semi-continuously with a suitable collection and transmission rate, during autonomous operation modes of the rack system 400 and / or the bale mover 100.

[0092] The sensor hub 550 may be movable between the first position and the second position such that the sensor hub 550 is capable of determining at least one parameter of the bale mover 100 (e g., of the bale loading system 410). Data collected from sensors of the sensor hub 550 may be utilized to adjust the movement of the first bale loading conveyor 412 and the second bale loading conveyor 422 between the first and second positions in the horizontal direction, as described above. For example, a controller, e.g., a machine controller 510 (see Fig. 30) or a controller positioned on sensor hub 550, may utilize the sensor data to control or adjust movement of the bale mover 100. The sensor hub 550 may be configured to adjust the movement of the first bale loading conveyor 412 and the second bale loadingconveyor 422 between the first and second positions in the vertical direction, as described above. The sensor hub 550 may be configured to adjust the movement of the first bale loading conveyor 412 and the second bale loading conveyor 422 between the first and second positions in the horizontal and vertical directions, as described above.

[0093] In some embodiments, the sensor hub 550 may dictate the width Wl, Wl’, W2, W2’, or a width therebetween based on at least the size of a bale material. Adjustment of the width (e.g., Wl, Wl’, W2, W2’) of the first and second bale loading conveyors 412, 422 may be accomplished by the actuator 430 which may be controlled by the machine controller 510 based at least in part on the signal sent by the LiDAR sensor 552. The signal sent by the LiDAR sensor 552 to the machine controller 510 may be based on the detected size of the bale material.

[0094] A control system 500 (see, e.g., Fig. 30) may include a machine controller 510 that is communicatively connected to various machine actuators which, in some embodiments, includes hydraulic actuators that drive the driven rollers 418. The machine controller 510 receives data from a variety of sensors (not shown) and regulates the amount of power supplied to the driven rollers 418 by the power system 200 (e.g., to control rotation of the driven rollers 418). In some embodiments, the machine controller 510 regulates the speed of rotation of the driven rollers 418 to drive the belts 428 of the first and second bale loading conveyors 412, 422 based on the speed of the ground tracks 302, 304. In some embodiments, the speed of the belts 428 may correspond to the speed of the ground tracks 302, 304. In other embodiments, the speed of the belts 428 may be driven faster than the speed of the ground tracks 302, 304. In other embodiments, the speed of the belts 428 may be driven slower than the speed of the ground tracks 302, 304.

[0095] The control system 500 of the bale mover 100 includes the sensor hub 550 (e.g., environmental perception sensor package) for detecting objects in the space around the bale mover 100 and includes a geo-spatial sensor hub (e.g., GPS sensor hub) 504 having a package of one or more sensors for detecting the geo-spatial position of the bale mover 100. These sensors may be incorporated or mounted on the bale mover 100. (see, e.g., Figs. 1, 8, 9, 14. or 22). The sensors may be integrated into a control system 500 shown in Fig. 30. The control system 500 includes a guidance controller 324 that controls navigation of the bale mover 100. The control system 500 also includes a cellular gateway 506 mounted to the balemover 100. In the illustrated embodiment, the cellular gateway enables a communication link through a cellular signal to the cloud and to interface module 508. The interface module 508 includes an electronic adaptor 511 and bale mover algorithms 512 that enable the transfer of data to and from additional control system components such as the guidance controller 324. The components of Fig. 31 correspond to components described in U.S. Patent No. 11,641.804 (hereinafter "‘the '804 patent”), which is incorporated herein by reference for all relevant and consistent purposes.

[0096] The user may locally connect to the bale mover 100 over Wi-Fi (with a phone or tablet) to send a field plan to the bale mover 100 and to begin bale loading operations. The user may monitor productivity of the bale mover 100 and monitor the status and active faults using a cellular connection (assuming both the mover and the phone / tablet has cellular connection). A local connection (not shown) between the cellular gatew ay and a mover application may be included in the system 500.

[0097] The control system 500 is capable of monitoring data related to the status of machine operation and relaying that data back to the cloud, and to an operator either at a smart phone 502 or a desk-top system 503 as shown in Fig. 30. The data may relate to, for example, the area the machine has covered, or the number of bales moved. The data may also include operational information such as a warning that the machine has stopped (e.g., due to detection of an obstacle).

[0098] The control system 500 may include a machine controller 510 that is communicatively connected to various machine actuators which, in some embodiments, includes hydraulic actuators that drive the driven rollers 418. The machine controller 510 receives data from a variety' of sensors (not shown) and regulates the amount of power supplied to the driven rollers 418 by the power system 200. In some embodiments, the machine controller 510 regulates the speed of rotation of the driven rollers 418 based on the speed of the ground tracks 302, 304.

