Method and stereovision system for managing the unloading of agricultural material from a vehicle

Abstract

A system (11, 111, 211) for facilitating the transfer of agricultural material from a harvesting vehicle (91) to a receiving vehicle (79), the system (11, 111, 211) comprising: a receiver vehicle (79) comprising a drive section (75) for driving the receiver vehicle (79) and a container (85) with a storage section (93) for storing agricultural material; a stereo imaging device (10, 12) facing the storage section (93) of the receiver vehicle (79), the imaging device (10, 12) acquiring image data; a fill level estimator (21) that estimates a plurality of fill levels of a plurality of divided cells (308) of the container (85), the fill levels being associated with respective heights of the agricultural material in the cells (308) of the container (85); an ejector identification module (22) for identifying an ejector (89, 189) of the harvesting vehicle (91) in the acquired image data; and an alignment module (24) for determining the relative position of the ejector (89, 189) and the cells (308) in the container (85) such that the ejector (89, 189) is aligned within a target fill zone of the cells (308) according to a fill sequence or fill plan commands, in which: (a) the alignment module (24) is firstly configured to instruct the ejector (89, 189) to fill the container (85) with the material in a first mode to a first target fill level that is lower than a maximum height of the container (85); (b) the fill level estimator (21) is secondly configured to estimate the number of cells (308) that are below the first target fill level after instructing the ejector (89, 189) to fill in the first mode;and (c) the alignment module (24) is thirdly configured to instruct the ejector (89, 189) to fill the container (85) in a second mode to a second target fill level that is higher than the first target fill level if fewer than a first threshold number of adjacent cells (308) are below the first target fill level;

Description

Field of the invention

[0001] The present invention relates to a method and stereovision system for managing the unloading of agricultural material from a vehicle. background

[0002] Certain prior art systems may attempt to utilize global positioning system (GPS) or other global navigation satellite system (GNSS) receivers to maintain proper spacing between two vehicles during unloading or transfer of agricultural material between the vehicles. Other prior art systems may employ an imaging system to maintain proper spacing between vehicles or to guide the unloading process. The storage area in the receiving vehicle receiving agricultural material may not be filled to capacity if the vehicle operators or the control scheme do not accurately coordinate the position of the ejector that loads the agricultural material.There is therefore a need for an improved system to manage the unloading of agricultural material from a vehicle to ensure that the storage area of the receiving vehicle is fully loaded.

[0003] DE 10 2014 108 449 A1 describes a combination of a harvesting vehicle and a loading container with a control of the loading process based on image capture and processing. Initially, the container is partially filled, then further filled zone by zone, and finally, any detected empty areas of the container are filled. Brief description of the invention

[0004] The system and method facilitates the transfer of agricultural material from a loading vehicle (e.g., harvesting vehicle) to a receiving vehicle. The system and method includes a receiving vehicle having a drive portion for driving the receiving vehicle and a container with a storage portion for storing agricultural material. A stereo imaging device faces the storage portion of the vehicle. The imaging device can acquire image data. A fill level estimator is configured to estimate a plurality of fill levels of a plurality of corresponding subdivided volumes or cells of the container, wherein the fill levels are associated with the respective heights of the agricultural material in the cells. An ejector identification module is configured to identify an ejector of the harvesting vehicle in the acquired image data. An alignment module is configured toto determine the relative position of the ejector and the cells in the container via processing the image data such that the ejector is aligned within a target fill zone of the cells according to a fill sequence or fill plan commands, wherein (a) first, the alignment module is configured to instruct the ejector to fill the container with the material in a first mode to a first target fill level that is lower than a maximum height of the container; (b) second, the fill level estimator is configured to estimate the number of cells that are below the first target fill level after the ejector has been instructed to fill in the first mode; and (c) third, the alignment module is configured to instruct the ejector to fill the container in a second mode to a second target fill level that is higher than the first target fill level,when fewer than (or not more than) a threshold number of cells are below the first target fill level, wherein the second mode may be opposite to the direction of relative movement of the ejector of the first mode. Brief description of the drawings Fig. 1 is a block diagram of one embodiment of a stereo vision system for a loading vehicle for managing the unloading of agricultural material from the loading vehicle (e.g., combine harvester). Fig. 2 is a block diagram of another embodiment of a stereo vision system for a loader vehicle for managing the unloading of agricultural material from the loader vehicle (e.g., a self-propelled forage harvester). Fig. 3 is a block diagram of one embodiment of a system for a receiver vehicle (without stereo vision) to manage the unloading of agricultural material from a vehicle. Fig. 4A is an embodiment of a top view of a stereo vision system mounted on a loading vehicle (e.g., combine harvester) and facing a receiving vehicle. Fig. 4B is an embodiment of a top view of a stereo vision system mounted on a loading vehicle (e.g., a self-propelled forage harvester) and facing a receiving vehicle. Fig. 4C is a rear view of the loading vehicle and receiving vehicle, from the reference line 4C-4C of Fig. 4B. Fig. 5 is an illustrative block diagram of a method or flow for processing image data (e.g., raw stereo camera images) to identify the boundary or edges of the receiver vehicle's container in the image data. Fig. 6 is an illustrative block diagram of a method or flow for processing image data to identify an ejector or ejector end in the image data to estimate a position of the ejector end relative to the receiving vehicle or container. Fig. 7 is a flowchart of a method for a stereo vision system for managing the unloading of agricultural material from a vehicle (e.g., combine harvester). Fig. 8 is a flowchart of a method providing an illustrative example showing the relative position of the ejector and the container according to Fig. 7 determined. Fig. Figure 9A shows an embodiment of a cross-sectional side view of the container and the ejector according to a first mode of the method of Fig. 8. Fig. 9B shows an embodiment of a cross-sectional side view of the container and the ejector according to a second mode of the method of Fig. 8. Fig. Figure 10A shows an alternative embodiment of a side view of the container and the ejector according to a first mode of the method of Fig. 8. Fig. Figure 10B shows an alternative embodiment of a side view of the container and the ejector according to a second mode of the method of Fig. 8. Fig. Figure 10C shows an illustrative example of the cells within the container. Fig. Figure 11 shows an embodiment of a side view of the container and the ejector according to an interruption of the second mode of the method of Fig. 8.

[0005] Throughout the drawings, like reference numerals indicate like elements, steps, or procedures. Description of the preferred embodiment

[0006] According to one embodiment, Fig. 1 a system 11 of vehicle electronics for a loading vehicle for managing the unloading of agricultural material from the loading vehicle (e.g. combine harvester) into a receiving vehicle (e.g. transfer wagon or wagon). Fig. Figure 4A provides an illustrative example of a top view of a stereo or other vision system, such as System 11 of Fig. 1, mounted on a loading vehicle (e.g. combine harvester) and facing a receiving vehicle.

[0007] In one embodiment, the system 11 includes a first imaging device 10 and a second imaging device 12 coupled to an image processing module 18. The first imaging device 10 may include a primary stereo camera, while the second imaging device 12 may include a secondary stereo camera. In one configuration, the second imaging device 12 or the secondary stereo camera is optional and provides redundancy to the first imaging device 10 in the event of a failure, malfunction, or unavailability of image data from the first imaging device 10. In another configuration, the first imaging device 10 or the second imaging device 12 is attached to a mast, a telescopic mast, a manually telescopic mast, a retractable mount, a rotatable mount (e.g., with remote control of the angle of rotation), a pivoting arm (e.g.,with manual or remote tilt and pan adjustment) or other mount mounted on the receiving vehicle, wherein any remotely operated height, angular rotation, or other adjustment of the mount may be employed by a mount actuator to maintain the storage portion 93 or bin 85 (or its interior or contents) within a field of view of the first imaging device 10 or the second imaging device 12. For example, the first imaging device 10 or the second imaging device 12 is mounted at a sufficiently high elevation above ground level to provide some visibility into the bin 85 (e.g., transfer truck) or sufficient visibility of the interior of the bin 85 and its contents to determine a profile, distribution, or level of agricultural material (e.g., grains) within a volume or a portion (e.g., cell) of the volume defined by the bin 85.

[0008] The image processing module 18 can be connected to lights 14 on a vehicle (e.g. loading vehicle) for illuminating a storage container 93, its contents (e.g. agricultural material) and / or ejector (e.g. 89 in Fig. 4A) or to illuminate a field of view of the first imaging device 10, the second imaging device 12, or both, in order to capture raw images (e.g., with sufficient brightness, contrast, or color reproduction). For example, the image processing module 18 can control drivers or switches, which in turn control the activation or deactivation of lights 14 on the loading vehicle. The image processing module 18 can control the lights 14 on the vehicle to illuminate the storage container (e.g., 85 in Fig. 4A), its contents, or its ejector 89, or any combination of the above elements, when a light meter indicates that an ambient light level is below a certain minimum threshold. In one configuration, the light meter comprises a photosensor, photoresistor, photosensitive device, or cadmium sulfide cell.

[0009] In one embodiment, the ejector control system 16 may include: (1) a rotation angle sensor for sensing an ejector rotation angle (e.g., 98 in Fig. 4A) or other ejector angle of the ejector 89 with respect to one or more axes of rotation, and (2) an actuator (e.g., ejector actuator or adjuster) for moving the ejector 89 to change the ejector rotation angle or other ejector angles; and thereby change the ejector position with respect to the receiving vehicle 79 or its storage container 85. The actuator of the ejector control system 16 may include one or more motors, a linear motor, an electro-hydraulic device, a ratchet- or cable-actuated mechanical device, or other device for moving the ejector 89 or the ejector end 87.The ejector angle or ejector rotation angle may comprise a simple angle, a compound angle, or multidimensional angles that may be measured with respect to any of the following: a reference axis parallel to the direction of travel of the loading vehicle, a substantially vertical axis, a substantially horizontal axis, or an axis substantially orthogonal to at least one of the substantially vertical axis and the substantially horizontal axis.

