Self-aligning apparatus and methods for gathering bales

Abstract

Apparatus for gathering bales that aligns itself during bale pick-up. Methods for transferring bales that use such an apparatus are also provided.

What is claimed is: 
     
         1 . An apparatus for gathering bales from a surface, the apparatus comprising:
 a loading assembly for lifting a bale off the surface and onto the apparatus, the loading assembly including a first arm and a second arm which are configured to be the first portion of the apparatus to contact the bale during loading;   a forward-looking sensor mounted on the apparatus to sense the bale prior to the apparatus contacting the bale, the sensor being a laser, camera or an acoustic sensor; and   a control system configured to adjust the position of the apparatus, wherein the control system includes the forward-looking sensor.   
     
     
         2 . The apparatus as set forth in  claim 1  wherein the sensor is a laser. 
     
     
         3 . The apparatus as set forth in  claim 1  further comprising a chassis and a tongue pivotally connected to the chassis for connecting to a pull vehicle. 
     
     
         4 . The apparatus as set forth in  claim 3  in combination with a pull vehicle. 
     
     
         5 . The apparatus as set forth in  claim 1  wherein the apparatus does not include a pull vehicle. 
     
     
         6 . The apparatus as set forth in  claim 1  wherein the first and second arms comprise rubber, PVC or a thermoplastic polymer to grasp the bale upon rotation. 
     
     
         7 . The apparatus as set forth in  claim 1  wherein:
 the first arm comprises a first conveyor, the first conveyor comprising a first roller; and 
 the second arm comprises a second conveyor, the second conveyor comprising a second roller. 
 
     
     
         8 . The apparatus as set forth in  claim 1  wherein the forward-looking sensor is configured to sense an edge of the bale when the apparatus is in a loading position. 
     
     
         9 . A method for pick-up of a bale resting on a surface by use of an apparatus, the apparatus comprising a loading assembly for lifting a bale off the surface and onto the apparatus, the loading assembly comprising a first arm and a second arm, the method comprising:
 propelling the apparatus toward a bale;   sensing a bale with a forward-looking sensor prior to the apparatus contacting the bale, wherein the forward-looking senor forms part of a control system for adjusting the position of the apparatus;   adjusting the position of the apparatus; and   using the first and second arms to load the sensed bale on the apparatus, the first and second arms each contacting a bale to lift the bale onto the apparatus.   
     
     
         10 . The method as set forth in  claim 9  wherein the sensor is a laser. 
     
     
         11 . The method as set forth  claim 9  wherein the apparatus is attached to a pull vehicle for propelling the apparatus toward a bale. 
     
     
         12 . The method as set forth in  claim 9  wherein:
 the first arm comprises a first conveyor, the first conveyor comprising a first roller; and 
 the second arm comprises a second conveyor, the second conveyor comprising a second roller. 
 
     
     
         13 . The method as set forth in  claim 9  wherein the control system adjusts the position of the apparatus to a loading position. 
     
     
         14 . The method as set forth in  claim 9  wherein the control system determines the position of the loading assembly relative to a bale. 
     
     
         15 . The method as set forth in  claim 9  wherein the forward-looking sensor senses the edge of the bale.