Round bale ejection automation

A method for operating an agricultural crop baler, wherein the crop baler is configured to move in a forward direction across a ground surface and comprises a baling chamber and a tailgate configured to open in a direction opposite the forward direction, the method comprising:

• moving the baler in the forward direction on the ground surface while forming a first bale in the baling chamber;
• stopping movement of the baler in the forward direction;
• moving the tailgate in an opening direction to a first tailgate position in which the tailgate forms an opening dimensioned to allow the first bale to fall from the baling chamber, and the tailgate forms a gap with the ground having a first height;
• reducing or stopping rearward momentum of the first bale as the bale falls from the baling chamber by one or more of:
• pausing or decelerating movement of the tailgate in the opening direction upon reaching the first tailgate position,
• opening the tailgate at a reduced speed to the first tailgate position to be in contact with the bale, then opening the tailgate at an increased speed to the second tailgate position after the tailgate clears the bale, and
• positioning a tailgate ramp with an upper surface of the tailgate ramp horizontal or inclined downward in the forward direction to receive the bale on the upper surface as the bale ejects from the baling chamber;
• moving the tailgate in the opening direction to a second tailgate position in which the tailgate forms a gap with the ground having a second height, the second height being greater than the first height;
• resuming movement of the baler in the forward direction;
• and
• closing the tailgate.

An agricultural crop baler comprising:

• a frame;
• wheels rotatably mounted to the frame and configured to support the frame on a ground surface;
• a tailgate movably mounted to the frame between a closed position and an open position;
• a baling chamber defined between the frame and the tailgate, wherein the baling chamber is enclosed to hold a bale when the tailgate is in the closed position, and open to allow the bale to exit the baler along a bale ejection path when the tailgate is in the open position;
• and
• a control system comprising a processor and a memory storing code in a non-transient computer-readable form, wherein, upon execution of the code by the processor, the control system is configured to operate the agricultural crop baler to:
• move the tailgate in an opening direction to a first tailgate position in which the tailgate forms an opening dimensioned to allow the bale to fall from the baling chamber, and the tailgate forms a gap with the ground having a first height;
• reduce or stop rearward momentum of the bale as the bale falls from the baling chamber by one or more of:
• pausing or decelerating movement of the tailgate in the opening direction upon reaching the first tailgate position,
• opening the tailgate at a reduced speed to the first tailgate position to be in contact with the bale, then opening the tailgate at an increased speed to the second tailgate position after the tailgate clears the bale, and
• positioning a tailgate ramp with an upper surface of the tailgate ramp horizontal or inclined downward in the forward direction to receive the bale on the upper surface as the bale ejects from the baling chamber;
• move the tailgate in the opening direction to a second tailgate position in which the tailgate forms a gap with the ground having a second height, the second height being greater than the first height;
• upon the tailgate reaching the second tailgate position, move the baler in the forward direction;
• and
• after moving the baler in the forward direction, close the tailgate.