[0010] If the system 11 of Fig. 1 is applied to a combine or harvesting vehicle, the ejector 89 may be controlled in one or more dimensions (e.g., rotation or movement). In one configuration, the ejector control system 16 (of the harvesting vehicle or combine) controls a rotation angle of the ejector 89 in a substantially horizontal plane or about a substantially vertical axis. In another configuration, the ejector control system 16 or ejector control may control one or more of the following angles: (1) rotation angle 98 of the ejector 89 in a substantially horizontal plane, (2) inclination angle of the ejector 89 in a relatively vertical plane, and (3) impact angle (e.g., discharge element angle), where the rotation angle, inclination angle, and impact angle are associated with different axes (e.g., mutually orthogonal axes).In practice, the discharge element and the associated adjustable discharge element angle or adjustable impact angle are typically associated with a forage harvester ejector or chute, but not with a combine harvester ejector. In one configuration, the ejector control system 16 or the vehicle controller 46 can, by controlling the rotation angle 98, automatically extend or retract the ejector 89 (e.g., discharge auger arm) when appropriate (e.g., when unloading of the agricultural material is complete).

[0011] The vehicle controller 46 controls the rotation of the auger conveyor 47 for transferring or moving the agricultural material from the loading vehicle 91 to the receiving vehicle 79. The vehicle controller 46 may provide a data message indicating when the auger conveyor 47 is active and inactive for unloading agricultural material from the loading vehicle. The auger conveyor 47 may include an auger conveyor, an electric motor for driving the auger conveyor, and a rotational motion sensor for sensing rotation of the rotating auger or its associated shaft. In one embodiment, the rotating auger 47 is associated with a container 85 for storing agricultural material (e.g., a grain bin) of a loading vehicle 91 (e.g., a combine harvester).

[0012] When the vehicle controller 46 indicates that the auger 47 of the loading vehicle is rotating or active, the image processing module 18 activates the ejector identification module 22 and the bin identification module 20. Therefore, the vehicle controller 46 can save data processing resources or power consumption by placing the bin identification module 20 and the ejector identification module 22 in an inactive state (or standby mode) while the loading vehicle harvests the agricultural material but does not unload it to the receiving vehicle.

[0013] When the image processing module 18, a level estimator 21, or another sensor determines that the container 85 or the storage section 93 has reached a target level (e.g., a first target level (e.g., 310 in Fig. 4C), a second target level (e.g. 312 in Fig. 4C) or full capacity or a percentage or portion of capacity), the image processing module 18, the vehicle controller 46, or the ejector control system 16 may automatically shut off the unloading auger 47. The first target fill level may comprise a baseline fill level, while the second target fill level may comprise a final fill level that ensures completeness and efficiency of each load of the container (85), which may facilitate a reduction in the total number of loads for transporting the crop of any given field; therefore, a potential corresponding reduction in fuel costs for the receiving vehicle 79.

[0014] The image processing module 18 may include a controller, a microcomputer, a microprocessor, a microcontroller, an application-specific integrated circuit, a programmable logic array, a logic device, an arithmetic logic unit, a digital signal processor, or other electronic data processor, and supporting electronic hardware and software. In one embodiment, the image processing module 18 includes a container identification module 20, an ejector identification module 22, a fill level estimator 21, and an alignment module 24.

[0015] The image processing module 18 may be associated with a data storage device 19. The data storage device 19 may comprise, for example, electronic memory, non-volatile random access memory, a magnetic disk drive, an optical disk drive, a magnetic storage device, or an optical storage device. If the container identification module 20, the ejector identification module 22, the fill level estimator 21, and the alignment module 24 are software modules, they are stored within the data storage device 19. The software modules may comprise files, executable files, libraries, data sets, or software instructions that the image processing module 18 or its electronic data processor can execute. The data processor of the image processing module 18 may communicate with a data storage device 19 or its software modules or their contents via one or more data buses.

[0016] The container identification module 20 identifies a set of two-dimensional or three-dimensional points (e.g., in Cartesian coordinates or polar coordinates) in the real world that define at least a portion of the container circumference (e.g., 81 in Fig. 4A) of the storage section (e.g. 85 in Fig. 4A). The set of two-dimensional or three-dimensional points corresponds to pixel positions in images acquired by the first imaging device 10, the second imaging device 12, or both. The container identification module 20 may use or retrieve container reference data.

[0017] The container reference data includes one or more of the following: reference dimensions, reference shape, drawings, models, structure and configuration of the container 85, the container perimeter 81, the container edges 181; reference dimensions, reference shape, drawings, models, structure and configuration of the entire storage section 93 of the receiving vehicle; storage section wheelbase, storage section turning radius, storage section truck coupling configuration of the storage section 93 of the receiving vehicle. The container reference data can be stored on and retrieved from the data storage device 19 (e.g., non-volatile electronic memory). The container reference data can be stored, retrieved, or indexed, for example, by a corresponding receiving vehicle identifier in the data storage device 19 of the loading vehicle system 11.For each recipient vehicle identifier, there may be corresponding unique container reference data, which are thus stored in the data storage device 19.

[0018] In one embodiment, the loading vehicle receives a data message from the receiving vehicle in which a vehicle identifier of the receiving vehicle is regularly (e.g., periodically) transmitted. In another embodiment, the loading vehicle queries the receiving vehicle for its vehicle identifier or establishes a communication channel between the loading vehicle and the receiving vehicle in preparation for unloading via the wireless communication devices (48, 148). In yet another embodiment, the receiving vehicle transmits its vehicle identifier to the loading vehicle when the receiving vehicle approaches the loading vehicle within a certain radial distance. In yet another embodiment, only a known configuration of the receiving vehicle with a corresponding loading vehicle is used, and the container reference data is saved or stored in the data storage device 10.In the latter embodiment, the loading vehicle is programmed, at least temporarily, exclusively for receiving vehicles with identical containers that are identical in dimensions, capacity, proportion and shape.

[0019] If the linear orientation of a pixel set in the acquired image data corresponds to one or more edges 181 of the perimeter (81 in Fig. 4A) of the container (85 in Fig. 4A) as prescribed by the container reference data, the position of the container has been identified. A target fill zone of the container opening 83 of the container 85 may be identified, among other possibilities, by dividing the distance (e.g., shortest distance or surface normal distance) between opposite sides of the container into a number of cells 308 of substantially equal volumes, substantially equal dimensions, or rectangular column cells of equal length and width (e.g., but with a height different from the length and width).

[0020] The ejector identification module 22 identifies one or more of the following: (1) the ejector pixels on at least a portion of ejector 89 ( Fig. 4A) or ejector 189 ( Fig. 4B), or (2) ejector end pixels associated with the ejector end (87, 187) of the ejector (89 or 189). The ejector identification module 22 may employ color discrimination, intensity discrimination, or texture discrimination to identify background pixels of one or more selected ejector pixels having associated ejector pixel patterns or attributes (e.g., color or color pattern (e.g., red-green-blue (RGB) pixel values), pixel intensity pattern, texture pattern, luminosity, brightness, hue, or reflectivity) on the ejector (89, 189) or on the ejector end (87, 187) of the ejector (89, 189) for identification purposes.

[0021] In one embodiment, a fill level estimator 21 is configured to estimate a plurality of fill levels from a plurality of corresponding subdivided volumes or cells 308 of the storage section 93 or bin 85. Each fill level is associated with a respective height of the agricultural material in a corresponding cell of the storage section 93 or bin 85. The fill level estimator 21 may employ color discrimination, intensity discrimination, or texture discrimination to identify background pixels (e.g., bin, ground, or sky pixels) from one or more selected pixels of agricultural material with associated pixel patterns or attributes (e.g., color or color pattern (e.g., red-green-blue (RGB) pixel values), pixel intensity pattern, texture pattern, luminosity, brightness, hue, or reflectivity).The image processing module 18 or the level estimator 21 determines the three-dimensional locations or height differences of the selected or identified pixels (e.g., identified by color discrimination, intensity discrimination, or texture discrimination) of the agricultural material or adjacent groups of pixels of the agricultural material. Furthermore, the image processing module 18 or the level estimator 21 may assign cells or cell identifiers to groups of adjacent pixels within the bin or storage section based on the two- or three-dimensional locations or coordination of the pixels or relative locations of the pixels within the bin 93 or storage section 85.

[0022] In one embodiment, the alignment module 24 may include: (1) a relative vehicle alignment module for positional alignment between the loading vehicle (91 or 191) and the receiving vehicle 79 (or its container 85), or (2) an ejector-container alignment module, or both. The relative vehicle alignment module or alignment module 24 estimates movement commands at regular intervals to maintain alignment of the ejector (89, 189) over a target fill zone (e.g., a target fill zone, target cells, or partially full or empty cells) of the container 85 for unloading agricultural material. The relative vehicle alignment module or alignment module 24 may transmit data or commands from the loading vehicle (91 or 191) regarding its speed, velocity, acceleration, or heading (or its relative speed, velocity, acceleration, or heading to the receiving vehicle 79) to electronics (e.g., in 。 Fig. 3) of the receiver vehicle (79) to maintain an orientation of the position of the loading vehicle (91, 191) with respect to the receiver vehicle. For example, the relative vehicle orientation module or orientation module 24 may transmit a steering command or heading command to the steering controller 32, a braking or deceleration command to the braking system 34, and a propulsion, acceleration, or torque command to a propulsion controller 40 of the loading vehicle (91, 191). Furthermore, similar command data may be transmitted via the wireless communication devices (48, 148) to the receiver vehicle for monitoring purposes or for controlling the receiver vehicle via its steering system controller 32, its braking controller 36, and its propulsion controller 40 of the system 211 of Fig. 3. In one configuration, the relative vehicle alignment module or alignment module 24 transmits a steering command or heading command to the steering controller 32, a braking or deceleration command to a braking system 34, and a drive, acceleration, or torque command to a drive controller 40 to maintain a substantially uniform spatial separation or distance between a first imaging device 10 (e.g., on the drive portion of the receiver vehicle or on the receiver vehicle) and the ejector end 87 of the ejector 89.

[0023] In one embodiment, the image processing module 18 provides image data, fill level data of respective cells 308, or other data (e.g., a warning message indicating that the container is full) to a user interface processing module 26, which directly or indirectly provides status message data and performance message data to a user interface 44. As in Fig. 1, the image processing module 18 communicates with a vehicle data bus 31 (e.g., Controller Area Network (CAN) data bus).

