System and method for material transport with one or more imaging devices on the transferring vehicle and on the receiving vehicle for controlling the material distribution in the transport trailer of the receiving vehicle

Abstract

A method for facilitating the transfer of material from a transferring vehicle having a material outlet to a receiving vehicle having a container for receiving the transferred material, the method comprising the following steps: a. Identifying and locating the container using first image data and / or second image data, wherein a first imaging device on the receiving vehicle captures the first image data comprising a first field of view including the material distribution and the container, and wherein a second imaging device on the transferring vehicle captures the second image data comprising a second field of view including the material distribution and the container; b. Detecting a representation of the fill level or volumetric distribution of the material in the container c. aligning the material dispensing end over a target area of ​​the container to receive the material, wherein an image data evaluator provides an image quality assessment to determine whether the first image data and / or the second image data should be used to align the material distribution end over the target area of ​​the container; d. Determine additional target areas of the container to receive material based on a representation of the fill level or volumetric distribution of the material in the container e. Transfer of the material from the transferring vehicle to the current destination area of ​​the container of the receiving vehicle f. Detect when the current target area of ​​the container is filled with the material g. Repeat steps c to f until the other target areas of the container are filled and h. Completion of the transfer of the material from the transferring vehicle to the receiving vehicle.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is an international application and claims priority to U.S. Provisional Application 61 / 597,346, filed February 10, 2012, and U.S. Provisional Application 61 / 597,374, filed February 10, 2012, and U.S. Provisional Application 61 / 597,380, filed February 10, 2012, all of which are incorporated herein by reference. AGREEMENT ON JOINT RESEARCH

[0002] This application is the result of work performed under or in connection with a joint research agreement between Carnegie Mellon University and Deere & Company entitled "Development Agreement between Deere & Company and Carnegie Mellon University," dated January 1, 2008, and as such is entitled to benefits under 35 USC § 103(c). FIELD OF THE INVENTION

[0003] This invention relates to a method and system for spatial vision to facilitate the unloading of material from a vehicle. BACKGROUND

[0004] Certain state-of-the-art systems may attempt to use GPS (Global Positioning System) receivers to maintain the correct separation distance between two vehicles when agricultural or other material, such as coal or other minerals, is being unloaded or transferred between vehicles. However, such state-of-the-art systems are prone to deviations from the correct separation distance due to errors or irregularities in the determined position of the GPS receivers. For example, one or more GPS receivers may incorrectly determine their position due to, for example, electromagnetic interference, multipath propagation of the received satellite signals, interruptions in the reception of the satellite signals, or low reception field strengths of the satellite signals. If the vehicles use cameras or other imaging devices when used outdoors, such as in an agricultural field, the imaging devices could be affected by incoming sunlight, shadows,Dust, reflections, or other lighting conditions that temporarily disrupt the correct functioning of the imaging devices can cause errors in the distances to objects determined by the imaging devices. Therefore, there is a need for an improved system for controlling the unloading of agricultural material from a vehicle to compensate for or correct errors in the determined positions of the vehicles or their orientation. EP 2 311 307 A1 relates to a fill level measuring device for measuring and displaying a residual fill potential of a target area, for example a container being filled with goods through a target, for example an open top, by means of a goods carrier, for example a discharge pipe, of an agricultural vehicle, for example a harvester. The fill level measuring device comprises a 3D sensor for observing at least a part of the target area, which includes at least a part of the target.a data control system and a visual display unit. The data control system is arranged to provide a visual display on the visual display unit indicating the residual filling potential by displaying the current one of at least three different levels of the residual filling potential. US2006 / 0047418 A1 discloses a system for determining the relative position of a second agricultural vehicle with respect to a first agricultural vehicle, wherein the first vehicle and the second vehicle have means for jointly performing work in a field, wherein the first vehicle comprises a computer and a first satellite-based position detection device and has a receiver for receiving signals from multiple satellites in one or more reception modes, and a structure for providing first position data to the first vehicle.wherein the second vehicle comprises a computer and a second satellite-based position detection device for receiving signals from multiple satellites in one or more reception modes, as well as a structure for providing position data of the second vehicle, wherein a data transmission connection exists between the first and second vehicles for transmitting the position data of the first vehicle to the computer of the second vehicle, or vice versa, wherein the computer of the second vehicle can determine data regarding the relative position of the second vehicle with respect to the first vehicle based on the position data of the first vehicle and the position data of the second vehicle, and wherein a control device is provided for receiving signal quality information, wherein the position detection devices of both vehicles provide information quality signals to the control device,which indicate the quality of the signals from the respective received satellites, and wherein the control device reacts to the information quality signals so that the two position detection devices operate in the same reception mode. US 2006 / 0094 487 A1 relates to a transfer assistance system for controlling a crop discharge flow of an agricultural harvesting machine. It comprises a transfer device provided in an agricultural work machine and carrying out a crop discharge flow, a transfer device cover assigned to one end of the transfer device, a transport device to which a crop is transported, means for determining a relative position,Means for controlling the crop discharge flow and a control system. US 2011 / 0307 149 A1 relates to a grain transfer control system for automatically controlling the relative positions of a discharge nozzle of a discharge system of a work machine and a receiving container based on a real-time model of a fill level profile for regions of the receiving container, wherein the profile is modeled using known or estimated grain flow rates and positions of the nozzle relative to regions of the receiving container as a function of time, and the system adjusts the relative positions of the nozzle and the receiving container to achieve a generally uniform filling of the receiving container. EP 2 020 174 A1 relates to an agricultural work machine, in particular a forage harvester, having at least one discharge spout for conveying collected and processed crop to a transport vehicle.An electro-optical device is provided for controlling the direction of the discharge spout at least during the conveying process to the transport vehicle, and the electro-optical device detects characteristic parameters of the discharge spout as well as characteristic parameters of the transport vehicle and / or the agricultural work machine. EP 2 301 318 B1 represents further prior art. SUMMARY OF THE INVENTION

[0005] The system and method facilitate the transfer of agricultural material from a transferring vehicle (e.g., a mobile harvester) to a receiving vehicle (e.g., a grain transport trailer). The system and method comprise a receiving vehicle with a drive unit for propelling the receiving vehicle and a transport trailer for receiving the agricultural material, as well as a transferring vehicle for transferring the harvested agricultural material to the transport trailer of the receiving vehicle.