[0099] The bale mover 100 includes sensors that are able to monitor the space around the mover 100 to detect objects in its path of travel. These sensors allow' the bale mover 100 to avoid coming in contact with obstacles and define a first zone 1010 and second zone 1012 around the mover (FIG. 38). The first zone 1010 is larger, and if any obstaclesare identified within the first zone 1010 as the mover 100 travels, the mover 100 will slow down and attempt to avoid the detected object, while continuing to move in a different direction. The second zone 1012 is smaller, and if any obstacles enter the second zone 1012 as the mover 100 travels, the bale mover 100 stops. The size of these zones 1010, 1012 may be based on the speed that the bale mover 100 is travelling. Changing the size of the zones 1010. 1012 based on the speed of the mover 100 enables the mover 100 to move slower in areas where it first detects obstacles and to find an acceptable path between bales for proper bale loading.

[0100] The bale mover 100 may include a sensor hub 550 that includes a package of one or more sensors that provide data to the control system 500 to identify the location and orientation of bale material (e.g., round bales) that are intended to be loaded and transported to a storage or staging location. The sensor hub 550 (which may also be referred to herein as “environmental perception sensor package 550” or more simply “sensor package 550”) may be mounted with respect to the rack system 400, either directly or indirectly. In one embodiment, the sensor hub 550 may be mounted with respect to the second bale loading conveyor frame 424, either directly or indirectly. Alternatively, the sensor hub 550 may be mounted to the first bale loading conveyor frame 414, either directly or indirectly. In some instances, a second sensor hub may be mounted to at least one of the first and second bale carrying conveyor frames 454, 464, and / or the ground drive system 300. The sensor hub 550 may include various sensors including a light detection and ranging sensor (LiDAR), stereo camera, laser, radar, and any combination thereof. The sensor hub 550 may produce a fusion of data from a plurality’ of sensors. The data collected by the sensor hub 550 may measure the diameter of the bale before the mover approaches the bale or as the mover approaches the bale. The sensor hub 550 may transmit data to the control system to track the position and orientation of the bale materials to navigate the bale mover 100.

[0101] The sensor hub 550 detects or determines one I or more parameters associated with components of the bale mover 100, objects surrounding the bale mover 100 (e.g., obstructions or bale materials on the ground), and / or bale materials loaded on the bale mover 100. In some instances, the sensor hub 550 is configured to determine or detect one or more parameters including the position, or relative position, of the bale carrying system 450, the bale loading system 410, or the bale carrying system 450 and the bale loading system410. The sensor hub 550 may determine or detect the position of the bale carrying system 450 and / or the bale loading system 410 relative to each other and / or other components of the bale mover 100. In another example, the sensor hub 550 may determine or detect the position of the bale carrying system 450 and / or the bale loading system 410 relative to the ground drive system 300 (e.g.. main frame 306), power system 200 (e.g., a hood, an exhaust), and combinations thereof. The sensor hub 550 may be configured to identify a number of bale materials loaded on the bale loading system 410, the bale carrying system 450, or the bale loading system 410 and the bale carrying system 450. The sensor hub 550 may be configured to detect the position of the bale materials on the rack system 400. In some instances, the sensor hub 550 may further identify “costs” (e.g.. obstructions) within the space or cost surrounding bale material, e.g., identify costs on a first side and on a second side of the bale material. In some instances, the sensor hub 550 may determine if the bale material is positioned properly (e.g., crooked, tilted) on at least one of the bale loading system 410 or the bale carrying system 450. The sensor hub 550 may send an image(s) to an operator of the bale mover 100 (e.g.. if a fault was detected). The image(s) may be displayed on a screen of a user interface supported by a computer device, e.g., a laptop, tablet, and / or a mobile phone. Example images are shown and described with respect to Figs. 39 and 40.

[0102] The sensor hubs 550 may be utilized to scan an area(s) surrounding the bale mover 100. The collected sensor data, obtained from scanning or scouring an area, may then be searched to identify objects such as bale materials. For example, in some embodiments, searching may refer to evaluating the sensor data obtained from the scanning or scouring process to identify objects. In some embodiments, scanning may refer to the sensor hub 550 collecting sensor data and scouring refers to movement or travel of the bale mover 100 (e.g., using the ground drive system 300) on a path while the sensors collect sensor data over the traveled space. In some embodiments, searching refers to evaluating the collected sensor data (e.g., collected during scanning or scouring) in order to identify the objects and their position in the space. In some embodiments, scanning the space is accomplished by a drone, a satellite map, a co-op map, GPS positioning, and combinations thereof. rrouping of Bale Materials

[0103] In one embodiment, the bale mover 100 may be configured to unload one or more bale materials in a predetermined group (i.e., a stack of bales or any suitable clusteredarrangement of bale materials) within a space. In some embodiments, groups may refer to one or more stacks, e.g., arranged in row / columns, and stacks may include one or more bale materials. The number of bale materials and / or the pattern of the bale materials within the group may be adjustable by a user. The bale mover 100 may include at least one loaded bale material. Referring to Fig. 32, when the bale mover 100 is ready to unload, the method 600 of grouping bale materials in a space begins with searching 602 the space including one or more bale materials to identify one of the one or more bale materials to establish a stack location. For example, the bale mover 100 establishes a stack location at the next bale material found in the space. Then, delivering 604 a loaded bale material on the bale mover 100 to the stack location. Method 600 includes unloading 606 the at least one loaded bale material at the stack location to create a stack. In some embodiments, delivering 604 may refer to the bale mover 100 traveling to the established stack location and / or positioning the bale mover 100 near or in proximity to the established stack location.