[0024] In one embodiment, a first positioning receiver 42, a first wireless communication device 48, a vehicle controller 46, a steering controller 32, a braking controller 36, and a propulsion controller 40 are capable of communicating via the vehicle data bus 31. The steering controller 32 is, in turn, coupled to a steering system 30 of the loading vehicle; the braking controller 37 is coupled to the braking system 34 of the loading vehicle; and the propulsion controller 40 is coupled to the propulsion system 38 of the loading vehicle.

[0025] In one embodiment, the alignment module 24 or an ejector-bin alignment module determines the relative position of the ejector (89, 189) and the cells 308 in the bin 85 such that the ejector is aligned within a target fill zone of the cells 308 according to a fill sequence or fill schedule commands in which: (a) first, the alignment module 24 is configured to command the ejector (89, 189) via the ejector control system 16, alone or in combination with a relative vehicle alignment, to fill the bin 85 with the material in a first mode to a first target fill level that is lower than a maximum height of the bin; (b) second, the fill level estimator 21 is configured to estimate the number of cells 308 that are below the first target fill level after the ejector has been commanded to fill in the first mode;and (c) third, the alignment module 24 is configured to instruct the ejector via the ejector control system 16 alone or in combination with a relative vehicle alignment to fill the container in the second mode to a second target level that is higher than the first target level when fewer than a threshold number of cells are below the first target level.;

[0026] The system 11 facilitates the transfer of agricultural material from the loading vehicle (e.g., a harvesting vehicle) to a receiving vehicle. The system 11 includes a receiving vehicle with a drive section for driving the receiving vehicle and a storage section 93 for storing agricultural material. A stereo imaging device, such as the first imaging device 10, faces the storage section 93 of the receiving vehicle. As shown in Fig. 1, the first imaging device 10 and the second imaging device 12 are according to Fig. 4A mounted on the charging vehicle.

[0027] In one embodiment, an optional mast controller 313, indicated by dashed lines, is coupled to the vehicle data bus (31, 131), the device data bus, or the imaging processing module 18 to control an optional adjustable mast 315 for mounting and adjustably positioning the first imaging device 10, the second imaging device 12, or both. The mast controller 313 and its associated adjustable mast 315 are configured to change the orientation or height above ground level of the first imaging device 10, the second imaging device 12, or both (if the devices (10, 12) are mounted on the adjustable mast 315), where the orientation can be expressed as any of the following: a tilt angle, a pan angle, a downward tilt angle, a depression angle, or a rotation angle. The adjustable mast 315 may be associated with one or more servo motors, linear motors, or other devices for controlling the movement, height, and angle of imaging devices (10, 12) mounted on the adjustable mast 315. For example, an operator may adjust the height or orientation of one or more control or adjust multiple imaging devices (10, 12) via a user interface. In an alternative embodiment, the optional mast control 313 and adjustable mast 315 can be replaced by a manually adjustable mast instead of a remotely adjustable mast 315.

[0028] One or more imaging devices (10, 12) are arranged to capture image data. A container identification module 20 identifies a container perimeter of the storage section 93 in the captured image data. The storage section 93 has an opening inwardly from the container perimeter for receiving the agricultural material. An ejector identification module 22 is configured to identify an ejector (e.g., 89 of Fig. 4A or Fig. 189 of Fig. 4B) of the harvesting vehicle in the acquired image data. An alignment module 24 is designed to determine the relative position of the ejector (89 or 189) and the container circumference (81 of Fig. 4A) and generate command data to the vehicle electronics of the loading vehicle (91, 191) or the drive section 75 of the receiving vehicle 79 to steer the storage section 93 into a cooperative orientation such that the ejector 89 is aligned within a target fill zone 83 of the container perimeter 81. A steering controller 32 is associated with a steering system 30 of the drive section for steering the receiving vehicle according to the cooperative orientation.

[0029] In one configuration, a user interface 44 is arranged for entering container reference data or dimensional parameters relative to the receiving vehicle. For example, the container reference data or dimensional parameters include a distance between a trailer hitch (which connects the drive unit 75 and the storage section 93) and the front wheel rotation axis of the storage section 93 of the receiving vehicle 79.

[0030] Although the first imaging device 10 and the second imaging device 12 may comprise stereo imaging devices or monocular imaging devices combined to provide stereo vision image data, in an alternative embodiment, the first imaging device 10 and the optical second imaging device 12 may be replaced by any of the following: a distance measuring device, a laser scanner, a laser rangefinder, a LIDAR (light detection and ranging system), a radar sensor (radio detection and ranging), a rangefinder that uses the time of flight of an electromagnetic signal to determine a distance to an object, or another sensing device.

[0031] The System 11 of Fig. 1 is well suited for use on a combine harvester or harvesting vehicle such as a loader. The System 11 from Fig. 1 can be connected to a second system 211 of vehicle electronics from Fig. 3 on the receiving vehicle to coordinate the relative orientation of the loading vehicle and the receiving vehicle during the unloading or transfer of material from the loading vehicle. The same reference numbers in Fig. 1 up to and including Fig. 3 indicate the same elements.

[0032] The System 111 of vehicle electronics from Fig. 2 is similar to System 11 of Fig. 1; except that in the system 111 the vehicle data bus 31 of Fig. 1 is replaced by the vehicle data bus 131; the second imaging device 12 is omitted as shown; and the lights 52 and the ejector control system 116 can be controlled via respective optional vehicle controllers (50, 54) in communication with the vehicle data bus 131. Like reference numerals in Fig. 1 and Fig. 2 indicate the same elements. Fig. 4B and Fig. 4C provide an illustrative example of views from a stereo or other vision system, such as System 111 of Fig. 2, which is mounted on the loading vehicle (e.g. forage harvester) and facing a receiving vehicle.

[0033] In one embodiment, the vehicle data bus 131 includes a primary data bus 60, a secondary data bus 58, and a gateway 29. Optional vehicle controllers (50, 54) are also coupled to the primary data bus 60 for the lights 52 and the ejector 189. The vehicle controller 50 controls the lights 52; the optional vehicle controller 54 may control the ejector control system 116 for moving or adjusting the orientation or angle of the ejector 189 or its ejector end 187. The ejector control system 116 may include an actuator for moving or adjusting the ejector 189 and one or more sensors for measuring the ejector angle, orientation, or position of the ejector 189 or the ejector end 187. For example, the ejector control system 116 or its actuator may include a servo motor, electric motor, or electro-hydraulic mechanism for moving or adjusting the ejector 189.

[0034] If the system 111 from Fig. 2 is applied to a self-propelled forage harvester, the optional vehicle controller 54, the ejector control system 116, or both may control or adjust the ejector 189 or the ejector end 187 in multiple dimensions, such as two or three dimensions. For example, the vehicle controller 54 or the ejector control system 116 may control one or more of the following angles: (1) rotation angle of the ejector 189 or ejector end 187 in a substantially horizontal plane, (2) inclination angle of the ejector 189 or ejector end 187 in a relatively vertical plane, and (3) impact angle of any deflector at or near the ejector end 187, wherein the rotation angle, inclination angle, and impact angle are related by means of different axes (e.g., mutually orthogonal axes). For a forage harvester, the ejector 189 (e.g.,Unloading auger arm) is not typically retracted and the flow of agricultural material from the ejector 189 is generally continuous during harvesting.

[0035] In one embodiment, the ejector control system 116 may include: (1) a rotation angle sensor for sensing an ejector rotation angle or other ejector angles of the ejector 189 with respect to one or more rotation axes, and (2) an actuator (e.g., ejector actuator or adjuster) for moving the ejector 189 to change the ejector rotation angle or other ejector angles; and thereby the ejection position of the ejector 189 or the ejector end 187 with respect to the receiving vehicle 79 or its storage bin 85 or the target fill zone of one or more cells 308. The actuator of the ejector control system 116 may include one or more motors, a linear motor, an electro-hydraulic device, a ratchet or cable-actuated mechanical device, or other device for moving the ejector 189 or the ejector end 187.The ejector angle or ejector rotation angle may comprise a simple angle, a compound angle, or multidimensional angles that may be measured with respect to any of the following: a reference axis parallel to the direction of travel of the loading vehicle, a substantially vertical axis, a substantially horizontal axis, or an axis substantially orthogonal to at least one of the substantially vertical axis and the substantially horizontal axis.

[0036] In one configuration, the ejector control system 116 (of the harvesting vehicle) controls a rotation angle of the ejector 189 in a substantially horizontal plane or about a substantially vertical axis. In another configuration, the ejector control system 116 or ejector controller may control one or more of the following angles: (1) rotation angle of the ejector 189 or ejector end 187 in a substantially horizontal plane, (2) inclination angle of the ejector 189 or ejector end 187 in a relatively vertical plane, and (3) impact angle (e.g., discharge element angle) of any deflector at or near an ejector end 187, wherein the rotation angle, inclination angle, and impact angle are related to one another by means of different axes (e.g., mutually orthogonal axes).

[0037] When a container 85 of the receiving vehicle is full of agricultural material (e.g., from a loading operation) (or is imminently reaching a first target fill level 310, a second target fill level 312, or another full level (e.g., 309)), as detected by the fill level estimator 21, the fill level estimator 21 provides a data message or control message to the alignment module 24 depending on the detected target fill level and current operating mode (first mode or second mode) of the filling operation of the container 85.If the fill level estimator 21 determines that the bin 85 or a group of its cells 308 has reached or satisfied the first target fill level 310 in the first mode, the fill level estimator 21 provides the data message or control message to the alignment module 21 so that the alignment module 24 can transition from the first mode to the second mode and reverse the filling direction to reach the second target fill level 312. However, if the fill level estimator 21 determines that the bin has reached or satisfied the second target fill level 312 in the second mode, the fill level estimator 21 provides the data message or control message to the alignment module 21 so that the alignment module can stop filling the bin or storage section and notify the operator of the harvesting vehicle and the receiving vehicle via their respective user interfaces (e.g.Displays in the vehicle driver's cabs or cockpits) can warn if necessary.

