CONTROL OF THE TRANSFER OF MATERIAL FROM A TRANSPORT VEHICLE TO A TRANSPORT VEHICLE BASED ON AN INTERNAL PROFILE OF THE TRANSPORT VEHICLE

Abstract

The internal geometry of a transport vehicle is identified. A material transfer process is controlled to transfer material from a material transfer vehicle to the transport vehicle based on the internal geometry of the transport vehicle.

Description

AREA OF DESCRIPTION

[0001] This description relates to the transfer of material. In particular, this description relates to the transfer of harvested material from a transfer vehicle to a transport vehicle. STATE OF THE ART

[0002] There are many different types of agricultural systems. Some systems include a harvester that harvests material from a field and a transfer vehicle (such as a tractor pulling a grain cart) that transfers the crop from the harvester to a haulage vehicle. The transfer vehicle is loaded with material from the harvester. The transfer vehicle then travels to a haulage vehicle to transfer the material from the harvester location to the haulage vehicle location and then transfers the material from the material transfer vehicle to the haulage vehicle. The haulage vehicle removes the material from the point of use (e.g., the field). The haulage vehicle is often a semi-trailer pulled by a tractor-trailer, or a grain truck or truck that transports the crop to a storage or processing facility.

[0003] In many harvesting operations, it is common for a harvester to be working in a field or other harvesting location. Often, when the harvester's capacity for the crop is nearly exhausted, the transfer vehicle approaches the harvester, and the harvester unloads the crop into the transfer vehicle.

[0004] In particular, the unloading operation can sometimes take place while the harvesting vehicle is in operation, so that the transfer vehicle travels alongside or behind the harvesting vehicle while the harvesting vehicle unloads material into the transfer vehicle. At the same time, the harvesting vehicle loads crop material into the material transfer vehicle. Once the material transfer vehicle is full, the material transfer vehicle often travels to a material transfer location to transfer the material to the haulage vehicle. For example, it is not uncommon for a semi-trailer to pull into a field or onto the shoulder of a road adjacent to a harvesting operation (e.g., a field or group of fields). The transfer vehicle then pulls alongside the semi-trailer and unloads material from the transfer vehicle onto the haulage vehicle.

[0005] For example, if the transfer vehicle is a tractor-drawn grain wagon and the haulage vehicle is a semi-trailer, the tractor is positioned so that the wagon is next to the semi-trailer. A spout (with an auger or other conveying subsystem) is then positioned so that the conveying subsystem can transfer material from the wagon through the spout onto the semi-trailer. The auger or other conveying subsystem is then actuated to transfer the material from the grain wagon to the semi-trailer to unload the grain wagon. Once the grain wagon is unloaded, it can return to the harvester to pick up more material from the harvester.

[0006] The above discussion is provided for general background information only and is not intended to be used as an aid in determining the scope of the claimed subject matter. SUMMARY

[0007] The interior geometry of a transport vehicle is identified. A material transfer process is controlled to transfer material from a material transfer vehicle to the transport vehicle based on the transport vehicle's interior geometry.

[0008] This Summary is provided to introduce, in simplified form, a selection of concepts that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve any or all of the disadvantages noted in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows a material transfer vehicle in a first position relative to the transport vehicle in a pictorial illustration. Fig. 2 shows a material transfer vehicle in a second position relative to the transport vehicle in a pictorial illustration. Fig. 3 shows a material transfer vehicle in yet another position relative to a transport vehicle in a pictorial illustration. Fig. Figure 4 shows a material transfer vehicle with an optical sensor installed on a grain wagon in a pictorial illustration. Fig. 5 shows a material transfer vehicle and a transport vehicle with an optical sensor installed on a discharge spout of the material transfer vehicle in a pictorial illustration. Fig. 6A and Fig. 6B (collectively referred to as Fig. 6) show a block diagram illustrating an example of an agricultural system. Fig. Figure 7 is a flowchart illustrating an example of the operation of a material transfer control system. Fig. Figure 8 shows a block diagram of an architecture for processing files. Fig. Figure 9 shows a block diagram of a CAD file processing system. Fig. 10, Fig. 11A, Fig. 11B and Fig. 11C show flowcharts illustrating the operation of the CAD file processing system. Fig. 12 is a flowchart illustrating an example of the operation of the material transfer control system in more detail. Fig. 13, Fig. 14A show flowcharts illustrating the operation of the interior geometry detection system. Fig. 14B, Fig. 14C, Fig. 14D and Fig. 14E show examples of different types of transport vehicles. Fig. Figure 15 shows a block diagram illustrating an example of an agricultural system deployed in a remote server architecture. Fig. Figures 16 to 18 show examples of portable devices that can be used in the systems and machines illustrated in other figures. Fig. Figure 19 is a block diagram showing an example of a data processing environment that may be used in the systems and machines shown in other figures. DETAILED DESCRIPTION

[0009] As discussed above, during harvest operations, it is common for a material transfer vehicle (such as a tractor pulling a grain cart) to transfer material from a harvesting vehicle harvesting in a field to a haulage vehicle transporting the crop away from the field or another harvesting location (e.g., the harvesting location may include several different fields in close proximity to each other). The tractor driver must correctly align the grain cart with the haulage vehicle (which is often a semi-trailer or truck) and unload the grain without spillage. This can be a very tedious task, as well as very difficult and error-prone.The operator typically must simultaneously control the position of the grain cart relative to the semi-trailer or truck, as well as the position of the discharge spout (and the gate, if used) to control the point of impact of the crop into the hauler. These things often all need to be controlled simultaneously to successfully unload the crop into the hauler. Likewise, the operator typically needs to monitor the height of the material in the hauler to ensure even material loading.

[0010] The difficulties can be exacerbated by the fact that the material is often transferred to the transport vehicle at high speed, increasing the amount of dust or other obstructions and making visibility difficult. Furthermore, the walls or sides of the transport vehicle may be very high, making it difficult to observe the transfer process.

[0011] Some systems have been developed to assist in the part of harvesting operations where crop is unloaded from a harvesting vehicle to the material transfer vehicle. For example, some automatic wagon filling control systems have been developed to automate the portions of the filling process that are used to fill a receiving vehicle (also called a material transfer vehicle or transfer vehicle, such as a tractor pulling a grain wagon) with material from a harvesting vehicle. In such an automatic filling control system, a stereo camera on the harvesting vehicle's discharge spout is used to capture an image of the receiving vehicle. An image processing system determines the dimensions of the receiving vehicle and the distribution of the crop deposited in the receiving vehicle.The system also detects the material height in the receiving vehicle to automatically direct the discharge spout toward empty areas and control the flap position (and thus the material trajectory), achieving even more uniform filling while reducing spillage. Such systems can fill the receiving vehicle according to a filling strategy (such as front-to-back, back-to-front, etc.) that is set by the operator or by other means.

[0012] In addition, some current harvesting vehicles are equipped with a control system for machine synchronization. The harvesting vehicle may be a combine harvester, so the discharge spout is not movable relative to the frame during normal unloading operations. Instead, the relative position of the receiving vehicle and the combine harvester is changed to fill the receiving vehicle as desired. Thus, for example, in a front-to-rear filling strategy, the relative position of the receiving vehicle relative to the combine harvester is changed so that the discharge spout fills the receiving vehicle at the front end first and then moves rearward to gradually fill the receiving vehicle. In such an example, the combine harvester and the receiving vehicle may have machine synchronization systems that communicate with each other.If the relative position of the two vehicles needs to change, the machine synchronization system on the combine can send a message to the machine synchronization system on the towing vehicle to gently "nudge" the towing vehicle forward or backward relative to the combine as needed. For example, the machine synchronization system on the combine may receive a signal from the fill control system on the combine indicating that the position in the receiving vehicle currently being filled is approaching the desired fill level. In this case, the machine synchronization system on the combine can send a "nudge" signal to the machine synchronization system on the towing vehicle.As soon as the machine synchronization system on the towing vehicle has received the signal to "push", this causes the towing vehicle to briefly accelerate or decelerate, thus pushing the position of the receiving vehicle forward or backward relative to the combine harvester.

[0013] As discussed above, the process of transferring material from the material transfer vehicle to the haul vehicle (e.g., from a grain wagon to a semi-trailer) can present additional challenges. The interior geometry of the haul vehicle may be unknown, and perception may be difficult due to obstructions to visibility, the haul vehicle's high ends or walls, etc.

[0014] The present description thus describes a system comprising a control system that can access a variety of different transport vehicle interior geometries, each corresponding to a different transport vehicle. The interior geometries serve to automatically control the material transfer process, in which material is transferred from the material transfer vehicle to the transport vehicle.

[0015] In one example, the present description relates to a system that controls the transfer of material from a material transfer vehicle to a haul vehicle (e.g., from a grain truck to a semi-trailer) based on a volume profile of the haul vehicle. However, it may be difficult to determine the volume of a haul vehicle without manual measurement. In one example of the present description, a CAD file corresponding to the haul vehicle is accessed. A volume profile of the haul vehicle is then determined based on the CAD file. The volume profile can then be used to control the unloading process.

[0016] The transport vehicle's interior geometry can also be captured (or accessed) in other ways. For example, a set of sensors can be attached to the transfer vehicle (e.g., to the tractor or to a grain cart pulled by the tractor, or elsewhere). The sensors can be wearable sensors, sensors attached to a drone, etc. The sensors can be used to generate a representation of the transport vehicle's interior geometry.

[0017] In another example, operator input may be provided to identify a relatively simple, two-dimensional profile of the transport vehicle, as well as a measurement indicative of the width and / or height and / or length of the transport vehicle. The interior profile of the transport vehicle may be generated based on the operator input.

[0018] In yet another example, an interior profile corresponding to a plurality of different types of haulage vehicle may be stored. Then, as the transfer vehicle approaches the haulage vehicle, the type of haulage vehicle may be identified, and its corresponding interior profile may be accessed for use in controlling the material transfer process in which material is transferred from the material transfer vehicle to the haulage vehicle. In various examples, the type of haulage vehicle may be detected by a sensor, identified by a user via user input, transmitted to a control system by the haulage vehicle itself, or identified in some other way.