[0104] In another embodiment, the bale mover 100 may be configured to unload one or more bale materials in a predetermined group within a space. The number of bale materials and / or the pattern of the bale materials within the group may be selectively adjustable by a user.

[0105] In reference to Fig. 33, another method 650 of grouping bale materials in a space begins with searching 652 a recently scoured path for a point with a surrounding obstacle free area that is large enough for the predefined stack size or quantity (e.g., a stack size or quantity may refer to a number of bale material included in the stack or in some embodiments, the stack size or quantity may refer to a volume or weight of bale material to be included in the stack) to establish a stack location. Then, delivering 654 a loaded bale material on a bale mover to the stack location. Finally, method 650 includes unloading 656 the at least one loaded bale material at the stack location to create a stack.

[0106] Referring to Figs. 34A and 34B, a method 700 of unloading at least one bale material within a group begins with determining 702 the group size. One or more steps of the method 700 may be performed by the bale mover 100, e.g., the control system 500 and / or sensor hub 550. The group size may be selected by a user, for example, a user can select a number of rows and a number of stacks or bale material per row to define the group size. Then, method 700 includes the bale mover 100 scouring 704 the space searching for balematerials. The bale mover 100 then determines if a bale material is found 706. If no bale materials are found, the bale mover 100 continues to scour 704 the space searching for bale materials. If bale materials are found, method 700 includes the bale mover 100 picking up or loading 708 the identified bale material. The bale mover 100 then determines 710 if the rack system 400, for example, the bale carry ing system 450 of the rack system 400, has reached its capacity’ for carrying bale materials and / or if the loaded bale materials will fill the allotted size of the group. If the rack system 400 has capacity, the bale mover 100 returns to the scouring 704 and continues to search the space for more bale materials. If the rack system does not have capacity, the bale mover 100 is ready to unload the loaded bale materials and determines 712 if a group of bale materials has been started. If no group of bale material has been started, the bale mover 100 will scour 714 the space for a suitable place for placing the bale material. Once a bale material is found, the bale mover 100 will set 716 a starting point for a group at the detected bale material.

[0107] If the bale mover 100 determines that a group of bale material has already been started, at determining 712, the bale mover 100 moves 724 to the saved location, e g., a saved location of the determined started group of bale material (see Fig. 34B). Once the bale mover 100 has moved 724 to the saved location, the bale mover 100 unloads 726 the loaded bale material at the saved location. For example, the starting point for the group may be the last bale material that was added to the group, if bale materials were previously unloaded in the identified group.

[0108] If a new group needs to be started, the bale mover 100 sets the starting point for the group in setting 716 (step 716 may be associated with the step 602 of method 600 in Fig. 32), the bale mover 100 may also move 718 to the starting point for the group. Then, the bale mover 100 unloads 720 the loaded bale materials at the starting point for the group. Lastly, the bale mover 100 will incrementally record 722 the number of bale materials within the group for the next unload and saves an unload location for the next unload if the stack or group is not completely full for a subsequent unload. Thus, the bale mover 100 remembers how many bale materials were previously unloaded at the identified group and also knows how many bale materials can be loaded as the bale mover 100 repeats method 700 to fill the group and / or pick up each bale material within a space.

[0109] The number of bale materials per group or per stack may vary based on a user’s desires. For example, a group may include one or more stacks and stack may include between about 1 bale material and about 20 bale materials. It should be understood, however, that the group and / or stacks may include more than 20 bale materials, as desired by a user. The user may select a group or stack size or quantity (e.g., number, volume, footprint, or mass) based, in part, on other bale material equipment the user has access to. Thus, the group or stack size or quantity may depend, at least in part, on a user’s other equipment and may be predetermined, e.g., as selected by an operator.

[0110] The sensor 552 may be configured to scan the space to determine if the group, based on the user’s input, has clearance at a given location. In some instances, the scanning of a space may be accomplished by, or in part with, a drone, a satellite map, co-op map, GPS positioning, and combinations thereof.