[0038] In an alternative embodiment, the fill level estimator 21 is supplemented or enhanced by one or more sensors (e.g., mass or optical sensors) on the receiving vehicle 79 for detecting a mass, weight, or volume of agricultural material in the container 85; the imaging system 18 of the loading vehicle 91 or the sensors of the receiving vehicle can, via the wireless communication devices (48, 148), notify the operator (of the loading vehicle 91) on the user interface 44 of the full level, fill state, or full condition of the container 85.

[0039] In one configuration, the primary data bus 60 may comprise a Controller Area Network (CAN) data bus. Similarly, the secondary data bus 58 may comprise a Controller Area Network (CAN) device data bus. In an alternative embodiment, the primary data bus 60, the secondary data bus 58, or both may comprise an ISO (International Organization for Standardization) data bus or ISOBUS, Ethernet, or another data protocol or communications standard.

[0040] In one embodiment, gateway 29 supports secure or controlled transmissions between primary data bus 60 and secondary data bus 58, and vice versa. Gateway 29 includes a firewall or other security device that can prevent or deter a network element or device on secondary data bus 58 from communicating (e.g., unauthorized communication) with primary data bus 60 or a network element or device on vehicle data bus 31 if the network element or device on secondary data bus 58 does not follow a particular security protocol, handshake procedure, password and code, or other security measure.Furthermore, in one embodiment, the gateway 29 can encrypt transmissions to the primary data bus 60 and decrypt transmissions from the primary data bus 60 when a proper encryption key is entered or when other security measures are met. The gateway can allow network devices on the secondary data bus 58 to communicate via an open standard or third-party hardware and software vendors, while the network devices on the primary data bus 60 are exclusively manufacturer-provided.

[0041] In Fig. 2, a first positioning receiver 42, a user interface 44, a user interface processing module 26, and the gateway 29 are coupled to the vehicle data bus 131 or the secondary data bus 58. Vehicle controllers (50, 54) are coupled to the vehicle data bus 131 or the primary data bus 60. The optional vehicle controller 50 is again directly or indirectly coupled to lights 52 on the charging vehicle. The vehicle controller 54 is optional, as indicated by the dashed lines. The control system 116 is directly coupled to the primary data bus 60 or the vehicle data bus 131 or coupled to the primary data bus 60 or the vehicle data bus 131 via the vehicle controller 54. Although the system of Fig. 2 is well suited for use or installation on a self-propelled forage harvester, the system can be Fig. 2 may also be applied to combine harvesters, harvesting vehicles or other large equipment.

[0042] In alternative embodiments, the system 111 may be Fig. 2 add a second imaging device 12 coupled to the image processing module 18 and mounted on the ejector or the body of the harvesting vehicle (with or without a mounting mast) to provide additional image data in a complementary field of view to provide a comprehensive view (e.g., front-to-back view or entire surface area of the cells and agricultural material within the container perimeter 81) of storage sections or containers (e.g., long or large containers) that would otherwise fall outside the field of view of the first imaging device 10.

[0043] The System 11 of Fig. 1 and the system 111 of Fig. 2 are applicable to the charging vehicle, while the system of Fig. 3 to the receiving vehicle (e.g. 79 in Fig. 4A or Fig. 4B) is applicable. The same reference numbers in Fig. 1 up to and including Fig. 3 indicate similar elements. As stated above, the loading vehicle (e.g., 91 or 191) comprises a combine harvester, a harvesting vehicle, a self-propelled harvesting vehicle, vehicle, or large equipment that collects or harvests material for transfer to the receiving vehicle. In one embodiment, the receiving vehicle comprises a drive section (e.g., 75 in Fig. 4A or Fig. 4B) and a storage section (e.g. 93 in Fig. 4A) for storing the material transferred by the loading vehicle. The receiving vehicle may comprise the combination of a tractor and a transfer wagon or cart, with the tractor being an illustrative example of the drive section 75 and the grain wagon being an illustrative example of the storage section 93.

[0044] The System 211 vehicle electronics from Fig. 3 is similar to the system of Fig. 2, except that the system of Fig. 3 the first imaging device 10, the second imaging device 12, the image processing module 18, the user interface processing module 26, the vehicle controls (50, 54), the lights 52 and the ejector control system 116 of Fig. 2. The system 211 of Fig. 3 includes a second wireless communication device 148 for communicating with, for example, the first communication device 48 of Fig. 1 or Fig. 2. The wireless devices (48, 148) can exchange or transmit position data, relative position data, fill level data at a cell level or overall fill level, command data, or control data for controlling, adjusting, or coordinating the position and orientation of the vehicles; more specifically, the position and orientation of the ejector 89 or ejector end 87 over the opening 83 of the container 85. The second wireless communication device 148 is coupled to the vehicle data bus 131. In Fig. 3, the system 211 for a receiver vehicle (without stereo vision) can be used in conjunction with the system (11 or 111) of the charging vehicle of Fig. 1 or Fig. 2 can be used.

[0045] Fig. Figure 4A illustrates a top view of a loading vehicle 91 and a receiving vehicle 79. Fig. 4A may be referred to as vehicle management system 311. As in Fig. 4A for illustrative purposes, the loading vehicle 91 is depicted as a combine harvester with a harvesting head 185, while the receiving vehicle 79 is depicted as a tractor and a transfer wagon. The receiving vehicle 79 includes the combination of a drive unit 75 and a storage section 93 (e.g., a trailer storage unit). The loading vehicle 91 and the receiving vehicle 79 generally move in the direction of travel 186 in a state of alignment or coordination to accomplish the transfer of agricultural material from the loading vehicle 91 to the receiving vehicle 79, although the heading and speed of the vehicles (79, 91) may differ at times to adjust the relative position of the vehicles (79, 91) or the relative position of the ejector 89 with respect to the storage section 93 or bin 85.

[0046] In Fig. 4A, the first imaging device 10 has a first field of view 77 and the optional second imaging device 12 has a second field of view 177, wherein both fields of view (77, 177) may monitor the interior of the container 85 or the agricultural material within the container 85 (e.g., from a higher elevation or height than the top of the container 85). The agricultural material in the container 85 occupies one or more cells 308 or column cells with a height measured by the image processing module 18 or the level estimator 21. Each cell 308 may have a substantially equal total volume (e.g.,, or certain identical dimensions, such as the same cell length and cell width, which are the same or different from the cell height) as the other cells 308 and the volume of the container 85 can be divided into virtually any number of cells that can be tracked within the resolution of one or more imaging devices (10, 12) and the image processing module 18.

[0047] Fig. Figure 4B illustrates a top view of a loading vehicle 191 and a receiving vehicle 79. Fig. 4B may be referred to as vehicle management system 411. As in Fig. 4B for illustrative purposes, the loading vehicle 191 is shown as a harvesting vehicle, such as a self-propelled forage harvester with a forage harvester head 285, while the receiving vehicle 79 is shown as a tractor and transfer vehicle. Like reference numerals in Fig. 4A, Fig. 4B and Fig. 4C indicate the same elements or characteristics.

[0048] In one embodiment, the combine harvester uses Fig. 4A a first imaging device 10 on the ejector 89 and a second imaging device 12 on the loading vehicle 91, while the loading vehicle 191 of Fig. 4B, the first imaging device 10 is used on the ejector 189. In Fig. 4B, the first imaging device 10 includes a first field of view 77 that looks downward into the interior of the container to facilitate evaluation or estimation of the level or height of agricultural material loaded into the container 85 or the level of agricultural material associated with corresponding cells 308 of the container 85.

[0049] Fig. Figure 4C shows a rear view of the loading vehicle 191 and the receiving vehicle 79, from the reference line 4C-4C of Fig. 4B. Fig. 4C provides an illustrative embodiment of the ejector control system 116. For example, in Fig. 4C, the ejector control system 116 includes a first ejector actuator 300 that facilitates rotation of the ejector 189 about a vertical axis 412 to provide alignment of the ejector 189 or the ejector end 187 in a substantially horizontal plane; the ejector control system 116 includes a second ejector actuator 302 to facilitate the tilt angle of the ejector 189 or the ejector end 187 in a relatively vertical plane; the ejector control system 116 includes a third ejector actuator 304 to adjust an impact angle of a striker or deflector 306 at one end of the ejector 189. The rotation angle, tilt angle, and impact angle may be associated with different rotational axes (e.g., mutually orthogonal axes).

[0050] As stated above, the agricultural material in the container 85 occupies one or more cells 308 or column cells having a height measured by the image processing module 18 or the level estimator 21. Fig. 4C illustrates the first target fill level 310 and the second target fill level 312. In one embodiment, the first target fill level 310 is a height of agricultural material (e.g., in the cells or a group of cells) that is close to or below the top or upper container edge 181 (i.e., at about 100% level) of the container 85, wherein the second target fill level is equal to or greater than the top or upper container edge 181 of the container 85.

[0051] In Fig. 4A up to and including Fig. 4C, the ejector (89, 189) can also be referred to as a discharge screw conveyor. The ejector end (87, 187) can be referred to as a cap, which can be a hard rubber piece at the tip of the ejector to guide the discharged material (e.g., downwards). Fig. 4A up to and including Fig. 4C, the ejector (89, 189) or ejector end (87, 187) is generally aligned above or over a target fill zone or a selected set of one or more target cells 308 of the storage bin 85 (of the receiving vehicle) according to a fill sequence or schedule for discharging material from the loader vehicle to the receiving vehicle. Similarly, the loader vehicle and the receiving vehicle are aligned in position as shown, regardless of whether the vehicles are moving together in a forward motion (e.g., with coordinated or tracked vehicle headings) during harvesting, as is typical, or are stationary.

[0052] In Fig. 5 and Fig. 6, similar Fig. 1 up to and including Fig. 3. Each of the blocks or modules can represent software modules, electronic modules, or both. Software modules can contain software instructions, subroutines, object-oriented code, or other software content. The arrows connecting the blocks or modules show the flow of data or information between the blocks. The arrows can represent physical transmission paths or virtual transmission paths, or both. Physical transmission paths refer to transmission lines or one or more data buses for transmitting, receiving, or forwarding data. Virtual transmission paths refer to the transfer of data, software, or data messages between modules.