[0019] Fig. 1 shows, in a pictorial illustration, an example of an agricultural system 100 in which a harvesting vehicle 102 (e.g., a combine harvester) harvests material from a field. A material transfer vehicle (or transfer vehicle) 104 includes a prime mover (or tractor) 106 that powers (e.g., pulls) a grain cart 108. As illustrated, the grain cart 108 has a spout 110 including an auger that transfers material from the grain cart 108 upward through the spout 110 and out through an outlet end 112 of the spout 110 into a receiving area 114 of a transport vehicle 116. The discharge spout 110 may have a flap attached to a distal end or the outlet end 112 to control the trajectory of the material exiting the discharge spout 110. In the Fig. 1, the transport vehicle 116 comprises a semi-trailer truck having a semi-trailer 118 coupled to a semi-trailer 120.

[0020] In operation, the grain cart 108 of the transfer vehicle 104 can receive crop material from the harvesting vehicle 102 while the harvesting vehicle 102 is harvesting in the field or while the harvesting vehicle 102 is stationary. When the grain cart 108 is full (or when the harvesting vehicle 102 is unloaded), the transfer vehicle 104 moves to a position adjacent to the transport vehicle 116 so that the discharge spout 110 can be positioned over the receiving area 114 of the transport vehicle 116 to transfer material from the grain cart 108 to the receiving area 114 of the transport vehicle 116.

[0021] In one example, the transfer vehicle 104 includes a transfer vehicle sensor 122, which may be a stereo camera having a field of view indicated by the dashed lines 123, or another sensor that detects the transport vehicle 116. For example, the sensor 122 may be a stereo camera that captures one or more images of the transport vehicle 116, along with an image processing system that processes the images to identify portions of the transport vehicle 116 (e.g., the edges or boundaries of the capture area 114).The portion of the haulage vehicle 116 identified in the images captured by the sensor 122 can then be located in a coordinate system corresponding to the material transfer vehicle 104 so that the position of the receiving area 114 (and the edges or boundaries of the receiving area 114) can be identified relative to the position of the outlet end 112 of the discharge spout 110. Based on the position of the outlet end 112 of the discharge spout 110 relative to the receiving area 114, a control system on the material transfer vehicle 104 (or elsewhere) can then control the steering and drive subsystems of the tractor 106 to automatically move the material transfer vehicle 104 to a desired position relative to the haulage vehicle 116 so that the crop in the grain cart 108 can be unloaded into the receiving area 114 of the haulage vehicle 116.

[0022] Additionally, in one example, the control system includes an internal geometry sensing system for accessing an internal geometry of the transport vehicle 116 and a transfer strategy implementation system that detects or estimates the level of material in the receiving area 114 at the point of impact at which the material impacts the receiving area 114 as the material is discharged through the discharge spout 110.

[0023] During automatic unloading from the material transfer vehicle 104 to the transport vehicle 116, a sensor-based processor may detect the top of the transport vehicle 116 and estimate a fill level based on the detected top of the transport vehicle 116. With another system, the fill level of the transport vehicle 116 may be determined based on the measured or estimated weight of the material transferred to the transport vehicle 116 and / or the volume of the material transferred to the transport vehicle 116, etc. In these types of systems, fill estimation algorithms may have difficulty estimating the fill level of the transport vehicle 116 because the volume of the transport vehicle 116 and the volume profile of the transport vehicle 116 may be unknown.Some transport vehicles 116 may have sloping or inclined sides, making simple measurements on the transport vehicle 116 difficult to perform and typically cannot be used to determine the volume profile of the transport vehicle 116. This makes it difficult to estimate the volume of material within the transport vehicle 116. Such a problem is exacerbated when estimating the volume of material within the transport vehicle 116 based on an optically captured image of the transport vehicle 116 due to high levels of dust or other obstructions. Thus, the fill controller may use a sensor system, operator input, vehicle type, or a CAD file, or other inputs, to determine the interior geometry of the transport vehicle 116. The interior geometry may then be used to estimate the fill level or to determine the fill level within the transport vehicle 116.

[0024] If the material level is within a threshold of a desired level (or if the transferred volume is within a threshold of the desired volume), the fill control system may generate control signals to automatically move the material transfer vehicle 104, for example, in the direction indicated by arrow 124. In one example, the material transfer vehicle 104 is moved such that the point of impact of the material exiting the discharge spout 110 is at a new position within the receiving area 114 of the transport vehicle 116, so that the receiving area 114 of the transport vehicle 116 can be evenly filled with crop material.

[0025] Additionally, in an example where the receiving area 114 is already partially filled when the material transfer vehicle 104 approaches the transport vehicle 116, the control system processes the internal geometry of the transport vehicle 116 and / or the images captured by the sensor 122 to identify an initial impact point in the receiving area 114 that is not yet full. The control system may control the material transfer vehicle 104 to move it to a position such that the outlet end 112 of the spout 110 is positioned for transferring the material to an initial impact point.

[0026] Fig. 2 is similar to Fig. 1, and similar elements are numbered similarly. However, as in Fig. 2, the material transfer vehicle 104 has moved to a new location relative to the transport vehicle 116, so that the point of impact of the material from the grain wagon 108 is now at a location in the receiving area 114 that is more central than the location shown in Fig. 1 is located. Fig. 3 is similar to Fig. 4, and similar elements are numbered similarly. However, as in Fig. 3, the material transfer vehicle 104 has moved further forward in the direction indicated by the arrow 124, so that the point of impact of the material emerging from the grain wagon 110 is now located at a forward location in the receiving area 114. It should be noted that the material transfer vehicle 104 is also located opposite the transport vehicle 116 in the direction indicated in Fig. 1-3 shown opposite direction or on the opposite side of the receiving area 114, so that the material transfer vehicle 104 can start loading the transport vehicle 116 at a front end of the receiving area 114 or in a middle area of ​​the receiving area 114 or at another location. Fig. The positions of the transfer vehicle 104 shown in Figures 1-3 are only examples.

[0027] It should also be noted that the control system may also identify the front and rear edges (or walls) as well as the side edges (or side walls) of the receiving area 114. In one example, the control system enforces a boundary offset inward into the receiving area 114 from the edges or walls of the receiving area 114 such that the impact point of the material does not cross the boundary. This may be done to reduce the likelihood of inadvertent spillage of crop material beyond the edges or walls of the receiving area 114.

[0028] Fig. 4 is similar to Fig. 2, and similar elements are numbered similarly. However, as in Fig. 4, the sensor 122 is now mounted on the grain cart 108 instead of the tractor 106. In one example, the sensor 122 is mounted on a boom arm that raises the sensor 122 above the edges or walls of the receiving area 114 to a height sufficient to allow the field of view 123 of the sensor 122 to capture a portion of the receiving area 114 and to allow image processing to be used to identify the edges or walls of the receiving area 114 near the point of impact of the material exiting the discharge spout 110.

[0029] Fig. 5 is similar to Fig. 4 except that Fig. Figure 5 shows that the sensor 122 is now mounted on the discharge spout 110. Thus, the field of view 123 of the sensor 122 is directed further downwards toward the receiving area 114, so that the edges or walls of the receiving area 114 near the point of impact of the material exiting the discharge spout 110 can be identified in the captured images. It should be noted that the sensor 122 can also be mounted at other locations, which are described in the Fig. The places shown in 1-5 are only examples.

[0030] In addition, the position and orientation of the sensor 122 on the transfer vehicle 104 are known as illustrated, so that the position of the edges or walls of the capture area 114 in the captured images can be associated with (or located relative to) the sensor 122, or to other parts of the material transfer vehicle 104, so that the material transfer vehicle 104 can be guided to a desired position relative to the transport vehicle 116 to perform the desired material transfer operation.

[0031] Fig. 6 shows a block diagram of an example of a material transfer control system 130 used in the Fig. 1-5 shown agricultural system 100. Fig. 6 shows that the material transfer control system 130 can be connected to one or more wagon-controllable subsystems 154 on the grain wagon 108 and / or to the prime mover-controllable subsystems 156 on the tractor 106. Furthermore, the material transfer control system 130 can be coupled to other systems 158 and other machines 160 via a network 162. The other systems 158 can be farm manager systems, supplier systems, systems in other vehicles, etc. Other machines 160 can include the harvesting vehicle 102, other supply vehicles, other transport vehicles, or other material transfer vehicles, etc. Thus, the network 162 can include a wide area network, a local area network, a short-range communication network, a Wi-Fi or Bluetooth network, a cellular network, or a wide variety of other networks or network combinations.It is also possible that, although the material transfer control system 130 communicates directly with the truck-controllable subsystems 154 and the drive vehicle-controllable subsystems 156 as shown, this communication may also take place via the network 162 or in another way.

[0032] It should be noted that the elements in the material transfer control system 130 may all be located on the tractor 106 or the grain wagon 108, or the elements may be distributed in different locations or in a remote server environment or other locations accessible by the agricultural system 100. In the Fig. 6, the material transfer control system 130 includes one or more processors or servers 132, a data store 134 (which may include dimensional data 136, internal profile data 137, and other data 138), the communication system 140, the sensors 142, a trigger detection system 143, a sensor processing system 144, a machine identifier 145, a transfer strategy implementation system 146, an operator interface system 148, a control signal generator 150, an internal profile sensing system 152, and other control system functionality 153.

[0033] Fig. 6 also shows that a user device 210 may be coupled to the control system 130 directly or via the network 162. The user device 210 may generate a user interface 212 for interaction by an operator 214. The operator 214 may control and operate the device 210 and some portions of the system 130 by interacting with the user interface 212.

[0034] The sensors 142 may include one or more optical sensors 122 (such as a stereo camera, etc.), ultrasonic sensors 164, RADAR and / or LIDAR sensors 166, and any of a wide variety of other sensors 168. The sensor processing system 144 may include an environmental processor 170, an image processor 172, a transport vehicle location processor 174, a fill level detection processor 176, and other elements 178. The control signal transmitter 150 may include a drive controller 180, a steering controller 182, a material feed controller 184, one or more spout / door actuation controllers 186, an operator interface controller 188, and other elements 190.

[0035] The interior geometry acquisition system 152 may include the CAD file acquisition system 216, the sensor-based acquisition system 218, the user input acquisition system 220, the vehicle type acquisition system 222, and other elements 224. The transfer strategy implementation system 146 may include the sensor-based strategy processor 226, the virtual fill processor 228, and other elements 230.