[0111] In reference to Figs. 35A and 35B, a method 750 of unloading bale material may include one or more steps similar to the steps of method 700, described with respect to Figs. 34A and 34B. Method 750 includes the bale mover establishing 752 a stack location by searching the previously scoured path for a point with a surrounding obstacle free area that is sufficient size or has sufficient area to place the predefined stack. Step 752 relates to step 652 of method 650 in Fig. 33. For example, an obstacle free area of sufficient size may refer to an area that is suitably spaced from obstacles, e.g., suitably spaced from a fence, such that the bale mover 100 has suitable space to unload the bale material. Method 750 may also include the bale mover setting 754 a starting point for the group, once a stack location is established 752. The method 700 may include establishing 752 and setting 754 starting points, after the bale mover is ready to unload, and after determining 712 if a group of bale material has been started.Bale Material Manager

[0112] The bale material manager method may provide the bale mover 100 with the desired information to select which bale material should be picked up first, second, and so on based on a variety of factors. The factors may relate to location of bale materials in a space, obstacles, location of bales along a path of the bale mover 100, the stack location, the orientation of the bale material, and combinations thereof.

[0113] Referring to Fig. 36, the method for selecting a bale material in a space 800 includes querying a world model of the space for one or more bale materials 802. The world model may be populated with bale materials that have been identified by the bale mover 100. In some instances, the world model may not include, at a given time, all the bale materials in a space. In other instances, the world model may include, at a given time, all the bale materials in a space. In a non-limiting example, the world model may include between zero (0) and about twenty (20) bale materials. In another non-limiting example, the world model may include between zero (0) and about ten (10) bale materials. In another non-limiting example, the world model may include between zero (0) and about three (3) bale materials. Then, identifying the one or more bale materials that may possibly be picked by an autonomous bale mover in step 804. In some embodiments, bale material that may be possibly or is capable of being picked up refers to bale material that is suitably sized, e.g., not too large, or small, and that has sufficient surrounding clearance, such that the bale mover 100 is enabled to pick of the bale material. Then, assigning a value to the identified bale materials to rank each bale material based on desirability to be picked by the autonomous bale mover in step 806. Generally, desirability’ may refer to a weight value that is determined based on several conditions that influence the desirability to pick the bale material in comparison to other bale materials found, described in greater detail with respect to Figs. 38 and 39. Then, assessing the identified bale materials to be picked against a cost map of the space to adjust the value assigned to the identified bale materials if a cost is found in proximity thereto in step 808. Finally, loading the identified bale material to the autonomous bale mover based on the rank of each of the identified bale materials in step 810. In some embodiments, bale material may be selected based on the weight value, wherein a smaller weight value is associated with more desirability and the selected bale material has the smallest weight value. In some embodiments, the cost is considered, after the bale material have been scored with weighting values.

[0114] Referring to Fig. 37, another method 850 for selecting a bale material in a space is provided. Method 850 may include one or more steps similar to method 800, described with respect to Fig. 36. Method 850 includes query ing a world model of the space for one or more bale materials 802. The world model may be populated with bale materials that have been identified by the bale mover 100. In some instances, the world model may not include, at a given time, all the bale materials in a space. In other instances, the worldmodel may include, at a given time, all the bale materials in a space. In a non-limiting example, the world model may include between zero (0) and about twenty (20) bale materials. In another non-limiting example, the world model may include between zero (0) and about ten (10) bale materials. In another non-limiting example, the world model may include between zero (0) and about three (3) bale materials. Then, identifying the one or more bale materials that may possibly be picked by an autonomous bale mover in step 804. In some embodiments, bale material that may be possibly or is capable of being picked up refers to bale material that is suitably sized, e.g., not too large, or small, and that has sufficient surrounding clearance, such that the bale mover 100 is enabled to pick of the bale material. Method 850 further includes, assigning 856 a value to each of the observ ational poses to rank each observational pose based on desirability to be picked by the autonomous bale mover. Generally, desirability may refer to a weight value that is determined based on several conditions that influence the desirability to pick up an observational pose or bale material in comparison to other observational poses or bale materials found, described in greater detail with respect to Figs. 38 and 39. Then, method 850 further includes assessing 858 the identified observational poses to be picked against a cost map of the space to adjust the value assigned to the identified observational poses, if a cost is found in proximity thereto in step 858. Finally, method 850 includes loading 860 the identified bale material to the autonomous bale mover based on the rank of each of the identified observational poses in step 810. In some embodiments, bale material, or observational poses of a bale material, may be selected based on the weight value, wherein a smaller w eight value is associated with more desirability and the selected bale material or observational pose of a selected bale material, has the smallest weight value. In some embodiments, the cost is considered, after the bale material have been scored with weighting values.