[0053] Fig. 5 is an illustrative block diagram of a method or flow for processing image data (e.g., raw stereo camera images) to identify the boundary or edges of the receiver vehicle's container in the image data. Fig. Figure 5 is a block diagram illustrating the image processing module 18 and the container identification module 20 in more detail as Fig. 1. The same reference numbers in Fig. 1, Fig. 5 and Fig. 6 indicate the same elements. As in Fig. 5, the first imaging device 10, the second imaging device 12, or both provide inputs of raw stereo camera images (or raw image data) to the image correction module 101. The image correction module 101, in turn, communicates with the stereo correspondence module 103 and the edge detector 105. The edge detector 105 provides an output to the linear Hough transformer 107. The outputs of the stereo correspondence module 103 and the linear Hough transformer 107 are provided to the bin locator 111. The bin locator 111 may retrieve or receive (a priori) stored carriage coupling and carriage dimensions from the data manager 109. In one embodiment, the bin locator 111 may estimate the spring angle (97 in Fig. 4A) of the angle estimator 113 (e.g. Kalman filter) and receive or retrieve stored carriage coupling and carriage dimensions.

[0054] In one embodiment, the image correction module 101 provides image processing of the acquired image data or raw stereo images to reduce or eliminate radial lens distortion and image alignment required for stereo conformance. The radial lens distortion is associated with the radial lenses of the first imaging device 10, the second imaging device 12, or both. The input of the image correction module 101 is raw stereo image data, while the output of the image correction module 101 is corrected stereo image data.

[0055] In an illustrative embodiment, the image correction module 101 eliminates or reduces any vertical offset or difference between a pair of stereo images of the same scene of the image data. Further, the image correction module may align the horizontal component (or horizontal lines of pixels of the stereo images) to be parallel to the scan lines or common reference axis of each imaging device (e.g., the left and right imaging devices) within the first and second imaging devices (10, 12). For example, the image correction module may use image processing (e.g., statistical image processing) and calibration information for the image processing devices (10, 12) to achieve corrected right and left images of the stereo image.The corrected image supports efficient processing and rapid identification of corresponding pixels or objects within the image in the left image and the right image of a common scene for subsequent image processing (e.g., by the stereo correspondence module 103). As used herein, the right image may refer to a first image, a right image, or a top image, while the left image may refer to a second image, a left image, or a bottom image. As used herein, the right image may refer to a first image, a right image, or a top image, while the left image may refer to a second image, a left image, or a bottom image.

[0056] In one configuration, the stereo correspondence module 103 applies a stereo matching algorithm or disparity calculator to acquired stereo image data, such as the corrected stereo image data output by the image correction module 101. The stereo matching algorithm or disparity calculator may include a sum of absolute differences algorithm, a sum of squared differences algorithm, a consensus algorithm, or another algorithm to determine the difference or disparity for each set of corresponding pixels in the right and left images (e.g., along a horizontal axis of the images or parallel thereto, or along a vertical axis of the images or parallel thereto, or along another reference axis).

[0057] In an illustrative sum of the absolute differences method, the right and left images, blocks, or rows in the image data may be shifted to align corresponding pixels in the right and left images. The stereo matching algorithm or disparity calculator determines a disparity value between corresponding pixels in the left and right images of the image data. For example, to estimate the disparity value, each first pixel intensity value of a first subject pixel and a first sum of the first surrounding pixel intensity values (e.g., in a block or array of pixels) around the first pixel are compared with each corresponding second pixel intensity value of a second subject pixel and a second sum of the second surrounding pixel intensity values (e.g., in a block or array of pixels) around the second pixel.The disparity values can be used to form a disparity map or disparity image for the corresponding right and left image data.

[0058] The image processing module 18 estimates a distance or range from the first imaging device 10, the second imaging device 12, or both to the pixels or points located on the container perimeter 81, on the container edge 181, on the ejector 98, on the ejector end (87, 187), or on any other linear edge, curve, ellipse, circle, or object detected by the edge detector 105, the linear Hough transformer 107, or both. For example, the image processing module 18 may use the disparity map or image to estimate a distance or range from the first imaging device 10, the second imaging device 12, or both to the pixels or points located on the container perimeter 81, the container edges 181, the container opening 83, near each of the foregoing elements, or elsewhere.

[0059] In one embodiment, the container identification module 20 comprises: (1) an edge detector 105 for measuring the strength or reliability of one or more edges 181 or points on the container perimeter 81 in the image data; (2) a linear Hough transformer 107 for identifying an angle and an offset of linear segment candidates in the image data with respect to a reference point on an optical axis, a reference axis of the one or more of the imaging devices (10, 12); (3) a container locator 111 configured to use spatial and angular constraints to remove linear segment candidates that cannot logically form part of the identified linear segments of the container perimeter 81 or the points on the container perimeter 81, or for which this is impossible;and (4) the container locating device 111 converts the non-excluded, identified linear segments or the identified points into two- or three-dimensional coordinates with respect to a reference point or a reference frame of the receiving vehicle and the harvesting vehicle.;

[0060] The edge detector 105 may apply an edge detection algorithm to corrected image data from the image correction module 101. Any number of suitable edge detection algorithms may be used by the edge detector 105. Edge detection refers to the process of identifying and locating discontinuities between pixels in an image or in acquired image data. For example, the discontinuities may represent material changes in pixel intensity or pixel color that define boundaries of objects in an image. A gradient method of edge detection may be implemented by filtering image data to favor different pixel values in first regions of larger discontinuities or gradients than in second regions with fewer discontinuities or gradients.For example, the gradient method detects the edges of an object by estimating the maximum and minimum of the first derivative of the pixel intensity of the image data. The Laplacian method detects the edges of an object in an image by searching for zero crossings in the second derivative of the pixel intensity image. Other examples of suitable edge detection algorithms include, but are not limited to, Roberts, Sobel, and Canny, as known to those skilled in the art. The edge detector 105 may provide a numerical output, signal output, or symbol indicating a strength or confidence of the edges 181 in the array. For example, the edge detector may provide a numerical value or an edge strength indicator within a range or scale, or a relative strength or confidence at the linear Hough transformer 107.

[0061] The linear Hough transformer 107 receives a data edge (e.g., a data strength indicator) relating to the receiver vehicle and identifies the estimated angle and offset of the strong line segments (e.g., the bin 85, the ejector (89, 189), the ejector end (87, 187), and the opening (83)) in the image data. The estimated angle is related to the angle or composite angle (e.g., multidimensional angle) of a linear axis intersecting the lenses of the first imaging device 10, the second imaging device 12, or both. The linear Hough transformer 107 includes a feature extractor for identifying line segments of objects with specific shapes from the image data.For example, the Hough transformer 107 identifies line equation parameters or ellipse equation parameters of objects in the image data from the edge data output by the edge detector, or the Hough transformer 107 classifies the edge data as a line segment, an ellipse, or a circle. Thus, it is possible to detect containers or ejectors with substantially linear, rectangular, elliptical, or circular features.

[0062] In one embodiment, the data manager 109 supports the entry or selection of bin reference data via the user interface 44. The data manager 109 supports the entry, retrieval, and storage of bin reference data, such as measurements of cart dimensions, by the image processing module 18 to communicate spatial constraints to the bin locator 111 on the line segments or data points that are potential edges 181 of the cart opening 83.

[0063] In one embodiment, the angle estimator 113 may comprise a Kalman filter or an extended Kalman filter. The estimator 113 estimates the angle (e.g., 97 in Fig. 4A) of the storage portion 93 (e.g., cart) of the receiver vehicle 79 with the drive portion 75 (e.g., tractor) of the receiver vehicle 79. The angle estimator 113 (e.g., Kalman filter) provides angle constraints to the container locator 111 with respect to the lines or data points that are potential edges 181 of the container opening 83. In one configuration, the angle estimator 113 or Kalman filter is coupled to the locator 111 (e.g., container locator). The filter of the angle estimator 113 indicates, or is capable of indicating, the received estimated angle of the storage portion 93 with respect to the drive portion 75 of the vehicle.

[0064] The locator 111 is configured to receive measurements of dimensions of the container perimeter 81 or the storage portion 93 of the vehicle to facilitate the identification of linear segment candidates suitable as identified linear segments of the container perimeter 81. In one embodiment, the locator 111 is configured to receive an estimated angle of the storage portion 93 relative to the drive portion 75 of the vehicle to facilitate the identification of linear segment candidates suitable as identified linear segments of the container perimeter 81.The localizer 111 uses spatial and angular constraints to reject line candidates in the image data that cannot, or cannot logically, be part of the container opening 83 or container edges 181, and then selects preferred lines (or data points on the container edge 81) as the most likely candidates for a valid container opening 83 or container edges 181. The localizer 111 characterizes or converts the preferred lines as three-dimensional coordinates relative to the vehicle or another reference frame to represent a container perimeter of the container 85.

[0065] Fig. 6 is an exemplary block diagram of a method or process for processing image data to identify an ejector or ejector end to estimate a position of the ejector end relative to the receiving vehicle or container. Fig. 6 is a block diagram illustrating the image processing module and the ejector identification module 22 in more detail than in Fig. 1. Similar reference numbers in Fig. 1, Fig. 5 and Fig. 6 denote similar elements. In Fig. 6, the image correction module 101 communicates with the stereo correspondence module 103 and the reject classifier 121. The reject classifier 121, in turn, provides an output to the reject locator 125. The reject locator 125 accesses or receives the reject position from the reject position estimator 123 (or the reject angle θ with respect to the direction of travel of the load vehicle or the vehicle reference frame), stereo correspondence data from the stereo correspondence module 103, and the output data from the reject classifier 121.

[0066] In one embodiment, the ejector identification module 22 includes an ejector classifier 121 configured to identify pixel candidates in the image data based on at least one of reflectivity, intensity, color, or texture properties of the image data (or pixels), the corrected image data, or the raw image data, wherein the pixel candidates represent a portion of the ejector (89, 189) or the ejector end (87, 187). The ejector localization device 125 is configured to estimate a relative position of the ejector (89, 189) or the ejector end (87, 187) with respect to the imaging device (10, 12) based on the classified, identified pixel candidates of a portion of the ejector (89, 189).The ejector locator 125 receives an estimated combine ejector position or angle 98 relative to the imaging device mounting position or the optical axis or reference axis of one or more imaging devices based on previous measurements to provide constraint data on where the ejector (89, 189) may be located.