[0036] The vehicle-controllable subsystems 154 may include a material conveying subsystem 192, which may include one or more augers or other conveyors, the discharge spout actuator 194, the gate actuator 196, and / or other subsystems 198. The propulsion vehicle-controllable subsystems 156 may include the drive subsystem 200, the steering subsystem 202, and other elements 204. Before describing the general operation of the material transfer control system 130 in more detail, some elements of the material transfer control system 130 and their operation will first be explained.

[0037] The trigger detection system 143 detects a trigger criterion indicating that the material transfer control system 130 should assume automatic control of the material transfer vehicle 104 to transfer the material to the transport vehicle 116. The trigger criterion may indicate that the material transfer vehicle 104 is approaching within a threshold distance of the transport vehicle 116. The trigger criterion may be based on an operator input indicating that the system 130 should assume automatic control or on a variety of other criteria.

[0038] The dimensional data 136 may include the dimensions of the transport vehicle 116, such as the dimensions of the capture area 114 and other dimensions. Thus, by capturing an image of a portion of the capture area 114 and identifying, for example, one edge of the capture area 114, the position of the opposite edge may also be estimated using the dimensional data 136. This is just one example of the dimensional data 136 that may be used.

[0039] The interior profile data 137 may be data that identifies the interior geometry, volume profile, or other interior geometry of the transport vehicle 116 (e.g., the semi-trailer 120). The data 137 may be indexed by a vehicle identifier, vehicle type, etc.

[0040] An example of an optical sensor 122 has been discussed elsewhere and may include, for example, a stereo camera or other optical sensor. The ultrasonic sensors 164 may be used in addition to or in place of the optical sensors 122. The ultrasonic sensors 164 may be used on the tractor 106 to, for example, scan the host vehicle 120 or the host area 114, identify the interior geometry of the host vehicle 120, detect the position of the haulage vehicle 116 relative to the material transfer vehicle 104, etc. The RADAR / LIDAR sensors 166 may be used in addition to or in place of other sensors. The sensors 166 may also be used to detect the interior geometry of the haulage vehicle 116 or the position of the haulage vehicle 116 relative to the material transfer vehicle 104, or detect other elements.

[0041] The communication system 140 is configured to enable communication between the elements of the material transfer control system 130, with the other machines 160, with the other systems 158, and / or with the subsystems 154 and 156, and also with other elements via the network 162. Therefore, the communication system 140 may include a CAN (Controller Area Network) bus and a bus controller, as well as any components configured to communicate via the network 162 and / or directly with the subsystems 154 and 156.

[0042] The interior geometry acquisition system 152 may receive information from the sensors 142, the dimensional data 136, the CAD files corresponding to the trailer 120, the user inputs, a vehicle type identification generated by the machine identifier 145, and / or other elements, and identify the interior geometry of the trailer 120 or the receiving area 114. For example, the CAD file acquisition system 216 may receive a trailer identifier that identifies the trailer 120 and then access a corresponding CAD file. The CAD file acquisition system 216 processes the CAD file (if necessary) to identify the interior geometry of the trailer 120 (or the interior volume profile or other geometry of the receiving area 114) based on the CAD file.The sensor-based sensing system 218 may receive inputs from the sensors 142, as these sensors are positioned to scan the trailer 120 and / or the capture area 114. Based on the sensor inputs, the sensor-based sensing system 218 may create or otherwise generate a display of the interior geometry (e.g., volumetric profile) of the trailer 120. The user input sensing system 220 may be used to receive user input indicating a dimensional feature of the trailer 120. For example, the user input sensing system 220 may be used to generate a user interface display that displays a representation of the trailer 120 and allows the operator 214 to trace the outline of the trailer 120.Based on the traced outline and possibly other user inputs, such as width, length, and / or height dimensions, the user input capture system 220 may create or otherwise generate a representation of the interior geometry of the trailer 120. The vehicle type capture system 222 may receive input (an operator input, a sensor input, or other input) indicating the type of the trailer 120 (such as whether the trailer is a single-container trailer, a double-container trailer, a conveyor trailer, etc.). Based on the vehicle type, the vehicle type capture system 222 may access interior geometry data indicating the interior geometry of the particular trailer type.The interior geometry acquisition system 152 may output a representation of the interior geometry to the transfer strategy implementation system 146 so that the system 146 may implement a material transfer strategy for transferring the material from the material transfer vehicle 104 to the transport vehicle 116.

[0043] The sensor processing system 144 processes the signals received from the sensors 142. The environment processor 170 can process the sensor signals to identify the positions of the transport vehicle 116 and the material transfer vehicle 104 relative to each other. This position can be used, for example, to determine whether the material transfer vehicle 104 is within the vicinity of the transport vehicle 116, so that automatic control of the drive and steering subsystems 200, 202 should begin to move the material transfer vehicle 104 into a position relative to the transport vehicle 116 so that the material can be unloaded. The image processor 172 can process the images captured by the optical sensor 122 to identify elements in the captured images, such as, among other things, the edges of the capture area 114 and the height of the material in the capture area 114.The haulage vehicle location processor 174 locates the features identified in the images by the image processor 172 (or other sensors) in a coordinate system corresponding to the haulage vehicle 104. For example, by locating the edges of the capture area 114 in a captured image and accessing data in the data store 134 indicating the position and orientation of the optical sensor 122 on the haulage vehicle 104, the position of these edges can then be located relative to other parts of the haulage vehicle 104, such as the discharge end 112 of the spout 110, the edges of the grain cart 108 and the tractor 106, etc.

[0044] The level detection processor 176 detects the height of the material in the capture area 114 based on the captured image or other sensor inputs. The level can be detected by generating a point cloud based on the elements in the captured image and processing the point cloud to determine the height of the material at each point in the captured image. The level can also be detected in other ways.

[0045] The transfer strategy implementation system 146 generates outputs to the control signal generator 150 for implementing a fill strategy. For example, the transfer strategy implementation system 146 may be configured or programmed to implement a back-to-front fill strategy. In this case, the transfer strategy implementation system 146 generates outputs to the control signal generator 150 such that the control signal generator 150 generates control signals to move the material transfer vehicle 104 to a location such that the point of impact of the material exiting the discharge spout 110 is at a first location in the receiving area 114 (offset from the rear of the receiving area 114) that is not yet filled to a desired fill level.Thereafter, based on the detected or estimated fill level, the transfer strategy implementation system 146 may activate the material handling subsystem 192 to fill the location to a desired fill height and / or to a desired weight and / or volume and then generate outputs to the control signal generator 150 so that the control signal generator 150 may automatically move the material transfer vehicle 104 forward relative to the receiving area 114 such that the point of impact of the material being discharged from the grain cart 108 also moves forward, thus implementing the back-to-front fill strategy.Additionally, it is possible for the sensor-based strategy processor 226, for example, using the internal geometry of the receiving area 114 and sensor signals that detect the height and / or weight of the material at the respective location in the receiving area 114, to then generate an output that indicates the volume of material transferred into the receiving area 114 at the current impact point once the perceived material height or volume is reached.

[0046] In another example, once the initial impact point of the material in the receiving area 114 has been identified, the virtual fill processor 228 may obtain an indication of the internal geometry of the receiving area 114 at the current impact point and determine when a sufficient volume or fill level of the material has been reached. For example, once the internal geometry of the receiving area 114 is known, the virtual fill processor 228 may calculate the volume of the receiving area 114 and identify the volume of material that should be transferred at the current impact point in the receiving area 114.The virtual fill processor 228 can then detect or estimate the volume of material that has been transferred (based on a sensed mass flow rate, based on a change in the weight of the material in the grain cart 108, based on estimates given the mass flow rate, etc.) to identify the volume of material that has been transferred. The fill level of the material in question can then be estimated based on the estimated or sensed volume of material that has been transferred and also based on the internal geometry of the receiving area 114 at the current impact point.Once the desired fill level has been reached or the desired volume has been transferred, the transfer strategy implementation system 146 can again generate an output to the control signal generator 150 so that the control signal generator 150 can control the wagon-controllable subsystems 154 and / or the drive vehicle-controllable subsystems 156 to move the wagon to a new impact point and generate an output for the operator interface system 148 so that the material volume, the new impact point, etc. can appear (e.g., be displayed) for the operator 214 on a user interface 212.

[0047] These are just a few examples of how the transfer strategy implementation system 146 can operate; other filling strategies can also be implemented.

[0048] The operator interface system 148 may include operator interface mechanisms and control systems for communicating information to an operator of the tractor 106 and receiving inputs from the operator 214 of the tractor 106 to control the material transfer vehicle 104. Thus, the operator interface mechanisms may include a display, a touch-sensitive display screen, a point-and-click device, or other device that receives operator inputs, a steering wheel, joysticks, levers, pedals, knobs, buttons, linkages, etc. The operator interface system 148 may also include a microphone and a speaker if, for example, speech recognition and speech synthesis are provided. The operator interface system 148 may include other elements to provide audible, visual, and haptic outputs and also to receive operator inputs. The operator may be a human operator or an automated operator.

[0049] The control signal generator 150 generates control signals to control the wagon-controllable subsystems 154 and the drive vehicle-controllable subsystems 156 to automatically perform a material transfer operation in which material is transferred from the grain wagon 108 to the receiving area 114 of the transport vehicle 116. The drive control devices 180 can generate control signals to control the drive subsystem 200 of the tractor 106 to move the material transfer vehicle 104 to a desired position relative to the transport vehicle 116. The steering control device 182 generates control signals to control the steering subsystem 202 to control the direction of travel and / or the route of the tractor 106 and thus the material transfer vehicle 104.The material handling controller 184 generates control signals to control the material handling subsystem 192 (such as augers or other conveyors) to begin and stop discharging material from the grain cart 108. The spout / gate actuator controller(s) 186 generates control signals to control the spout controller 194 and / or the gate actuator 196 to control the trajectory and impact point of the material exiting the spout 112 within the receiving area 114. The operator interface controller 188 generates control signals to control the operator interface system 148.