[0115] Referring to Fig. 38, a method 900 for selecting a bale material in a space begins without a current bale material in step 902. The bale manager queries a world model for detected bale materials in step 904. The world model may be populated with bale materials that have been identified by the bale mover 100. In some instances, the world model may not include, at a given time, all the bale materials in a space. In other instances, the world model may include, at a given time, all the bale materials in a space. In a nonlimiting example, the world model may include between zero (0) and about twenty (20) bale materials. In another non-limiting example, the world model may include between zero (0)and about ten (10) bale materials. In another non-limiting example, the world model may include between zero (0) and about three (3) bale materials. If a bale material is found in step 906, the bale manager determines if the bale material is valid to pick in step 908. If no bale material is found, the bale manager restarts at step 902. To determine if the bale material is valid to pick in step 908, the identified bale materials may be run through a series of checks. The checks may include (i) removing previously labeled unattainable bale materials, (ii) determining if the identified bale materials are part of a stack, (iii) determine the distance the bale materials are from a scour path 1020 (see, e.g., Fig. 40) of the bale mover 100. In some instances, if the perpendicular distance, e.g., a perpendicular distance between an axis aligned with the direction of travel of the bale mover 100 and the bale material, is greater than a predetermined threshold and / or the distance between the bale mover and the identified bale material is greater than a predetermined threshold, the bale material may not be valid. The predetermined threshold for the perpendicular distance may be about 32 feet (10 meters) from the bale mover 100. The predetermined threshold for the distance between the bale material and the bale mover 100 may be about 131 feet (40 meters).

[0116] If the bale material is not valid to pick, the bale manager restarts at step 902. If the bale material is valid to pick, a w eight value (e.g., a value associated with a rank or score) is created for each bale material in step 910 based on several conditions that influence the desirability to pick the bale material in comparison to other bale materials found. The conditions may include, but are not limited to, (i) the distance betw een the bale material and the bale mover 100, for example, a bale material that is a further distance from the bale mover would receive a higher weight value than a closer bale material, and (ii) the distance of the bale material to a recent scour point (e.g., a point along the path the bale mover 100 increments as it progresses through a space, where a bale material that is a further distance from a scour path may receive a higher weight value that a closer bale material). Once each identified bale material is provided with a weight value, the bale material with the lowest weight value is chosen in step 912.

[0117] Next, the bale manager decides which side of the bale material the bale mover 100 should initially pick from based on a weighted analysis of each observation pose (e.g., either side of the bale material) in step 914. The weight value of the observation pose may include determining the distance from the pose and the bale mover 100, and the distancefrom the pose to the recent scour point. The observation pose with the lowest weight value is chosen in step 916. The observation pose, which is considered another condition, is at least partially related to the alignment of the bale mover 100 relative to a surface or side of the bale material. For example, bale material may have one or more sides or surfaces, and each side or surface may be assigned a weight value. The weight value assigned to a side or surface may be related to the shape of the side or surface (e.g., flat, or curved), related to the position of the side or surface relative to the bale mover 100, and / or related to the position of the side or surface relative to an obstacle. For example, in some embodiments, the bale material is cylindrical in shape (extending about a longitudinal axis A1022, See Fig. 40), and a bale pose including a flat end face (e.g.. perpendicular with axis A1022) would have a lower weight than a bale material pose including the curved cylindrical surface. In other embodiments, additional or alternative conditions may contribute to a weight value. In some embodiments, the w eight value may be a nonlinear or linear combination of conditions. For example, in some embodiments, a total weight value is a combination of each condition multiplied by a scalar value or by a function. The scalar value or function may be selected to adjust the influence of each individual condition contribution to the total w eight value. In some embodiments, the distance to an observational pose may have the greatest influence on the total weight value.

[0118] Next, the approach to the bale material is checked on a cost map in step 918. If the observation pose has been reached and there are no navigation failures through the pick in step 934, the bale material is picked successfully and removed from the world model in step 936. If navigational failures have been found (e.g., bale mover 100 is unable to navigate to the desired observation pose), the bale manager will determine if the pick has been attempted from the other observation pose in step 930. If no, the bale manager returns to step 918. If yes, the bale manager will abandon the bale material and add the bale material to an unattainable bale list in step 932. Then, the bale manager returns to step 902.

[0119] The bale manager may also choose to query the world model for additional detected bale materials, if any bale manager will proceed to step 920, after the approach to the bale material has been checked on a cost map in step 918. If no additional bale materials are found, the bale manager returns to step 918. If additional bale materials are found in step 922, the identified bale materials are run through a check to determine if the bale material isvalid to pick in step 924. If the bale material is not valid to pick, the bale manager returns to step 918. If the bale material is valid to pick, the bale manager will create a weight value for each bale material, based on the conditions described above in step 926. If the weight value of the new bale material is lower than the previously identified bale material, the bale manager will return to step 914. If the weight value of the new bale material is not lower than the previously identified bale material, the bale manager will return to step 918. Then, the bale manager will proceed to step 930, as described above.

[0120] In some embodiments, one or more of the checks described above may be accomplished, at least in part, by the sensor hub 550. Each bale material within a world model is provided with a unique identifying feature (e.g., number, symbol, letter). When a bale material is successfully picked or when the bale material is placed on the unattainable list, the bale material’s unique identifying feature may be removed from the world model and / or placed on a separate list, as required.