[0067] The ejector classifier 121 applies software instructions to an algorithm that identifies pixel candidates likely to be part of the ejector (89, 189) or the ejector end (87, 187) based on expected color and texture characteristics within or including the processed or raw image data. For example, the ejector end (87, 187) may be painted, coated, marked, or labeled in a configuration with a coating or pattern having greater optical or infrared reflectivity, intensity, or luminance than a remaining portion of the loader vehicle's ejector (89, 189).The greater luminance, intensity or reflectivity of the ejector end (87, 187) (or associated ejector pixels of the image data over background pixels) can be achieved by painting or coating the ejector end (87, 187) with white, yellow or a lighter color compared to the rest of the ejector (89, 189) or parts of the loading vehicle (within the field of view of the imaging devices (10, 12)) or by chrome plating the same.

[0068] In one embodiment, the ejector position estimator 123 includes a Kalman filter or an extended Kalman filter that receives input from previous measurements and container reference data and outputs an estimate of the ejector position, ejector angle, or its associated error. The ejector position estimator 123 provides an estimate of the combine ejector position or angle or its associated error with respect to one or more of the following: (1) the ejector mounting position or pivot point on the loader vehicle, or (2) the optical axis or other reference axis or point of the first imaging device 10, the second imaging device 12, or both, or (3) the axis associated with the forward direction of travel or heading of the loader vehicle.The Kalman filter outputs constraints on where the ejector (89, 189) or ejector end (87, 187) may be located, via an estimated ejector position or an ejector position zone. In one embodiment, the ejector position estimator 123 or the Kalman filter is coupled to the ejector locator 125.

[0069] The ejector locator 125 takes pixels classified as belonging to the combine auger ejector and uses a disparity image (from stereo correspondence data) to estimate the relative position of the ejector to the first imaging device 10, the second imaging device 12, or both.

[0070] Fig. Figure 7 is a flowchart of a method for managing the unloading of agricultural material from a vehicle or between a loading vehicle (e.g., 91 or 191) and a receiving vehicle (e.g., 79). The method of Fig. 7 begins in step S102 and may use one or more of the following embodiments of the systems (11, 111, 211, 311, or 411) previously disclosed herein.

[0071] In step S102, the receiving vehicle 79 drives the storage section 93 or the container 85 for storing agricultural material. For example, the storage vehicle 79 drives or steers the storage section 93 or the container 85 to track the speed and heading of the loading vehicle (91, 191) or to track the speed, acceleration, and heading of the loading vehicle (91, 191) to maintain spatial target separation or cooperative alignment between the two vehicles (79 and 91 or 191) for unloading or transferring the agricultural material from the loading vehicle to the loading section 93 or container 85.

[0072] In step S104, a first imaging device 10, a second imaging device 12, or both acquire stereo image data or image data. For example, the first imaging device 10 may be mounted on the loader vehicle 91, facing the receiver vehicle 79, or directed downward into the bin 85 to acquire the image data. Similarly, the first imaging device 10 may be mounted on the loader vehicle 191 or its ejector 189, or directed downward to provide a field of view encompassing the bin perimeter 81 or a group of cells 308 (e.g., all cells 308) in the bin 85.

[0073] In step S106, an image processing module 18 or a container identification module 20 identifies a container perimeter 81 or cells 308 of the storage section 93 in the acquired image data, wherein the storage section 93 has an opening 83 extending inward from the container perimeter 81 for receiving the agricultural material. Step S106 may be performed according to various methods, which may be applied alternately or cumulatively. In a first step, the image processing module 18 or the container identification module 20 may apply the following processes or substeps: (1) Measuring a strength of one or more edges 181 in the image data (raw and corrected image data); (2) Identifying an angle and an offset of linear segment candidates in the image data with respect to an optical axis, a reference axis (e.g.direction of travel of the loading vehicle) or a reference point indexed with one or more imaging devices (10, 12); and (3) using spatial and angular constraints to exclude identified segment candidates that cannot logically form part of the identified linear segments of the container perimeter or when this is impossible, wherein the localization device 111 converts the identified linear segments into three-dimensional coordinates with respect to a reference point or a reference frame of the receiving vehicle and / or the harvesting vehicle.

[0074] In a second method, the image processing module 18 or the container identification module 20 may receive container reference data or measurements of dimensions of the container perimeter 81 or the storage portion 93 of the vehicle to facilitate the identification of linear segment candidates or data point candidates suitable as identified linear segments of the container perimeter 81.

[0075] In the third method, the image processing module 18 or the container may receive an estimated angle 97 of the bearing portion 93 to the drive portion 75 of the vehicle to facilitate the identification of linear segment candidates suitable as identified linear segments of the container perimeter 81.

[0076] In a fourth method, the image processing module 18 or the container 85 provides a received estimated angle 97 of the bearing portion 93 to the drive portion 75 of the vehicle.

[0077] In step S108, the image processing module 18 or an ejector identification module 22 identifies an ejector (89, 189), or an ejector end (87, 187), of the loading vehicle (e.g., harvesting vehicle) in the acquired image data. The image processing module 18 or the ejector identification module 22 may use various methods that may be applied alternately or cumulatively. In a first method, the image processing module 18 or the ejector identification module 22 identifies pixel candidates in the image data (e.g., corrected or raw image data) based on expected color and expected texture properties of the image data, wherein the pixel candidates represent a portion of the ejector 89 (e.g., combine auger ejector) or the ejector end 87.

[0078] In a second method, the image processing module 18 or the ejector identification module 22 estimates a relative position or angle of the ejector 89 or the ejector end 87 to the imaging device based on the classified, identified pixel candidates or a portion of the ejector 89.

[0079] In a third method, the image processing module 18 or the ejector identification module 22 receives an estimated combine ejector position or angle from the ejector control system (16, 116) or its sensors relative to the mounting position, optical axis, reference axis, or reference point of the imaging device (10, 12) based on previous measurements to provide constraint data on where the ejector 56 may be located.

[0080] In a third method, the image processing module 18 provides the estimated combine auger ejector position or an estimated ejector angle to the ejector locator 125.

[0081] In step S110, the image processing module 18 or the alignment module 24 determines the relative position of the ejector (89, 189) or the ejector end (87, 187) and the container 85 (e.g., container perimeter 81) such that the ejector is aligned within a target fill zone (e.g., one or more target cells 308) within the container 85 according to a fill sequence (e.g., cell loading sequence) or fill schedule commands. Step S110 may be achieved according to various methods, which may be applied separately or cumulatively.

[0082] In a first method, an alignment module 24 is configured to determine the relative position of the ejector (89, 189) or the ejector end (87, 187) and the target cells of a target fill zone in the container 85 via processing the image data such that the ejector (89, 189) or the ejector end (87, 187) is aligned within a target fill zone of the cells according to a fill sequence or fill plan commands in which (a) the alignment module 24 is first configured to instruct the ejector (89, 189) to fill the container 85 with the material in a first mode up to a first target fill level 310 which is lower than a maximum height of the container; (b) the fill level estimator 21 is secondly configured to estimate the number of cells 308 that are filled below the first target fill level after instructing the ejector (89, 189) to fill in the first mode;and (c) the alignment module 24 is thirdly configured to instruct the ejector (89, 189) to fill the container in a second mode to a second target fill level that is higher than the first target fill level if fewer than (or not more than) the threshold number (e.g., first threshold or critical number) of cells are below the first target fill level, the second mode being substantially in the opposite direction to the relative ejector-container movement of the first mode.;

[0083] In a second method, the alignment module 24 directs the relative position of the ejector (89, 189) or the ejector end (87, 187) to the target fill zone within the container by controlling or communicating with one or more of the following: (1) the ejector control system (16, 116) controlling one or more actuators (e.g., 300, 302, 304), (2) one or more controllers (32, 36, 40) of the loading vehicle (91, 191) to adjust the relative heading or position between the loading vehicle 91 and the receiving vehicle 79, or (3) one or more controllers of the receiving vehicle 79 to adjust the relative heading or position between the loading vehicle 91 and the receiving vehicle 79.

[0084] In a third method, the alignment module 24 aligns the filling of the container according to the steps or methods described in Fig. 8, which is described below.

[0085] Step S112 is optional, as indicated by the dashed lines. In step S112, the steering system 30 or the steering controller 32 steers the receiving vehicle 79, the loading vehicle 91, or both in cooperative alignment between the loading vehicle 91 (e.g., harvester) and the receiving vehicle 79 consistent with the relative position of the ejector (89, 189) and the container 85.

[0086] Step S112 may be performed according to various configurations, which may be applied separately or cumulatively. In step S112, in a first configuration, the vehicle controller 46 or the steering controller 32 steers the receiving vehicle according to the cooperative orientation consistent with the filling order or the cell loading order. In a second configuration, the vehicle controller or the steering controller 32 may steer the loading vehicle according to the cooperative orientation. In a third configuration, the vehicle controller 46 or the steering controllers 32 of the loading vehicle and the receiving vehicle steer both vehicles according to the cooperative orientation.

[0087] In a fourth configuration, the system (11, 111, 211, 311) may periodically, regularly, or continuously monitor the cooperative alignment (e.g., relative position) between the ejector end (87, 187) and the container perimeter 81 (target fill zone of the container 85). Furthermore, the system may send commands to the receiving vehicle via wireless communication devices (48, 148) and via the vehicle data bus (e.g., primary data bus 60 or a CAN bus (ISO Class 3 interface)) to adjust the speed, velocity, or acceleration of the receiving vehicle via the drive controls 40 to maintain a constant relative position or cooperative alignment.

[0088] The procedure from Fig. Fig. 8 shows an illustrative example of executing step S110 Fig. 7. Similar reference numbers indicate Fig. 7 and Fig. 8 similar steps or procedures.