[0050] Fig. Figure 7 shows a flowchart showing an example of the operation of the Fig. 6. First, it is assumed that the trigger detection system 143 detects that an operation for transferring material from a transfer vehicle 104 to a transport vehicle 116 is to be performed, as indicated by block 240 in the flowchart of Fig. 7. In one example, the environmental processor 170 receives a sensor signal indicating that the material transfer vehicle 104 is in proximity to the transport vehicle 116 and generates a trigger input indicating that the material transfer operation is about to begin. Detecting that an operation is to be performed based on the environment of the transport vehicle is indicated by block 242 in the flowchart of Fig. 7. In another example, operator 214 may provide an operator input trigger indicating that the material transfer operation is to begin, as indicated by block 244. Trigger detection for performing a material transfer operation may also be performed in other ways, as indicated by block 246.

[0051] The transport vehicle 116 is then identified by the machine identifier 145, as indicated by block 248 in the flowchart of Fig. 7. In one example, the operator 214 may provide an operator input that identifies the transport vehicle 116 (such as a unique identifier for the vehicle 116, the make and model of the transport vehicle 116, etc.). Providing an operator input to identify the transport vehicle 116 is represented by block 250 in the flowchart of Fig. 7. In another example, a sensor input may be processed to identify the transport vehicle 116, as indicated by block 252. For example, an optical sensor 122 may provide an image of the transport vehicle 116 to the image processor 172, which then identifies the transport vehicle 116 (such as its make and / or model, the type of transport vehicle 116, or other information). The transport vehicle 116 may also be identified in a variety of other ways, as indicated by block 254.

[0052] The interior geometry acquisition system 152 then acquires a representation of the interior geometry of the transport vehicle 116 (e.g., the semi-trailer 120), as indicated by block 256 in the flowchart of Fig. 7. The interior geometry acquisition system 152 may receive the identifier of the transport vehicle 116 and access the interior profile data 137 to determine whether an interior profile has already been received or generated for that particular vehicle 116. If not, the CAD file acquisition system 216 may use the vehicle identifier to determine whether the system 216 can access a CAD file that identifies the vehicle. An example of this is described with respect to Fig. 8-11C. Accessing a CAD file is described in more detail by block 258 in the flowchart of Fig. 7 is specified.

[0053] The sensor-based sensing system 218 may perform a calibration operation or receive sensor data generated by a scanning operation to generate the interior geometry of the transport vehicle 116 based on the sensor data, as indicated by block 260. The user input sensing system 220 may receive operator input and calculate or generate the interior geometry of the transport vehicle 116 based on the operator input, as indicated by block 262. The vehicle sensing system 222 may receive input indicating the type of the transport vehicle 116 (such as an operator input, a sensor input, etc.) and generate or access the interior geometry of the transport vehicle 116 based on the vehicle type, as indicated by block 264. The interior geometry of the transport vehicle 116 may also be acquired in other ways, as indicated by block 266.

[0054] Once the internal geometry of the transport vehicle 116 is known, the control signal generator 150 may then generate control signals to control the transfer of material to the transport vehicle 116 based on this internal geometry, as indicated by block 268 in the flowchart of Fig. 7. For example, the transfer strategy implementation system 146 may implement a transfer strategy for transferring the material, as indicated by block 270. The control signal generator 150 may generate control signals to control the truck-controllable subsystems 154, as indicated by block 272, and / or the drive vehicle-controllable subsystems 156, as indicated by block 274. The virtual fill processor 228 may be used to perform the virtual fill processing by estimating the fill level in the transport vehicle 116 and to control the material transfer process without requiring inputs from an optical sensor or other fill level sensor, as indicated by block 276 in the flowchart of Fig. 7. The sensor-based strategy processor 226 may sense the fill level in the transport vehicle 116 to control the material transfer operation based on the sensed fill level, as indicated by block 278. The control signals may be generated to control the material transfer to the transport vehicle 116 in a variety of other ways, as indicated by block 280.

[0055] In one example, the tractor-trailer pair of transport vehicle 116 may be identified collectively by machine identifier 145. In another example, trailer 120 may be identified separately. Thus, in one example, the term transport vehicle 116 / trailer 120 refers to either the tractor-trailer pair, the trailer 120 itself, and / or both.

[0056] Fig. 8 shows a block diagram of an example system architecture 710 in which a material transfer vehicle 104 can perform a transfer operation to transfer the material to the transport vehicle 116. The architecture 710 also shows that the transfer vehicle 104 and / or the transport vehicle 116 (and / or the vehicle 120) can be connected to one or more remote systems 712 and other vehicles 160 via a network 162. Similarly, a CAD file processing system 716 can present an interface 718 for access by other elements in the architecture 710 via the network 162. Fig. 8 also shows that the CAD file processing system 716 may be located in one or more remote systems 712 or on the material transfer vehicle 104 (as indicated by the dashed arrows 720 and at 722, respectively), or elsewhere in the architecture 710. For example, the CAD file processing system 716 may be part of the CAD file acquisition system 216 or another part of the material transfer control system 130 on the vehicle 104, located separately on the vehicle 104, located in a remote system 712 accessible by the vehicle 104, located on one or more other machines, distributed among different locations, or arranged in other ways.

[0057] Fig. 8 also shows that one or more CAD file provisioning systems 724 may communicate with other elements in the architecture 710 via the network 162. The CAD file provisioning system 724 may be controlled by manufacturers or suppliers of the transport vehicles 116 / trailers 120 or other organizations that have CAD files corresponding to each of a variety of different types of the transport vehicle 116 or trailers 120. For example, one CAD file provisioning system 724 may provide CAD files for several different models of the transport vehicles 116 / trailers 120. In one example, the CAD file provisioning system 724 may upload the CAD files using the interface 718 presented by the CAD file processing system 716 so that the CAD file processing system 716 can access and process the CAD files.Again, it should be noted that the CAD file processing system 716 may be located in a remote system 712 accessible by the material transfer vehicle 104, or in a different system. The CAD file processing system 716 is shown, by way of example only, as a separate system that can communicate with other elements in the architecture 710 via the network 162.

[0058] The CAD file processing system 716 may receive the CAD files and perform algorithms on the uploaded CAD files to generate parameter and dimensional information, as well as volume profile information and / or interior geometry data corresponding to each of the CAD files and thus to each different type of transport vehicle 116 and / or trailer 120. The information generated by the CAD file processing system 716 (e.g., the derived information) for a plurality of different transport vehicles 116 / trailers 120 may be automatically downloaded and stored as interior profile data 137 on the material transfer vehicle 104, or the material transfer vehicle 104 may first load the transport vehicle 116 and / or trailer 120.that is about to be loaded with material from the material transfer vehicle 104, and the material transfer vehicle 104 can request the CAD file or derived information for the specific transport vehicle 116 or trailer 120 that is about to be filled based on the identity of the transport vehicle 116 or trailer 120. The material transfer control system 150 on the material transfer vehicle 104 can then use this derived information to control the unloading process to unload the material into the transport vehicle 116 or trailer 120.

[0059] For example, the CAD file processing system 716 (or another element on the material transfer vehicle 104) may generate point cloud data corresponding to the visual recognition of the transport vehicle 116 / trailer 120. This point cloud data may be compared with corresponding data derived from the CAD file for the transport vehicle 116 / trailer 120 so that the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 relative to the material transfer vehicle 104 may be identified. This type of position information may be used to track the position of the transport vehicle 116 / trailer 120 relative to the material transfer vehicle 104 and thus control the position of the material handling subsystem 186 so that material can be conveyed to desired locations on the transport vehicle 116 / trailer 120.Likewise, since the volume profile or internal geometry of the transport vehicle 116 / trailer 120 is known, the fill level of the material transferred to the transport vehicle 116 / trailer 120 can be detected and / or estimated based on the mass flow of the material being transferred and / or the internal geometry or volume profile of the vehicle 116 / trailer 120. Furthermore, a logistics control device can generate logistics control signals based on the information derived from the CAD file (such as the volume profile corresponding to the transport vehicle 116 / trailer 120). The logistics control signals can be control signals used to perform various operations based on, among other things, the volume capacity and volume profile of a transport vehicle 116 / trailer 120 (e.g.which material transfer vehicle should be dispatched for unloading to which transport vehicle 116 / trailer 120) as well as the volume of material that is actually loaded into a transport vehicle 116 / trailer 120.

[0060] Fig. Figure 9 shows a block diagram illustrating an example of the CAD file processing system 716 in more detail. Fig. 9, the CAD file processing system 716 includes one or more processors or servers 726, the CAD file loading system 728, the CAD file storage 730 (which may include one or more CAD files 732, derived dimension / parameter / volume (or interior geometry) information 734, and other elements 736), the communications system 738, the dimension / parameter / volume data generation device 740, the transport vehicle tracking system 742, the transport vehicle volume profile processing system 744, and other elements 746. The transport vehicle tracking system 742 may include the point cloud matching system 748, the position / orientation / attitude generation device 750, and other elements 752.The transport vehicle volume profile processing system 744 may include the interior geometry / volume profile identifier 754, the discrete fill position and volume identifier 756, the volume estimation processor 758, the logistics control devices 760, and other elements 762. Before further describing the general operation of the CAD file processing system 716, some elements within the CAD file processing system 716 and their operation will first be explained.

[0061] The CAD file loading system 728, as illustrated, allows the surface 718 (in Fig. 8) that can be accessed by the CAD file provisioning systems 724 to upload CAD files for various different transport vehicles 116 / trailers 120. The dimension / parameter / volume data generation device 740 can perform algorithms on the CAD files to generate the parameter and dimension information, as well as volume profile (or interior geometry) information that describes the volume or volume profile corresponding to the transport vehicle 116 / trailer 120 represented by the CAD file. Along with the derived dimension / parameter / volume information 734, the CAD file 732 can then be stored in the CAD file storage 730 and indexed by identifiers that identify the various corresponding transport vehicles 116 / trailers 120.