[0121] Referring now to Fig. 39, another method 950 of selecting a bale material in a space is provided. Method 950 may include one or more step similar to one or more steps of method 900, described with reference to Fig. 38. After, determining 908 if the bale material is valid to be picked, method 950 includes creating 952 observational poses for each bale. In some embodiments, each of the bale material may have at least two observational poses (e.g., an observational pose for each end surface of a cylindrical shaped bale material). Method 950 further includes determining 954 a w eight for each of the observational poses, e.g., each of the observational poses determined in step 952. After method 950 determines 954 the weight, method 950 further includes, similar to method 900, choosing 916 the observational pose with the lowest weight. perating Scenario - Example #1

[0122] Fig. 40 illustrates an autonomous bale mover 100 moving through a space (e.g., a field) 1000 and picking up bale materials 1004 (e.g., bales 466) in accordance with various embodiments. Fig. 40 corresponds to features disclosed in the ‘804 patent. The field 1000 is typically identified by a geo-fence in the world model within which the bale mover 100 is free to operate. In Fig. 40, a number of bales 1004 are distributed along a route 1002 previously taken by a baler machine when creating the bale materials 1004. Fig. 40 alsoincludes the scour path 1020 which may be generally orthogonal to most of the route 1002. The objective of the bale mover 100 is to pick up the bales 1004 in a time efficient manner, without stopping to pick up individual bales 1004. Given the distribution of the bale materials 1004 in Fig. 40, it would appear that the most efficient scour path through the field 1000 is in a direction generally orthogonal to the baler machine route 1002. The actual route taken by the bale mover 100 may be determined using one or more of the steps shown and described with respect to Figs. 32-39. For example, the scour path 1020 may be determined using a weight value-based bale material approach for prioritizing the bale materials 1004 for pickup.

[0123] According to some embodiments, the bale mover 100 can move through the field 1000 at an average speed of about 5 mph, with little or no slow down when approaching and picking up bale materials 1004. In some embodiments, the bale mover 100 can move at an average speed of about 4 to 8 MPH when contacting and picking up bale materials 1004 and move at a higher average speed of between 5 and 15 MPH when traversing relatively long distances between individual bale materials 1004 or to / from a predetermined stacking location 1006.

[0124] In some embodiments, the bale materials 1004 may be rectangular in shape or cylindrical in shape. The cylindrical shaped bale material 1004 may be defined as having a cylindrical outer surface 1022 extending along an axis AKXM and a first end 1024 and an opposing second end 1026. The first and second ends 1024, 1026 being generally planar and perpendicular to the axis A1004

[0125] It is noted that an autonomous bale mover according to the disclosure does not require a consistent pattern of setting the bale materials in the space. For example, bale materials can be distributed randomly in the space or in a consistent pattern, with little difference in efficiency when picking up the bale materials in either scenario.

[0126] In reference to Figs. 41 and 42, an image 1030 may be displayed on a screen 1032, e.g., a screen of a controller, e.g.. machine controller 510 and / or a user computer device such as a mobile cellular device. The image 1030 may include a warning 1034 indicating to a user or an operator that there is an obstacle in a path of the vehicle. The screen 1032 may also display one or more user inputs 1036, e.g., touch screen buttons, enabling a user to cancel the warning or override the warning, for example. The image 1030 may also display a livefeed of the camera view 1038. For example, in Fig. 42, the camera view 1038 displays a person standing in front of a vehicle.

[0127] The above detailed descriptions of embodiments of the disclosure are not intended to be exhaustive or to limit the disclosure to the precise form disclosed above. Although specific embodiments of, and examples for. the disclosure are described above for illustrative purposes, various equivalent modifications are possible within the scope of the disclosure, as those skilled in the relevant art will recognize. For example, although steps are presented in a given order, alternative embodiments may perform steps in a different order. The various embodiments described herein may also be combined to provide further embodiments.

[0128] From the foregoing, it will be appreciated that specific embodiments of the disclosure have been described herein for purposes of illustration, but well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the disclosure. Where the context permits, singular or plural terms may also include the plural or singular term, respectively.

[0129] Moreover, unless the word "or" is expressly limited to mean only a single item exclusive from the other items in reference to a list of two or more items, then the use of "or" in such a list is to be interpreted as including (i) any single item in the list, (ii) all of the items in the list, or (iii) any combination of the items in the list. Additionally, the terms “including’7and "comprising" are used throughout to mean including at least the recited feature(s) such that any greater number of the same feature and / or additional types of other features are not precluded. It will also be appreciated that specific embodiments have been described herein for purposes of illustration, but that various modifications may be made without deviating from the disclosure. Further, while advantages associated with some embodiments of the disclosure have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments need necessarily exhibit such advantages to fall within the scope of the disclosure. Accordingly, the disclosure may encompass other embodiments not expressly shown or described herein.