[0089] In step S200, the image processing module 18 or the alignment module 24 instructs the ejector (89, 189) or the ejector end (87, 187) to fill the container 85 in a first mode (e.g., first directional mode or front-to-back mode) to a first target fill level 310 that is lower than a maximum height (e.g., approximately 100% full or fill level) of a container 85 or an edge of a container perimeter 81. For example, the first target fill level 310 may be approximately 95% of the maximum height or full fill level 309. In one embodiment, the first mode includes relative movement of the ejector (89, 189) or the ejector end (87, 187) toward the container 85 in the front-to-back direction, with the front facing in the direction of forward movement 186 of the loading vehicle.If the first mode is executed with ejector movement in the fore-and-aft direction, the initial position of the ejector (89, 189) or ejector end (87, 187) is aligned with or positioned above the forwardmost empty cell 308 within reach of the ejector stream or flow of agricultural material, and can exclude a dead zone region (311) or dead zone cells at the front of the bin 85 that are not capable of being easily filled to the full target height. Furthermore, subsequent positions of the ejector (89, 189) can be moved incrementally and aligned with or positioned above the next forwardmost empty cell.

[0090] However, in an alternative embodiment, the ejector (89, 189) with the imaging device 10 mounted thereon can be moved backwards by a separation (e.g., within a dithering range) from the frontmost empty cell for a period of time (e.g., dithering period) regularly or as required to assist image processing (e.g., dithering). For example, dithering can prevent patterns or digital artifacts associated with digitizing data from forming in the acquired images. Acquiring the image data during a change in the movement pattern or sequence of the ejector (89, 189) provides dithering to compensate for quantization noise that might otherwise occur in the acquired image data. The separation or dithering range (e.g., at least one cell dimension, width, or length) and its period (e.g., dithering period) can, for example,adjustable by a user or a factory programmed according to a factory setting. In one embodiment, the image processing module 18 or the alignment module 24 may define the target fill zone such that the ejector (89, 189) or the ejector end (87, 187) is spaced from the nearest empty cell of the container within a dithering range (e.g., at least one row or column of empty cells 308 is omitted) in a dithering period to reduce artifacts or distortion patterns in the image data.

[0091] In another alternative embodiment, the first mode comprises relative movement of the ejector (89, 189) or ejector end (87, 187) toward the bin 85 in the back-to-forward direction, with the front facing forward in the direction of forward movement of the loader vehicle. If the first mode is performed with ejector movement in the back-to-forward direction, the initial position of the ejector (89, 189) or ejector end (87, 187) is aligned with the rearmost empty cell 308 within reach of the ejector stream or flow of agricultural material and may exclude a dead zone region or dead band cells at the rear of the bin 85 that may not be able to be easily refilled to the full target height.Furthermore, subsequent positions of the ejector (89, 189) can be moved incrementally and aligned with or positioned above the next rearmost empty cell, or the ejector can be moved forward through a separation (e.g., dithering region) from the rearmost empty cell for a period of time (e.g., dithering period) to assist image processing (e.g., dithering). The separation or dithering region (e.g., at least one cell dimension, width, or length) and its period of time (e.g., dithering period) can be adjustable, for example, by a user or a factory programmed according to a factory setting.

[0092] In step S201, the image processing module 18 or the level estimator 21 estimates the level of agricultural material in (or above) the container 85 in a group of cells 308 in the container 85 based on the acquired stereo vision data or image data to determine the number of cells 308 having the first target level 310 or less.

[0093] In step S202, the image processing module 18 or the level estimator 21 determines whether or not there are no more than (e.g., less than) a first threshold number (e.g., three or three or fewer) of the total cells that are less than the first target level 310 of agricultural material. If the image processing module 18 or the level estimator 21 determines that there are no more than the first threshold number of the total cells below the first target level 310, then the method proceeds to step S204. In one example, the first threshold number includes approximately three or fewer cells 308 in the bin 85. However, if the image processing module 18 or the level estimator 21 determines that there are more than the first threshold number of the total cells below the first target level 310, then the method returns to step S200.For example, the method may return to step S200 because the agricultural material has settled due to, among other things, movement, acceleration, braking, soil profile, uneven ground, or moisture. If the method returns to step S200, another iteration of steps S200 and S201 is completed to achieve the first target fill level.

[0094] In step S204, the image processing module 18 or the alignment module 24 instructs the ejector (89, 189) or the ejector end (87, 187) to fill the bin 85 in a second mode (e.g., second directional mode or back-forward directional mode) to a second target fill level 312 with agricultural material that is higher than a maximum height or full fill level 309 of the bin 85 or the first target fill level 310. For example, the second target fill level 312 for the agricultural material may represent approximately 105% of the maximum height of the bin 85 or the full fill level 309 for the agricultural material within the cells 308 or in or above the bin 85. The second mode is performed in the direction opposite the relative ejector-bin movement of the first mode.

[0095] In an alternative embodiment or version of the second mode, the image processing module 18 or the alignment module 24 instructs the ejector (89, 189), or the ejector end (87, 187), to fill the bin 85 with agricultural material to a second target fill level 312 in a second mode (e.g., second directional mode or back-forward directional mode) while swinging, oscillating, or rotating the ejector back and forth over one or more of the regions of the bin bounded by the rotation angles (e.g., rotation angle constraints in one or more directions), deadband regions, and bin perimeter 81.

[0096] In step S205, the image processing module 18 or the fill level estimator 21 determines whether the agricultural material in the second threshold number (e.g., four or more) of adjacent cells 308 within the bin 85 is below the first target fill level 310. If the image processing module 18 or the fill level estimator 21 determines that at least the second threshold number of adjacent cells is below the first target fill level 310, the method proceeds to step S200. The method therefore proceeds to step S200 because a material cluster or a significant group of adjacent cells 308 below the first target fill level 310 indicates that the previous fill of agricultural material in the bin 85 is considered to be a void (e.g., local void) due to settlement, movement, gaps, air pockets in the agricultural material, or other reasons.For example, the second threshold number includes four or more adjacent cells within the container as an indicator of a material cluster or a significant group of adjacent cells. The number of cells considered to be a material void to be filled may depend on the cell volume or cell size of each cell 308. In practice, the second threshold number of cells 308 should be equal to a material void or local void having dimensions of at least about 20 cm x 20 cm, although other suitable minimum dimensions may be selected. If the fill level estimator 21 determines that a second threshold number of adjacent cells is below the second target fill level 312, another iteration of commanding the ejector (89, 189) to fill the container 85 in the first mode is performed.

[0097] However, if the image processing module 18 or the fill level estimator 21 determines that the second threshold number of adjacent cells 308 is not below the first target fill level 310, then the method continues in block S207.

[0098] In an alternative embodiment, the first target fill level may be replaced with another suitable target fill level in step S205.

[0099] In step S207, the image processing module 18 or the level estimator 21 determines whether there are no more than (e.g., less than) a first threshold number (e.g., three or three or fewer) of the total cells that are below the second target level 312 of agricultural material. If the image processing module 18 or the level estimator 21 determines that there are no more than the first threshold number of the total cells that are below the second target level 312, then the method proceeds to step S206. In one example, the first threshold number includes approximately three or fewer cells 308 in the bin 85. However, if the image processing module 18 or the level estimator 21 determines that there are no more than the first threshold number of the total cells that are below the second target level 312, then the method returns to step S204.For example, the method may return to step S204 because the agricultural material has settled due to, among other things, movement, acceleration, braking, soil profile, uneven ground, or moisture. If the method returns to step S204, another iteration of steps S204 and S205 is completed to reach the second target fill level.

[0100] In step S206, the method ends, or the image processing module 18 or the user interface processing module 26 generates and transmits a message (e.g., audio, image, or audiovisual alarm) indicating a full fill status of the container 85 to the user interface 44 of the receiving vehicle, the loading vehicle, or both. For example, the user interface module 26 or the image processing module 18 of the loading vehicle may communicate with the receiving vehicle via the wireless communication devices (48, 148).

[0101] In steps S200 and S204 from Fig. 8, the alignment module 24 or the ejector control module 21 may instruct the ejector in the first mode or the second mode to adjust one or more ejector actuators to control a direction of the ejector (89, 189) or the ejector end (87, 187) in a substantially horizontal plane of the harvesting vehicle body or parallel thereto, a height or target heading of the ejector (89, 189) or the ejector end (87, 187) above the substantially horizontal plane, and / or an angle of a deflection element or deflector 306 at the ejector end (87, 187). In one embodiment, the speed and heading of the loading vehicle (91, 191) (e.g.Harvesting vehicle) to achieve a relative target speed and a relative target heading between the loading vehicle (91, 191) and the container 85 associated with the receiving vehicle 79 that is consistent with aligning the ejector (89, 189) with respect to the container 85 or a target fill zone within the container 85 to achieve the first target fill level, the second target fill level, or both.

[0102] Fig. 9A shows an illustrative example of the execution of step S200. The receiving vehicle 79 and its container 85, together with the loading vehicle (91, 191), move substantially in a forward direction 186 while moving the relative position of the ejector (89, 189) or the ejector end (87, 187) in a first mode. As shown, the first mode is the directional mode, in which the relative position of the ejector (89, 189) with respect to the container is moved back and forth (or opposite to the direction of travel 186) to achieve the first target fill level 310 of agricultural material 305 in the cells 308 or container 85. In one embodiment, the dead zone regions 311 or dead zone cells at the front and rear of the container 85 are excluded from the evaluation of whether the agricultural material 305 has reached or filled the first target fill level 310. As in Fig. 9A, the ejector (89, 189) or ejector end (87, 187) is located over partially full cells or the nearest empty cell as the target fill zone and is not in a dithering mode spaced from the nearest empty cell.

[0103] Fig. 9B shows an illustrative example of performing step S204. The receiving vehicle 79 and its container 85 move forward substantially together with the loading vehicle in a direction of travel 186, while the relative position of the ejector (89, 189) or the ejector end (87, 187) is moved in a second mode. As shown, the second mode is a directional mode in which the relative position of the ejector (89, 189) with respect to the container 85 moves in the back-to-forward direction (or the same direction as the direction of travel 186) to reach the second target fill level 312 of agricultural material 305 in the container 85 of the cells 308. The second mode of Fig. 9B is converted into one of the relative movement between the ejector (89, 189) and the container of the first mode Fig. 9A. In one embodiment, the dead zone regions 311 or the dead zone cells at the front and rear of the container 85 are excluded from the evaluation of whether or not the agricultural material 305 reaches or meets the second target fill level 312.