[0062] When the material transfer vehicle 104 is in the process of, or about to unload, material into a transport vehicle 116 / trailer 120, the transport vehicle tracking system 742 may use the CAD file 732 and / or derived information 734 corresponding to that transport vehicle 116 / trailer 120 to track the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 relative to the material transfer vehicle 104. In one example, an optical sensor 122 on the material transfer vehicle 104, or a wearable sensor 142, or a sensor 142 on a drone captures images or other information corresponding to the transport vehicle 116 / trailer 120 and generates point cloud data from the captured images. For example, the point cloud data may be generated from images captured by a stereo camera or otherwise.The point cloud data can then be compared with the information in the CAD files 732 or derived information 734 to identify the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 relative to the optical sensor 122 and thus relative to the material handling subsystem 192 on the material transfer vehicle 104. The position, orientation, and / or attitude can be output to the transfer strategy implementation system 146, the control signal transmitter 150, or another element in the material transfer control system 130 so that the unloading process can be controlled accordingly.

[0063] The transport vehicle volume profile processing system 744 identifies or generates the transport vehicle volume profile (or other interior geometry) from the CAD files 732 or from the derived information 734. The discrete fill location and volume identifier 756 separates the volume profile into discrete portions (e.g., discrete volumes along with the front-to-rear axis of the transport vehicle 116 / trailer 120 or otherwise). The discrete portions may correspond to an impact point at which the material handling subsystem 192 will be controlled to convey material within the transport vehicle 116 / trailer 120.Therefore, the discrete fill positions and corresponding volumes generated by identifier 756 may be provided to transfer strategy implementation system 146 and / or control signal generator 150, or to other elements within control system 130 to be used during the unloading operation. For example, material handling subsystem 192 may be controlled to convey material to various discrete positions within transport vehicle 116 / trailer 120 according to a desired fill-level-based fill pattern (e.g., front-to-back, back-to-front, or multi-pass) based on the detected or estimated transferred volume or weight, etc.

[0064] The volume estimation processor 758 may receive an indication (detected or estimated) of the fill level of the material at each of the discrete discharge positions and estimate the volume of material discharged into each of those positions based on the volume (or other internal geometry) of each discrete position and the fill level at each discrete position. For example, if the volume profile of each discrete position is known and the fill height or other fill level indication measuring the height of the material discharged into each of the discrete positions is known (either detected or estimated), the volume of material discharged into each of the discrete positions may also be generated.The volume estimation processor 758 also aggregates the volume of material unloaded into each of the discrete locations to obtain a total volume of material unloaded into the transport vehicle 116 / trailer 120. The volume information (e.g., the volume capacity for a transport vehicle 116 / trailer 120 as well as the volume of material loaded into the transport vehicle 116 / trailer 120) can be used by the logistics controller 760 to generate logistics control signals. The logistics control signals can control the dispatch of the material transfer vehicle, which determines which respective material transfer vehicles should be dispatched to the different transport vehicles, and when the material transfer vehicles should be dispatched, as well as to control other transportation and control logistics.

[0065] Fig. 10 shows a flowchart illustrating an example of the operation of the architecture 710 in obtaining and utilizing the CAD files for a variety of different transport vehicles 116 / trailers 120. In one example, the CAD file processing system 716 displays the interface 718 for uploading CAD files corresponding to the transport vehicles / trailers, as indicated by block 764 in the flowchart of Fig. 10. It should be noted that the CAD file storage 730 may be located in the CAD file processing system 716 or elsewhere in the architecture 710.

[0066] In one example, the CAD files are uploaded from an external source, such as the CAD file provisioning system 724. Each CAD file may be identified by the model number of the transport vehicle 116 / trailer 120 it represents or by other means, as indicated by block 766. The CAD files may also be uploaded by other means, as indicated by block 768.

[0067] The CAD file processing system 716 finally receives a CAD file and a vehicle identifier (which identifies the transport vehicle 116 / trailer 120 corresponding to the CAD file) via the appeared interface 718, as indicated by block 770 in the flowchart of Fig. 10. At one point, the CAD file processing system 716 detects a trigger indicating that a material transfer vehicle 104 wishes to access the CAD file (or information derived from the CAD file), as indicated by block 772 in the flowchart of Fig. 10. In one example, the trigger may be, for example, the communication system 738 receiving a request from a material transfer vehicle 104 for the CAD file or derived information. In another example, where the CAD file processing system 716 is located at the material transfer vehicle 104, for example, once the identity of the transport vehicle 116 / trailer 120 is obtained, this may serve as a trigger for the CAD file processing system 716 to output the CAD file 732 or derived information 734 corresponding to the identified transport vehicle 116 / trailer 120. It should be noted that the CAD file processing system 716 may perform the processing algorithms to pre-process the CAD file 732 to generate the dimensional / parameter / volume data 734. The preprocessing of the CAD file 732 (before it is requested) is indicated by block 774 in the flowchart of Fig. 10. Additionally, the CAD files 732 may be processed at runtime so that the dimensional / parameter / volume data may be generated when requested by a material transfer vehicle 104. Processing the CAD file at runtime is indicated by block 776. Detecting a trigger to access the CAD file or derived information may also be performed in other ways, as indicated by block 778.

[0068] The CAD file and / or the derived information are then loaded into the transport vehicle tracking system 742 and / or the transport vehicle volume profile processing system 744 so that the tracking information and / or the volume profile information can be used by the material transfer vehicle 104. Loading the CAD file and / or the derived information in such a manner is indicated by block 780 in the flowchart of Fig. 10 is given.

[0069] The CAD file and / or derived information is then used by the material transfer vehicle 104 to control the unloading process, as indicated by block 782 in the flowchart of Fig. 10. In one example, the transport vehicle volume profile processing system 744 may perform the volume processing, as indicated by block 784. The transport vehicle tracking system 742 may also generate outputs that may be used to track the transport vehicle 116 / trailer 120 during an unloading operation, as indicated by block 786. The CAD file and / or derived information may be used to control the unloading operation in other ways as well, as indicated by block 788.

[0070] Fig. 11A, Fig. 11B and Fig. 11C (collectively referred to herein as Fig. 11) shows a flowchart illustrating an example of the operation of the CAD file processing system 716 and the material transfer control system 130 in controlling an unloading operation and performing volume estimation and logistics processing. Fig. 11, it is assumed that the trigger detection system 143 detects that a material transfer vehicle 104 is about to perform an unloading operation to discharge the material into a transport vehicle 116 / trailer 120. The detection that an unloading operation is to be performed is indicated by block 790 in the flowchart of Fig. 11. In one example, operator 214 may provide operator input 792 indicating that the material transfer operation is about to begin. In another example, material transfer sensors 142 may detect that a material transfer vehicle 104 and a transport vehicle 116 are in close proximity to each other, indicating that an unloading operation is about to begin, as indicated by block 796. Detecting that an unloading operation is about to begin may also be performed in other ways, as indicated by block 798.

[0071] The machine identifier 145 detects an input comprising a transport vehicle / trailer identifier that identifies the transport vehicle 116 / trailer 120 to be filled. The detection of the transport vehicle / trailer identifier is indicated by block 900 in the flowchart of Fig. 11. The vehicle identifier may be based on operator input 902 (such as from operator 214 manually submitting the vehicle identifier or from operator 214 manually entering the vehicle identifier). The transport vehicle / trailer identifier may be the vehicle identification number (VIN) for the transport vehicle 116, as indicated by block 904. The transport vehicle / trailer identifier may be transmitted from / to the other vehicles 160, as indicated by block 906 in the flowchart of Fig. 11. The transport vehicle / trailer identifier may be detected by a sensor 142 on the material transfer vehicle 104, as indicated by block 908. The transport vehicle / trailer identifier may also be detected or obtained in other ways, as indicated in block 910.

[0072] If the derived information 734 has not already been generated for the identified transport vehicle 116 / trailer 120, the CAD file loading system 728 loads or otherwise accesses the CAD file 732 corresponding to the transport vehicle 116 / trailer 120. Downloading or accessing the CAD file 732 is indicated by block 912 in the flowchart of Fig. 11. In one example, the CAD file loading system 728 may request the loading of the CAD file 732 from the CAD file provisioning system 724, as indicated by block 914. In another example, the CAD file 732 may already have been downloaded and is simply accessed to generate the derived information 734, as indicated by block 916. The CAD file 732 may also be obtained in other ways, as indicated by block 918.

[0073] The dimension / parameter / volume data generation device 740 then generates transport vehicle / trailer dimension / parameter / volume data or other interior geometry data (the derived data) from the CAD file, as indicated by block 920 in the flowchart of Fig. 11. In one example, the generating device 740 may perform one or more algorithms (e.g., the ICP algorithm or other algorithms) against the CAD file 732 to generate the derived information, as indicated by block 922. Some of the derived information may include the transport vehicle / trailer length 924, the transport vehicle / trailer width 926, the transport vehicle / trailer height 928, the axle position 930 on the transport vehicle 116 / trailer 120, the front to hitch point measurement 934, the volume profile of the transport vehicle / trailer (e.g.,including the volume profile of the lower portion of the transport vehicle / trailer, which may not be visible), as indicated by block 936, the cross member positions 938 on the transport vehicle / trailer, as well as the position of discrete sections of the transport vehicle 116 / trailer 120 that may be used during filling operations, as indicated by block 940. The derived information may also include any of a wide variety of other information 942, including other interior geometry information. The derived information may be provided to the transport vehicle tracking system 742, the transport vehicle volume profile processing system 744, and / or other parts of the material transfer control system 130 (such as other parts of the CAD file processing system 216, the transfer strategy implementation system 146, the control signal generator 150, etc.).) to the material transfer vehicle 104 as indicated by block 944 in the flowchart of . Fig. 11 is given.

[0074] The transport vehicle tracking system 742 may generate outputs indicating the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 relative to the material handling subsystem 192 on the material transfer vehicle 104. The transport vehicle volume profile processing system 744 may generate outputs indicating the volume profile or interior geometry of the transport vehicle 116 / trailer 120 and the volume of material loaded into the various discrete sections of the transport vehicle 116 / trailer 120. The material transfer control system 130 may also generate outputs that control the unloading process. Performing the vehicle tracking and / or level / volume processing is represented by block 946 in the flowchart of Fig. 11 is displayed.

[0075] To perform transport vehicle tracking, the point cloud matching system 748 may receive point cloud data generated using an optical sensor 122 (such as a stereo camera) or another sensor 142. The point cloud information may be generated by the image processor 172 or a system that performs a perception algorithm based on the captured images. Acquiring the point cloud data corresponding to the transport vehicle 116 / trailer 120 is represented by block 948 in the flowchart of Fig. 11 is given.