Claims

WHAT IS CLAIMED IS:

1. A method of grouping bale materials in a space, the method comprising: scanning the space, where the space includes one or more bale materials, and an autonomous bale mover, the autonomous bale mover including an integral power system, a ground drive system, and a rack system, the rack system loaded with at least one bale material; searching the space to identify one or more bale materials to establish a stack location; delivering the at least one loaded bale material to the stack location; and unloading the at least one loaded bale material at the stack location to create a stack.

2. The method of claim 1. further comprising: searching the space to identify one or more bale materials to be picked up by the autonomous bale mover; loading the one or more identified bale materials to a bale carrying system using a bale loading system of the autonomous bale mover; and delivering the one or more loaded bale materials to the stack location for unloading.

3. The method of claim 1, wherein the rack system comprises a bale loading system and a bale carrying system, wherein the bale carrying system is loaded with the at least one bale material.

4. The method of claim 1, wherein the stack includes a selected stack quantity including a number of bale material(s) to be included in a full stack.

5. The method of claim 1, wherein the autonomous bale mover is configured to record a stack quantify of bale material delivered to the stack location.

6. The method of claim 5, wherein the autonomous bale mover records the bale materials loaded on a bale carrying system to determine when a desired stack quantity is achieved.

7. The method of claim 1, wherein the rack system comprises a bale carrying system, and wherein the bale carrying system is configured to carry a predetermined maximum amount of bale materials, wherein when the bale carrying system is carrying the maximum amount, the autonomous bale mover searches the space to identify another bale material in the space to unload the bale materials loaded on the bale carry ing system.

8. The method of claim 1 , wherein scanning the space is accomplished by a drone, a satellite map, a co-op map, GPS positioning, and combinations thereof.

9. The method of claim 1. wherein scanning the space is accomplished by a sensor of the autonomous bale mover.

10. A method for selecting a bale material in a space, the method comprising: querying a world model of the space for one or more bale materials; identifying the one or more bale materials that may possibly be picked by an autonomous bale mover; assigning a value to the identified one or more bale materials to rank each bale material based on desirability to be picked by the autonomous bale mover: assessing the identified one or more bale materials to be picked against a cost map of the space to adjust the value assigned to the identified one or more bale materials if a cost is found in proximity thereto; and loading the identified one or more bale materials to the autonomous bale mover based on the rank of each of the identified one or more bale materials.

11. The method of claim 10, further comprising defining a geo fence within an area of interest in the world model, and further comprising establishing a work area including one or more bale materials to be grouped within the defined geo fence.

12. The method of claim 10 wherein the step of querying the world model is continuously completed.

13. The method of claim 10 wherein the steps of assigning and assessing are completed as the autonomous bale mover is following a scouring path.

14. The method of claim 10, wherein the step of identifying the one or more bale materials that are capable of being picked by the autonomous bale mover excludes the one or more bale materials that are previously labeled as being unattainable bale materials, the one or more bale materials that are part of a stack, the one or more bale materials that are perpendicularly positioned greater than about 32 feet (10 meters) from the autonomous bale mover, the one or more bale materials are positioned greater than about 131 feet (40 meters) from the autonomous bale mover, and combinations thereof.

15. The method of claim 10, wherein the value is assigned to each bale material based on a distance between the bale material and the autonomous bale mover, a distance between the bale material to a predetermined path of the autonomous bale mover, and combinations thereof.

16. The method of claim 10 further comprising: checking a first side of the bale material for an associated first side cost; if the associated first side cost is identified, checking a second side of the bale material for an associated second side cost; and if the associated second side cost is identified, characterizing the bale material as unattainable.

17. The method of claim 16, wherein if an associated first side cost is not identified, accessing the bale material along the first side for loading the bale material to the autonomous bale mover.

18. The method of claim 16, wherein if an associated second side cost is not identified, accessing the bale material along the second side for loading the bale material to the autonomous bale mover.

19. An autonomous bale mover comprising: an integral power system in communication with a ground drive system, a bale loading system, and a bale carrying system,the ground drive system at least partially positioned to engage with a driving surface, and the bale loading system positioned in proximity to the bale cartying system such that the bale loading sy stem is configured to pick a bale material from a space and the bale carrying system is configured to carry at least the bale material picked by the bale loading system, the bale loading system is positioned peripheral to the bale carrying system in a loading direction of conveyors of the bale loading system; and a sensor mounted to at least one of the bale carrying system and the bale loading system, the sensor is movable between a first position and a second position and configured to detect at least a parameter of the bale loading system and the space.

20. The autonomous bale mover of claim 19, wherein the bale loading system comprises two opposingly positioned arms configured to adjustably move relative to each other, wherein the sensor is mounted with respect to one of the two opposingly positioned arms; and wherein the sensor is configured to detect a position of the bale material.