[0104] Fig. Figure 10A shows an alternative illustrative example of the execution of step S200, which differs from that of Fig. 9A. The receiving vehicle 79 and its container 85, together with the loading vehicle, move substantially forward in the direction of travel 186 while the relative position of the ejector (89, 189) or ejectors (89, 189) are moved in a first mode. As illustrated, the first mode is a directional mode in which the relative position of the ejector (89, 189) with respect to the container is moved in a back-to-forward direction (e.g., in the same direction as the direction of travel) to achieve the first target fill level.

[0105] Fig. Figure 10B shows an alternative illustrative example of the execution of step S204, which differs from that of Fig. 9B. The receiving vehicle and its container move together with the loading vehicle substantially forward in the direction of travel, while the relative position of the ejector (89, 189) or ejectors (89, 189) are moved in a second mode. As shown, the second mode is a directional mode in which the relative position of the ejector (89, 189) with respect to the container is moved in the front-to-back direction (e.g., in the reverse direction of travel) to achieve the second target fill level. The second mode of Fig. 10B is in one of the relative movement between the ejector (89, 189) and the container of the first mode from Fig. 10A in the opposite direction.

[0106] Fig. Figure 10C shows the cells 308 as substantially three-dimensional columns or blocks of the same volume, representing subdivisions of the internal volume of the container 85.

[0107] Fig. 11 shows a cross-sectional side view of the container 85 in the context of an illustrative example of how the filling in progress from step S204 may be interrupted if step S205 determines that at least the second threshold number of adjacent cells 308 is below the first target fill level 310, indicating a void in the agricultural material in the container 85. To be considered a void, local void, or fillable void, the fill level estimator 21 identifies a material zone or region of adjacent partially filled cells that meets or exceeds a threshold number, has a minimum depth (e.g., about 20 cm) and width (e.g., 1 meter), or other suitable minimum size. A void or local void is limited to or restricted to the cells in a discrete or separate portion of the agricultural material in the container. Here in Fig.11, a first cavity 315 and a second cavity 317 are identified such that the relative movement of the ejector (89, 189) with respect to the container 85 in the second mode is interrupted by a cavity fill mode or a return to the first mode in step S200, in which the ejector (89, 189) can be moved in a direction opposite to the second mode from step S204. For example, at time t in the second mode, the ejector (89, 189) is in a first position, whereas in the cavity fill mode (or first mode) at time t+1, the ejector is in a second position to fill the first cavity 315 in a target fill zone of the cells; at time t+2, the ejector (89, 189) is in the cavity filling mode (or first mode) in a third position to fill the second cavity 317 in a target filling zone of the cells 308 of the container 85 containing the agricultural material.After filling the material cavities (e.g., the first and second cavities), the process continues in the second mode in step S204 or returns to the first position in the second mode from step S204.

[0108] The system and method are well suited for controlling the steering and speed of the loading vehicle and the receiving vehicle via positioning receivers and wireless communication devices. Furthermore, the system and method facilitate the detection of how the receiving vehicle's hopper is being filled to adjust the relative lateral and fore-and-aft alignment between the ejector 89 or ejector end 87 and the hopper perimeter 81 to achieve a uniform filling or a uniformly distributed level of agricultural material within the hopper 85 or storage section 93. Uniform filling of agricultural material within the hopper can be implemented to minimize certain errors that might otherwise be triggered, for example, due to fatigue, lack of experience, or lack of knowledge on the part of the vehicle operator.

[0109] From the description of the preferred embodiments, it will be apparent that various modifications may be made without departing from the scope of the invention as defined in the appended claims.

Claims

[1] A system (11, 111, 211) for facilitating the transfer of agricultural material from a harvesting vehicle (91) to a receiving vehicle (79), the system (11, 111, 211) comprising: a receiver vehicle (79) comprising a drive section (75) for driving the receiver vehicle (79) and a container (85) with a storage section (93) for storing agricultural material; a stereo imaging device (10, 12) facing the storage section (93) of the receiver vehicle (79), the imaging device (10, 12) acquiring image data; a fill level estimator (21) that estimates a plurality of fill levels of a plurality of divided cells (308) of the container (85), the fill levels being associated with respective heights of the agricultural material in the cells (308) of the container (85); an ejector identification module (22) for identifying an ejector (89, 189) of the harvesting vehicle (91) in the acquired image data; and an alignment module (24) for determining the relative position of the ejector (89, 189) and the cells (308) in the container (85) such that the ejector (89, 189) is aligned within a target fill zone of the cells (308) according to a fill sequence or fill plan commands, in which: (a) the alignment module (24) is firstly configured to instruct the ejector (89, 189) to fill the container (85) with the material in a first mode to a first target fill level that is lower than a maximum height of the container (85); (b) the fill level estimator (21) is secondly configured to estimate the number of cells (308) that are below the first target fill level after instructing the ejector (89, 189) to fill in the first mode;and (c) the alignment module (24) is thirdly configured to instruct the ejector (89, 189) to fill the container (85) in a second mode to a second target fill level that is higher than the first target fill level if fewer than a first threshold number of adjacent cells (308) are below the first target fill level; [2] The system (11, 111, 211) of claim 1, wherein the first mode comprises relative movement of an ejector end (87, 187) to the container (85) in the fore-aft direction, the direction of travel of the harvesting vehicle (91) being forward. [3] The system (11, 111, 211) of claim 1, wherein the first mode comprises relative movement of an ejector end (87, 187) to the container (85) in the back-to-forward direction, the direction of travel of the harvesting vehicle (91) being forward. [4] The system (11, 111, 211) of claim 1, wherein the first threshold number comprises three or fewer cells in the container (85) having less than a first target fill level. [5] The system (11, 111, 211) of claim 1, wherein the alignment module (24) is configured to perform another iteration of aligning the ejector (89, 189) to fill the container (85) in the first mode if a second threshold number of adjacent cells (308) is below the first target fill level. [6] The system (11, 111, 211) of claim 5, wherein the second threshold number comprises four or more adjacent cells (308) within the container (85). [7] The system (11, 111, 211) of claim 1, wherein the first target fill level comprises 95% of the maximum height or fill level. [8] The system (11, 111, 211) of claim 1, wherein the second target fill level comprises 105% of the maximum height of the fill level. [9] The system (11, 111, 211) of claim 1, further comprising: one or more ejector actuators (300, 302, 304) to control a direction of the ejector (89, 189) in a horizontal plane, a height of the ejector (89, 189) above the horizontal plane, and an angle of a deflector (306) at an ejector end (87, 187). [10] The system (11, 111, 211) of claim 1, further comprising: a harvester control (32, 36, 40) for controlling the speed and heading of the harvester (91) to achieve a relative target speed and heading between the harvester (91) and the container (85) consistent with the orientation of the ejector (89, 189) with respect to the container (85). [11] A method for facilitating the transfer of agricultural material from a harvesting vehicle (91) to a receiving vehicle (79), the method comprising: Driving a container (85) of a receiving vehicle (79) for storing agricultural material; Capturing image data by a first imaging device (10, 12) on the harvesting vehicle (91); Estimating a plurality of fill levels from a plurality of divided cells (308) of the container (85), the fill levels being associated with corresponding heights of the agricultural material in the cells (308) of the container (85) in the acquired image data, the container (85) having an opening (83) for receiving the agricultural material; Identifying an ejector (89, 189) of the harvesting vehicle (91) in the acquired image data; and Determining the relative position of the ejector (89, 189) and the cells (308) of the container (85) such that the ejector (89, 189) is aligned within a target fill zone of the container perimeter; instructing the ejector (89, 189) to fill the container (85) with the material in a first mode to a first target fill level that is lower than a maximum height of the container (85); Estimating the number of cells (308) that are below the first target fill level after instructing the ejector (89, 189) to fill in the first mode; and Instructing the ejector (89, 189) to fill the container (85) in a second mode to a second target fill level that is higher than the first target fill level if fewer than a first threshold number of cells are below the first target fill level, the second mode being in a direction opposite to the relative ejector-container direction of the first mode. [12] The method of claim 11, wherein the first mode comprises moving an ejector end (87, 187) relative to the container (85) in the fore-aft direction, the direction of travel of the harvesting vehicle (91) being forward. [13] The method of claim 11, wherein the first mode comprises relative movement of an ejector end (87, 187) to the container (85) in the back-to-forward direction, the direction of travel of the harvesting vehicle (91) being forward. [14] The method of claim 11, wherein the first threshold number comprises three or fewer cells in the container (85) that are below the first target fill level. [15] The method of claim 11, wherein a further repetition of commanding the ejector (89, 189) to fill the container (85) in the first mode is performed if a second threshold number of adjacent cells is below a second target fill level. [16] The method of claim 15, wherein the second threshold number comprises four or more adjacent cells within the container (85) indicating a void or local void of agricultural material within the container (85). [17] The method of claim 11, wherein the first target level comprises 95% of the maximum height or level. [18] The method of claim 11, wherein the second target fill level comprises 105% of the maximum height or fill level. [19] The method of claim 11, wherein commanding the ejector (89, 189) in the first mode or the second mode comprises adjusting one or more ejector actuators (300, 302, 304) to control a direction of the ejector (89, 189) in a horizontal plane, a height of the ejector (89, 189) above the horizontal plane, and an angle of a deflector (306) at an ejector end (87, 187). [20] The method of claim 11, further comprising controlling the speed and heading of the harvesting vehicle (91) to achieve a target relative speed and heading between the harvesting vehicle (91) and the container (85) consistent with the orientation of the ejector (89, 189) with respect to the container (85). [21] The method of claim 11, further comprising: identifying a material void in the agricultural material in the container (85) during the second mode; Interrupting the second mode of filling to return to the first mode of filling the container (85) with the agricultural material to fill the cavity. [22] The method of claim 11, further comprising: Defining the target fill zone such that the ejector (89, 189) is spaced from the nearest empty cell of the container (85) within a dithering range for a dithering period to reduce artifacts or distortion patterns in the image data.

Images