[0076] The point cloud matching system 748 then matches the point cloud data acquired from the transport vehicle 116 / trailer 120 with the structural data in the CAD file (or the derived data) to obtain a matching result, as indicated by block 950. For example, the point cloud matching system 748 may attempt to take the point cloud data acquired from the transport vehicle 116 / trailer 120 and match that data with similar point cloud data derived from the CAD file. The matching result may indicate the orientation, location or position, and / or attitude of the transport vehicle 116 / trailer 120 in the captured image.

[0077] The position / orientation / attitude generation device 750 then uses the alignment result (the manner in which the acquired point cloud data is transformed to align it with the CAD file data) to generate a position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 relative to the material transfer vehicle 104 (and, in one example, relative to the material handling subsystem 192 on the material transfer vehicle 104). Generating the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 is indicated by block 952 in Fig. 11. The output from the generating device 750 may include coordinates in a global or local coordinate system that identify the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120. These coordinates may then be transformed into the coordinate system of the material transfer vehicle 104 so that the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120 relative to the position of the material handling subsystem 192 may be identified so that the material transfer operation may be performed (e.g., "nudges" may be generated to change the relative position of the material transfer vehicle 104 and the transport vehicle 116 / trailer 120) to perform a desired material transfer operation.

[0078] The transfer strategy implementation system 146 and the control signal generator 150 may then generate control signals to perform a material transfer operation using the volume profile (or internal geometry) of the transport vehicle 116 / trailer 120, the discrete sections identified within the transport vehicle 116 / trailer 120, and the position, orientation, and / or attitude of the transport vehicle 116 / trailer 120. The generation of the control signals to perform the desired material transfer operation is represented by block 954 in the flowchart of Fig. 11. Generating the control signals to perform the material transfer operation may also include generating an output indicative of the volume of material loaded into each of the discrete positions in the transport vehicle 116 / trailer 120.

[0079] The transport vehicle volume profile processing system 744 may perform the volume profile processing in conjunction with or sequentially with the processing performed by the transport vehicle tracking system 742. In one example, the volume profile identifier 754 identifies the volume profile (or interior geometry) of the transport vehicle 116 / trailer 120, as indicated by block 956 in the flowchart of Fig. 11. The discrete fill position and volume identifier 756 may identify the discrete fill positions on the transport vehicle 116 / trailer 120, as well as the volume corresponding to each of these positions. Identifying the discrete positions of the transport vehicle 116 / trailer 120 to be used along with the volume of each of these sections is indicated by block 958 in the flowchart of Fig. 11 is given.

[0080] The volume estimation processor 758 may also perform any desired volume predictions for the transport vehicle 116 / trailer 120, such as aggregating the volume of the discrete sections in the transport vehicle 116 / trailer 120 to obtain a total material volume capacity for the transport vehicle 116 / trailer 120. Performing such volume predictions for the transport vehicle 116 / trailer 120 is represented by block 960 in the flowchart of Fig. 11 is given.

[0081] The logistics controller 760 may generate logistics control outputs, as indicated by block 962. The logistics control outputs may include dispatch control outputs that control which material / transfer vehicles should be dispatched to which transport vehicles 116 / trailers 120 and, among other things, control the dispatch schedule.

[0082] Until the material transfer process is completed, as shown in block 964 in the flow chart of Fig. 11, processing may return to block 946, where the CAD file processing system 716 continues performing the pickup vehicle tracking operations and the level / volume processing. Once the material transfer operation is complete, the CAD file processing system 716 may generate outputs for storage or further processing, as indicated by block 966 in the flowchart of Fig. 11 is given.

[0083] It can thus be seen that the present description describes a system in which a CAD file corresponding to a transport vehicle 116 / trailer 120 is obtained and processed to obtain a volume profile for that transport vehicle / trailer. The volume profile can be used to control a material transfer process and generate logistics control signals.

[0084] Fig. 12 shows a flowchart illustrating an example of the operation of a sensor-based sensing system 218. In sensor-based sensing, a sensor 142 is used to scan or otherwise sense the transport vehicle 116 / trailer 120 to generate data from which the interior geometry of the transport vehicle 116 / trailer 120 can be generated. In the embodiment described with respect to Fig. 12, it is assumed that the sensor 142 used to scan the transport vehicle 116 / trailer 120 to detect its interior geometry is the sensor 122 attached to the material transfer vehicle 104. However, it should be noted that the sensor 142 could be a wearable sensor, a drone-mounted sensor, or any of a wide variety of other sensors that can be positioned in a suitable position to generate sensor signals indicative of the interior geometry of the transport vehicle 116 / trailer 120. This process may be referred to as a calibration process, which is why the trigger detection system 143 first detects a calibration trigger, as indicated by block 290 in the flowchart of Fig. 12. The calibration trigger can be based on operator input or other trigger criteria.

[0085] The sensor-based sensing system 218 may then use the environmental processor 170 or other processors to detect the position of the sensor 122 relative to the transport vehicle 116 / trailer 120 to determine whether the two vehicles are in calibration positions relative to each other (e.g., so that the sensor 122 can generate sensor data indicative of the interior geometry of the transport vehicle 116 / trailer 120). Detecting the position of the sensor 122 relative to the transport vehicle 116 / trailer 120 is represented by block 292 in the flowchart of Fig. 12. If the sensor 122 is not in the calibration position, as determined at block 294, the control signal generator 150 generates control signals to control the drive subsystem 200 and / or the steering subsystem 202 of the drive vehicle controllable subsystems 156 to change the relative position of the sensor 122 relative to the transport vehicle 116 / trailer 120 so that it moves into the calibration position. In the example where the sensor is an optical sensor 122, the image processor 172 processes the images captured by the sensor 122 to determine whether the sensor 122 has a sufficient view of the transport vehicle 116 / trailer 120 to capture the interior geometry. If not, the sensor-based sensing system 218 generates an output indicating the direction in which the sensor 122 must be moved and the distance it must be moved to move into an appropriate calibration position.The generation of control signals for moving the material transfer vehicle 104 until the sensor 122 is in a suitable calibration position is represented by block 296 in the flowchart of FIG. Fig. 12 is given.

[0086] Once the sensor 122 is in the appropriate calibration position, the material transfer vehicle 104 is controlled so that the sensor 122 can scan the transport vehicle 116 / trailer 120 to detect data indicative of its internal geometry, as indicated by block 298.

[0087] Again, as discussed above, the sensor may be the optical sensor 122 with the image processor 172, as indicated by block 300 in the flowchart of Fig. 12. The sensor may also be an ultrasonic sensor 164, a RADAR or LIDAR sensor 166, or another sensor 168 with the corresponding sensor processing system, as indicated by block 302 in the flowchart of Fig. 12. The sensor may also be any of a wide variety of other types of sensors with the corresponding sensor processing systems, as indicated by block 304.

[0088] Once the transport vehicle 116 / trailer 120 has been scanned by the sensor and the interior geometry of the transport vehicle 116 / trailer 120 has been generated by the sensor-based sensing system 218, a representation of this interior geometry is output by the sensor-based sensing system 218 for use by the transfer strategy implementation system 146, the control signal generator 150, and / or other elements. It should also be noted that the interior geometry may be output to other machines 160, stored in other systems 158, as interior profile data 137 corresponding to this particular transport vehicle 116 / trailer 120, or output in other ways. Outputting the representation of the interior geometry is indicated by block 306 in the flowchart of Fig. 12 is given.

[0089] Fig. 13 shows a flowchart illustrating an example of the operation of the user input acquisition system 220 in generating a representation of the interior geometry of the transport vehicle 116 / trailer 120 based on user input. In one example, the operator 214 first provides an input that is recognized by the trigger detection system 143, indicating that the user wishes to generate a representation of the interior geometry of a transport vehicle 116 / trailer 120. Detection of such an input is indicated by block 310 in the flowchart of Fig. 13. In one example, the user input gathering system 220 controls the operator interface system 148 to generate an operator interface displaying an image of the transport vehicle 116 / trailer 120, as indicated by block 312. In one example, the user input gathering system 220 uses, for example, the optical sensor 122 to capture an image of a side view of the trailer 120. Capturing such an image is indicated by block 314. This image (or a computer-generated image, simulated image, or stored image) may then be displayed on an interactive display 316, such as a touch-sensitive display or other display with which the operator 214 can interact. The image may display a side view 318 or any of a variety of other views, as indicated by block 320.

[0090] The operator input capture system 220 then uses the user interface system 148 to request input from an operator and detect the operator input that identifies a two-dimensional geometry. By way of example, the operator 214 may trace the outline of the captured image of the trailer 120 to display the side profile of the trailer 120 using a touch input, a stylus input, a point and click device, etc. Detecting an operator input that identifies a two-dimensional geometry is indicated by block 322. Detecting a touch input that traces an image of the transport vehicle 116 / trailer 120 is indicated by block 324. Of course, the operator input may be provided in a variety of other ways to define a two-dimensional geometry, as indicated by block 326.

[0091] The user input capture system 220 may then use the operator interface system 148 to recognize additional dimension inputs provided by the operator, as indicated by block 328 in the flowchart of Fig. 13. For example, the operator 214 may provide inputs identifying the width 330, height 332, length 334, or any other dimensional information 336 from a wide variety corresponding to the transport vehicle 116 / trailer 120.

[0092] Once the two-dimensional geometry is entered along with additional dimensional information, the user input capture system 220 generates a representation of the interior geometry of the transport vehicle 116 / trailer 120 based on the two-dimensional geometry and additional dimensional information entered by the user. Generating the representation of the interior geometry in this manner is represented by block 338 in the flowchart of Fig. 13. The internal geometry can then be used to control the material transfer process.

[0093] Fig. 14A shows a flowchart illustrating an example of the operation of the vehicle type detection system 222, in which the system 222 generates or accesses a representation of the interior geometry of the transport vehicle 116 / trailer 120 based on the vehicle type. The vehicle type detection system 222 first receives an input (e.g., a sensor input or a manual input) that identifies the type of the transport vehicle 116 / trailer 120, as indicated by block 350 in the flowchart of Fig. 14A. Again, the input may be an automated input or a manual input, as indicated by block 352.