21. The autonomous bale mover of claim 19, wherein the bale loading system comprises two opposingly positioned arms configured to adjustably move relative to the bale carrying system, wherein the sensor is mounted with respect to one of the two opposingly positioned arms, wherein the sensor is configured to detect a position of the bale material.

22. The autonomous bale mover of claim 19, wherein the sensor is configured to determine a position of the bale carrying system relative to the ground drive system.

23. The autonomous bale mover of claim 19, wherein the sensor is configured to identity' a number of bale materials loaded on the bale loading system, the bale cartying system, and combinations thereof.

24. The autonomous bale mover of claim 19. wherein the sensor is selected from the group consisting of a light detection and ranging sensor (LiDAR), a stereo camera, and combinations thereof.

25. The autonomous bale mover of claim 19 further comprising a second sensor mounted with respect to the ground drive system.

26. The autonomous bale mover of claim 19, wherein the sensor is configured to capture and send an image to a receiving system if a fault is detected.

27. The autonomous bale mover of claim 20, further comprising a linkage connecting the two opposingly positioned arms to maintain a parallel relationship between the arms.

28. The autonomous bale mover of claim 19, wherein the sensor further configured to detect a parameter of the power system.

29. The autonomous bale mover of claim 19, wherein the sensor further configured to detect a parameter of a power system.

30. A method of grouping bale materials in a space, the method comprising: scanning the space, where the space includes one or more bale materials, a sensor mounted with respect to an autonomous bale mover, the autonomous bale mover including an integral power system, a ground drive system, and a rack system, the rack system including at least one loaded bale material; establishing a stack location by searching the scanned space to identify a point with a surrounding obstacle free area large enough for a predefined stack quantity including a number of bale material; delivering the at least one loaded bale material to the stack location; and unloading the at least one loaded bale material at the stack location to create a stack.

31. The method of claim 30, further comprising: searching the space to identify the one or more bale materials to be picked up by the autonomous bale mover; loading the one or more identified bale materials to a bale cany i ng system of the rack system using a bale loading system of the rack system of the autonomous bale mover; and delivering the one or more loaded bale materials to the stack location for unloading.

32. The method of claim 30, wherein the rack system comprises a bale loading system and a bale carrying system, wherein the bale carrying system includes the at least one loaded bale material.

33. The method of claim 30. wherein the stack includes a selected stack quantity including a number of bale material to be included in a full stack.

34. The method of claim 30, wherein the autonomous bale mover is configured to record a stack quantity of bale material delivered to the stack location.

35. The method of claim 34, wherein the autonomous bale mover records the bale materials loaded on a bale cartying system fo the rack system to determine when the recorded bale material loaded on the bale carrying system and previously delivered to the stack location is equal to a selected stack quantity.

36. The method of claim 30, wherein the bale carrying system of the rack system is configured to carry a predetermined full amount of bale materials, wherein when the bale carrying system is carrying the full amount, the autonomous bale mover searches the space to identify another bale material to unload the bale materials loaded on the bale carrying system to create the stack location at the identified another bale material.

37. The method of claim 30, wherein scanning the space is accomplished by a drone, a satellite map, a co-op map, GPS positioning, and combinations thereof.

38. The method of claim 30, wherein scanning the space is accomplished by a sensor of the autonomous bale mover.

39. A method for selecting a bale material in a space, the method comprising: querying a world model of the space for one or more bale materials: identifying the one or more bale materials that may possibly be picked by an autonomous bale mover, the bale materials each having at least one observation pose; assigning a value to each observation pose of the identified one or more bale materials to rank each bale material based on desirability to be picked by the autonomous bale mover;assessing each observation pose of the identified one or more bale materials to be picked against a cost map of the space to adjust the value assigned to each observation pose if a cost is found in proximity thereto; and selecting and loading the identified one or more bale materials with the highest desirability on to the autonomous bale mover.

40. The method of Claim 39, wherein the cost is based on at least one of an obstacle, a shape of an obstacle, a number of obstacles, and a size of an obstacle.

41. The method of Claim 39, wherein proximity thereto includes an approach path between the autonomous bale mover and the observation pose.

42. The method of Claim 39. wherein each of the bale material has at least two observation poses.

43. The method of Claim 39, wherein the bale material with the highest desirability has the observation pose with the lowest assigned value.

44. The method of Claim 39, where the assigned value is based on at least one or more of the following conditions: values of one or more observational poses, distance to bale material, distance to observational poses, shape of observational poses, size of observational poses, and proximity of obstacles.

45. The method of Claim 44, wherein each of the conditions may be weighted.

46. The method of Claim 45, wherein an obstacle positioned within an approach path results in the bale material being labeled unattainable.

47. The method of Claim 46, wherein an approach path includes a path extending beyond the observational poses of the bale material to provide clearance between the bale mover and the obstacle for the bale mover to pick-up the bale.

48. The method of Claim 39, wherein the bale mover operates in a reverse direction, after picking up a bale material to avoid an obstacle.

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