[0094] For example, in one example, the optical sensor 122 captures an image of the trailer 120, and the image processor 172 processes this image to identify the type of trailer 120 that is about to be filled. In another example, the operator 214 provides operator input via the operator interface 212 that identifies the type of trailer. As examples of the vehicle type, the transport vehicle and / or trailer may be a single-container transport vehicle 354, a double-container transport vehicle 356, a triple-container transport vehicle 358, a conveyor trailer 360, or any of a wide variety of other types 362 of transport vehicles. Fig. 14B shows an example of a single container transport vehicle 354. Fig. Figure 14C shows an example of a double container transport vehicle 356. Fig. 14D shows an example of a triple container transport vehicle 358 and Fig. 14E shows an example of a conveyor trailer 360. It can be seen that the Fig. 14B-14E are examples only, and any of a wide variety of other types of transport vehicle and / or trailer may be used.

[0095] Next, the vehicle type detection system 222 accesses a source of interior profile data 137 indexed based on the transport vehicle type. The vehicle type detection system 222 searches the data store to identify the interior geometry data corresponding to the identified transport vehicle type, as indicated by block 364 in the flowchart of Fig. 14A. For example, it may be the case that the data storage 134 in the material transfer control system 130 stores the interior profile data 137 indexed by the transport vehicle type. In this case, once the vehicle type detection system 222 knows the type of the transport vehicle, the system 222 can access (e.g., extract) the interior profile data 137 corresponding to that vehicle type.

[0096] Identifying the respective internal geometry for this vehicle type is done by block 366 in the flow chart of Fig. 14A. Accessing or extracting the identified internal geometry for use by the transfer strategy implementation system 146 and / or the control signal generator 150 and / or another element in the material transfer control system 130 is indicated by block 368 in the flowchart of Fig. 14A is specified.

[0097] It can thus be seen that the present description describes a system that identifies an interior geometry of a transport vehicle 116 / trailer 120. The system then uses this interior geometry to control the transfer of material from a material transfer vehicle 104 into the transport vehicle 116 / trailer 120. By way of example, the material transfer process may be controlled based on the estimated or detected volume or material transferred using the interior geometry of the transport vehicle 116 / trailer 120.For example, the volume may be calculated by detecting the height of the material being transferred, or the material transfer may be controlled based on a virtual transfer process, where the volume and / or height of the material is determined taking into account the internal geometry of the transport vehicle 116 / trailer 120 and / or an estimated or sensed value of the mass flow rate of the material being transferred, the weight of the material being transferred, or another value that estimates the amount of material being transferred. By utilizing the internal geometry of the transport vehicle 116 / trailer 120 in this manner, the accuracy of the material transfer process is improved such that the transport vehicle / trailer can be filled to a desired height or volume without spillage.Because the internal geometry of the transport vehicle 116 / trailer 120 is known, the material transfer does not need to be visually or optically detected during the material transfer process in an environment where there is a large amount of dust or other visual obstructions and where the sides of the transport vehicle 116 / trailer 120 may be quite high, making it difficult for an operator to observe the material transfer process.

[0098] In this discussion, processors and servers have been mentioned. In one example, processors and servers include computer processors with associated memory and timing circuitry, not shown separately. The processors and servers are functional parts of the systems or devices of which they are a part and are activated by the other components or elements in those systems and enable their functions.

[0099] Additionally, a number of user interface (UI) displays were discussed. UI displays can take a wide variety of different forms and can have a wide variety of different user-operable input mechanisms disposed thereon. User-operable input mechanisms can include, for example, text fields, checkboxes, icons, links, drop-down menus, search fields, etc. The mechanisms can also be actuated in a variety of ways. For example, the mechanisms can be actuated using a pointing and clicking device (such as a trackball or mouse). The mechanisms can be actuated with hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. The mechanisms can also be actuated via a virtual keyboard or other virtual actuators.Furthermore, if the screen on which the mechanisms are displayed is a touch-sensitive screen, the mechanisms can be operated using touch gestures. Furthermore, if the display device includes voice recognition components, the mechanisms can be operated using voice commands.

[0100] A number of data stores were also discussed. It should be noted that each data store can be divided into multiple data stores. All can be local to the systems that access them, all can be remote, or some can be local while others are remote. All of these configurations are considered here.

[0101] Furthermore, the figures show a number of blocks, with each block assigned a functionality. It should be noted that fewer blocks can be used, thus performing the functionality through fewer components. Furthermore, more blocks can be used, whereby the functionality is distributed across more components.

[0102] It should be noted that a variety of different systems, subsystems, components, sensors, and / or logic have been described in the foregoing discussion. It should be appreciated that such systems, subsystems, components, sensors, and / or logic may consist of hardware elements (such as processors and associated memory or other processing components, some of which are described below) that perform functions associated with those systems, subsystems, components, sensors, and / or logic. In addition, the systems, subsystems, components, sensors, and / or logic may consist of software loaded into memory and subsequently executed by a processor or server or other computing component, as described below. The systems, subsystems, components, sensors, and / or logic may also consist of different combinations of hardware, software, firmware, etc.Some examples of which are described below. These are just a few examples of different structures that can be used to form the systems, subsystems, components, sensors, and / or logic described above. Other structures may also be used.

[0103] Fig. 15 shows a block diagram of the Fig. 1 and Fig. 6, except that it is deployed in a remote server architecture 500. In one example, the remote server architecture 500 may provide computing, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system providing the services. In various examples, remote servers may provide the services over a wide area network, such as the Internet, using appropriate protocols. For example, remote servers may provide applications over a wide area network and may be accessed via a web browser or any other computing component. Software or components shown in previous figures, as well as the corresponding data, may be stored on servers at a remote location.The computing resources in a remote server environment may be consolidated at a remote data center location or distributed locally. Remote server infrastructures may deliver services across shared data centers, yet appear as a single access point to the user. Thus, the components and functions described herein may be provided by a remote server at a remote location using a remote server architecture. Alternatively, the components and functions may be provided from a conventional server, or may be installed directly on client devices or provided in other ways.

[0104] In the Fig. In the example shown in Figure 15, some elements are similar to those shown in previous figures and are numbered similarly. Fig. In particular, Figure 15 shows that the material transfer control system 130, other systems 158, and / or the data storage 134 may be located at a remote server location 502. Therefore, elements in the system 100 access these systems via the remote server location 502. Furthermore, Fig. 15 that an operator 506 can operate the transport vehicle 116 / trailer 120 and communicate with other elements in the system 100.

[0105] Fig. Figure 15 also shows another example of a remote server architecture. Fig. Figure 15 shows that it is also contemplated that some elements of previous figures may be located at the remote server location 502, while others may not. For example, the data store 134 may be located at a location separate from the location 502 and accessed via the remote server at the location 502. Regardless of where the elements are located, the elements may be accessed directly from the machines 102, 104, 116, 120 via a network (such as a wide area network or a local area network), the elements may be hosted at a remote location by a service, or the elements may be provided as a service or accessible via a connecting service located at a remote location.Furthermore, the data can be stored at essentially any location and accessed intermittently by, or relayed to, interested parties. For example, physical carriers can be used instead of or in addition to carriers of electromagnetic waves. In such an example, where cellular coverage is poor or nonexistent, another mobile machine (such as a fuel tanker) can have an automated information collection system. As the machine approaches the fuel tanker for refueling, the system automatically collects the information from the machine using any type of ad hoc wireless connection. The collected information can then be relayed to the main network when the fuel tanker reaches a location where cellular (or other wireless) coverage is available.For example, the tanker may enter a covered location when refueling other machines or when it is at a main fuel storage location. All of these architectures are considered here. Furthermore, the information can be stored in the harvester until the harvester enters a covered area. The harvester can then send the information itself to the main network.

[0106] It should also be noted that the elements of the preceding figures, or portions thereof, may be arranged on a wide variety of different devices. Some of these devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palmtop computers, mobile phones, smartphones, multimedia players, personal digital assistants, etc.

[0107] Fig. Figure 16 shows a simplified block diagram of an illustrative example of a portable or mobile computing device that may be used as a user's or client's portable device 16 and in which the present system (or portions thereof) may be implemented. For example, a mobile device may be deployed in the operator compartment of machine 104 for use in generating, processing, or displaying the position or control data. Fig. Figures 17-18 show examples of portable or mobile devices.

[0108] Fig. 16 shows a general block diagram of the components of a client device 16, which may execute some of the components shown in the previous figures, interact with them, or both. A communications link 13 is provided within device 16, enabling the portable device to communicate with other computing devices and, in some examples, providing a channel for automatically receiving information, such as by scanning. Examples of communications link 13 include enabling communication via one or more communications protocols, such as wireless services used to provide cellular access to a network and protocols that provide local wireless connections to networks.

[0109] In other examples, applications may be received on a removable Secure Digital (SD) card connected to an interface 15. The user interface 15 and communication links 13 communicate with a processor 17 (which may also embody processors or servers from previous figures) along a bus 19, which is also connected to memory 21 and input / output (I / O) components 23, as well as a clock 25 and a positioning system 27.

[0110] The I / O components 23 are provided in one example to enable input and output operations. The I / O components 23 for various examples of the device 16 may include input components such as buttons, touch sensors, optical sensors, microphones, touchscreens, proximity sensors, accelerometers, orientation sensors, and output components such as a display, a speaker, and / or a printer port. Other I / O components 23 may also be used.

[0111] The timer 25 includes, for example, a real-time timer component that outputs a time and date. It can also provide timing functions for the processor 17, for example.

[0112] The positioning system 27 includes, for example, a component that outputs a current geographic location of the device 16. This may include, for example, a Global Positioning System (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or another positioning system. The positioning system 27 may also include, for example, mapping software or navigation software that generates desired maps, navigation routes, and other geographic features.

[0113] Memory 21 stores an operating system 29, network settings 31, applications 33, application configuration settings 35, a data store 37, communication drivers 39, and communication configuration settings 41. Memory 21 may include all types of tangible volatile and non-volatile computer-readable storage devices. Memory 21 may also include computer storage media (described below). Memory 21 stores computer-readable instructions that, when executed by processor 17, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor 17 may be activated by other components to enable their functionality as well.

[0114] Fig. Figure 17 shows an example in which the device 16 is a tablet computer 600. In Fig. 11, computer 600 is shown with a user interface display screen 602. Screen 602 may be a touchscreen or a pen-activated user interface that receives input from a pen or stylus. Computer 600 may also employ a virtual on-screen keyboard. Of course, computer 600 could also be attached to a keyboard or other user input device via a suitable attachment mechanism, such as, for example, a wireless link or a USB port. Computer 600 may also illustratively receive voice input.

[0115] Fig. Figure 18 shows that the device may be a smartphone 71. The smartphone 71 includes a touch-sensitive display 73 that displays icons or tiles or other user input mechanisms 75. The mechanisms 75 can be used by a user to run applications, make calls, perform data transfer operations, etc. Generally, the smartphone 71 is built on a mobile operating system and offers more advanced computing capability and connectivity than a feature phone.

[0116] It should be noted that other shapes of the devices 16 are possible.

[0117] Fig. Figure 19 is an example of a data processing environment in which elements from previous figures or parts thereof (for example) may be used. According to Fig. 19, an example system for implementing some embodiments includes a data processing device in the form of a computer 810 programmed to operate as described above. Components of the computer 810 may include, but are not limited to, a processing unit 820 (which may include processors or servers from previous figures), a system memory 830, and a system bus 821 coupling various system components, including the system memory, to the processing unit 820. The system bus 821 may be any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. The memory and programs described with reference to the above figures may be incorporated into corresponding portions of Fig. 19 can be used.

[0118] The computer 810 typically includes a variety of computer-readable media. Computer-readable media may be any available media accessible by the computer 810 and may include both volatile and non-volatile media, removable and non-removable media. By way of example and not limitation, the computer-readable media may include computer storage media and communications media. Computer storage media is distinct from, and does not include, a modulated data signal or carrier wave. Computer storage media includes hardware storage media, including both volatile and non-volatile, removable and non-removable media, implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data.Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other storage technology, CD-ROM, DVD (Digital Versatile Disks) or other optical disk storage, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that can be accessed by the computer 810. Communication media can embody computer-readable instructions, data structures, program modules, or other data in a transport mechanism and includes any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics adjusted or changed in such a way that information is encoded in the signal.

[0119] System memory 830 includes computer storage media in the form of volatile and / or non-volatile memory, such as ROM (Read Only Memory) 831 and RAM (Random Access Memory) 832. A BIOS (Basic Input / Output System) 833, which contains the basic routines that assist in the transfer of information between elements within computer 810, such as during startup, is typically stored in ROM 831. RAM 832 typically contains data and / or program modules that can be accessed immediately and / or are currently being processed by processing unit 820. By way of example and not limitation, Fig. 19 an operating system 834, application programs 835, other program modules 836 and program data 837.

[0120] The computer 810 may also include additional removable / non-removable volatile / non-volatile computer storage media. For example only, Fig. 19 a hard disk drive 841 that reads from or writes to the non-removable non-volatile magnetic media, an optical disk drive 855, and a non-volatile optical disk 856. The hard disk drive 841 is typically connected to the system bus 821 through a non-removable storage interface, such as interface 840, and the optical disk drive 855 is typically connected to the system bus 821 through a removable storage interface, such as interface 850.

[0121] Alternatively or additionally, the functionality described herein may be performed at least in part by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (e.g., ASICs), application-specific off-the-shelf products (e.g., ASSPs), system-on-a-chip (SOCs), complex programmable logic devices (CPLDs), etc.

[0122] The drives and their functions discussed above and in Fig. 19, the associated computer storage media provide storage of computer-readable instructions, data structures, program modules, and other data for the computer 810. In Fig. For example, in Figure 19, the hard disk drive 841 is illustrated as storing the operating system 844, the application programs 845, other program modules 846, and the program data 847. It should be noted that these components may be the same as, or different from, the operating system 834, the application programs 835, other program modules 836, and the program data 837.

[0123] A user can enter commands and information into the computer 810 via input devices such as a keyboard 862, a microphone 863, and a pointing device 861, such as a mouse, a trackball, or a touchpad. Other input devices (not shown) may include a joystick, a gamepad, a satellite dish, a scanner, or the like. These and other input devices are often connected to the processing unit 820 via a user input interface 860 coupled to the system bus, but may be connected via other interface and bus structures. A visual display 891 or other type of display device is also connected to the system bus 821 via an interface such as a video interface 890.In addition to the monitor, computers may also include other peripheral output devices, such as speakers 897 and a printer 896, which may be connected via an output peripheral interface 895.

[0124] The computer 810 operates in a networked environment via logical connections (e.g., Controller Area Network - CAN, Local Area Network - LAN, or Wide Area Network - WAN) with one or more remote computers, such as a remote computer 880.

[0125] When used in a LAN network environment, computer 810 is connected to LAN 871 via a network interface or adapter 870. When used in a WAN networking environment, computer 810 typically includes a modem 872 or other means for establishing communications over WAN 873, such as the Internet. In a networked environment, program modules may be stored in a remote memory storage device. Fig. For example, Figure 19 illustrates that the remote application programs 885 may be located on the remote computer 880.

[0126] It should also be noted that the various examples described herein may be combined in various ways. That is, parts of one or more examples may be combined with parts of one or more other examples. All of this is contemplated herein.

[0127] Although the subject matter has been described in language specifically referring to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

[1] A method for controlling a material transfer process, comprising: Determining (240) that a material transfer operation is to be carried out in order to transfer material from a material transfer vehicle (104) to a transport vehicle (116), Accessing (256) a representation of an internal geometry of the transport vehicle corresponding to the transport vehicle (116), and Controlling (268) the material transfer process to transfer material from the material transfer vehicle (104) to the transport vehicle (116) based on the representation of the internal geometry of the transport vehicle. [2] The method of claim 1, wherein accessing a representation of the internal geometry of the transport vehicle comprises: Detecting (248) a vehicle identifier corresponding to the transport vehicle, based on the vehicle identifier, accessing (258) CAD file information corresponding to a CAD file representing the transport vehicle (116), and Control (268) the material transfer process based on the CAD file information. [3] The method of claim 2, wherein accessing (258) the CAD file information comprises: Receiving (770) the CAD file on a remote server system (712), Generating (774, 776) the CAD file information based on the CAD file on the remote server system, Receiving (908) the vehicle identifier from the material transfer vehicle at the remote server system and Sending (780) the CAD file information to the material transfer vehicle. [4] A method according to any preceding claim, wherein accessing a representation of the internal geometry of the transport vehicle comprises: detecting (298) a feature of the transport vehicle with a sensor, Generating (298) a sensor signal in response to the detected feature and Generating (306) the representation of the internal geometry of the transport vehicle based on the sensor signal. [5] The method of claim 4, wherein detecting a feature of the transport vehicle (116) comprises: Positioning (292) the sensor in a calibration position and Scanning (298) the transport vehicle (116) with the sensor to detect a geometry of the transport vehicle. [6] The method of any of claims 1-3, wherein accessing a representation of the internal geometry of the transport vehicle comprises: detecting (322) a user input indicating a feature of the transport vehicle, and Generating (338) the representation of the internal geometry of the transport vehicle based on the user input. [7] The method of claim 6, wherein detecting a user input comprises: Displaying (312) a representation of the transport vehicle on a display device and Detecting (324) a user input that tracks a portion of the representation of the transport vehicle on the display device. [8] The method of claim 7, wherein detecting a user input comprises: Detecting (328) a user input indicating dimensional information corresponding to the transport vehicle, wherein generating the representation of the interior geometry of the transport vehicle comprises generating the representation of the interior geometry of the transport vehicle based on the tracked portion of the representation of the transport vehicle and based on the dimensional information. [9] The method of any of claims 1-3, wherein accessing a representation of the internal geometry of the transport vehicle comprises: Recognizing (350) a vehicle type of the transport vehicle and Accessing (364) a representation of the internal geometry of the transport vehicle based on the vehicle type. [10] The method of any preceding claim, wherein controlling (268) the material transfer operation to transfer material from the material transfer vehicle (104) to the transport vehicle (116) based on the representation of the internal geometry of the transport vehicle comprises: Determining (936) a volume of the transport vehicle based on the internal geometry of the transport vehicle, Identifying (176) a volume of the material being transferred during the material transfer process, and Controlling (954) the material transfer process based on the volume of the transport vehicle and the volume of the material being transferred. [11] The method of claim 10, wherein identifying a volume of the transferred material comprises: Detecting (142) a feature of the material transfer process and Estimate (960) the volume of the transferred material based on the detected characteristic. [12] The method of any one of claims 1-9, wherein controlling the material transfer operation to transfer material from the material transfer vehicle to the transport vehicle based on the representation of the internal geometry of the transport vehicle comprises: Identifying (958) discrete filling positions based on the internal geometry of the transport vehicle, Detecting (954) a fill level at each of the discrete fill positions and Controlling (954) the discharge process based on the detected fill level at each of the discrete fill positions. [13] Material transfer control system comprising: an interior geometry detection system (152) configured to access a representation of the interior geometry of a transport vehicle corresponding to a transport vehicle (116), a material transfer vehicle (104) configured to perform a material transfer operation to transfer material to the transport vehicle (116), and a control signal generator (150) configured to generate a control signal for controlling a material conveying subsystem (192) on the material transfer vehicle (104) to transfer material from the material transfer vehicle (104) to the transport vehicle (116) based on the representation of the internal geometry of the transport vehicle. [14] Material transfer control system according to claim 13, wherein the internal geometry detection system (152) comprises: a CAD file acquisition system (216) configured to recognize a vehicle identifier corresponding to the transport vehicle (116) and, based on the vehicle identifier, access CAD file information corresponding to a CAD file representing the transport vehicle (116). [15] A material transfer control system according to claim 13 or 14, further comprising: a sensor (142) configured to detect a feature of the transport vehicle (116) and generate a sensor signal in response to the detected feature, and wherein the interior geometry detection system (152) comprises a sensor-based detection system (218) configured to generate the representation of the interior geometry of the transport vehicle based on the sensor signal.

Images