[0006] Two embodiments of the present invention include a primary imaging device on the receiving vehicle and a secondary imaging device on the transferring vehicle, either a combine harvester or a self-propelled forage harvester. In a first embodiment, a secondary imaging device is mounted on the combine harvester (as the transferring vehicle) and a primary imaging device is mounted on the receiving vehicle. In a second embodiment, a secondary imaging device is mounted on the self-propelled forage harvester as the transferring vehicle, and a primary imaging device is mounted on the receiving vehicle.

[0007] Embodiments of the present invention include a first (primary) imaging device mounted at a first position on the receiving vehicle and aligned with the transport trailer of the receiving vehicle. The first imaging device acquires first image data. A second (secondary) imaging device is located (e.g., fixedly mounted or moveably mounted) at a second position on the transferring vehicle and aligned with the transport trailer of the receiving vehicle. The second imaging device acquires second image data. Although the arrangement of the first and second imaging devices is left to the user and does not constitute a limiting aspect of the invention, the description of the present invention assumes, for purposes of illustration only, that the first imaging device is mounted on the receiving vehicle and the second imaging device is mounted on the transferring vehicle.The first and second imaging devices may be mounted on any vehicle, provided that each vehicle has at least one imaging device.

[0008] The systems of the receiving and transferring vehicles include an image processing module with a container or box identification module that can detect the outline of a container or box of the transport trailer in either the captured first image data or the captured second image data (if a second imaging device is included in the system configuration), but at least in one of the two image data. The image processing may also include a discharge locator configured to detect a discharge pipe of the transferring vehicle in the captured image data (captured first image data, captured second image data, or both).The image processing module may include an image data interpreter that determines whether to use the first image data, the second image data, or both (if a second imaging device is included in the system configuration) based on an evaluation of significant differences in pixel data brightness or significant differences in ambient lighting conditions during a sampling interval. In a system with only one imaging device, the image data interpreter is either not enabled, not included in the system, or includes logic that forwards the single captured image to the next function.The image processing module may further include an alignment module configured to determine the relative positions of the discharge spout and the container perimeter and generate command data for the transferring vehicle's control controller to steer the transferring vehicle into a common alignment with the receiving vehicle such that the discharge spout is maintained within the center region (or other target region) of the container. Each system is capable of processing the images acquired by its specific components and may have the capability to process the images acquired by the opposing system.

[0009] In operation, it is a method for facilitating the transfer of material from a transferring vehicle with a material outlet to a receiving vehicle with a container for receiving the transferred material, the method consisting of the following steps: a. Identifying and locating the container using first image data and / or second image data, wherein a first imaging device on the receiving vehicle captures the first image data comprising a first field of view including the material distribution and the container, and wherein a second imaging device on the transferring vehicle captures the second image data comprising a second field of view including the material distribution and the container b. Detecting a representation of the fill level or volumetric distribution of the material in the container c. Aligning the material dispensing end over a target area of ​​the container to receive the material, wherein an image data evaluator provides an image quality assessment to determine whether the first image data and / or the second image data should be used to align the material distribution end over the target area of ​​the container d. Determine additional target areas of the container to receive material based on a representation of the fill level or volumetric distribution of the material in the container e. Transfer of the material from the transferring vehicle to the current target area of ​​the container of the receiving vehicle f. Detect when the current target area of ​​the container is filled with the material g. Repeat steps c to f until the other target areas of the container are filled and h. Completion of the transfer of the material from the transferring vehicle to the receiving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. is a block diagram of one embodiment of a machine vision-equipped guidance system for a transferring vehicle, which is a combine harvester, to facilitate the unloading of agricultural material from the transferring vehicle (e.g., a combine harvester); Fig. is a block diagram of another embodiment of a machine vision-equipped guidance system for a transferring vehicle, which is a self-propelled forage harvester, to facilitate the unloading of agricultural material from the transferring vehicle; Fig. is a block diagram of one embodiment of a machine vision-equipped receiving vehicle guidance system for facilitating the unloading of agricultural material from a transferring vehicle to a receiving vehicle (e.g., grain trailer and tractor); Fig. is a schematic representation of data flow and processing through the image processing module from the raw images to the vehicle commands; Fig. is a plan view of an imaging device on a transferring vehicle aligned with a receiving vehicle; Fig. is a side view along reference line 5B-5B from Fig. ; Fig. is a two-dimensional representation of different distributions of the material inside a container (or box) or a transport trailer, corresponding to a cross-sectional view along the reference line 4D-4D in Fig. ; Fig. is a plan view of a transferring vehicle and a receiving vehicle, with the transferring vehicle aligned within a matrix of possible offset positions; Fig. is a block diagram of a method for identifying a container using corrected images; Fig. is a block diagram of a method for identifying a container that can process corrected images and disparity images; Fig. is a block diagram of a method for locating a discharge pipe using corrected images and discharge pipe position data; Fig. is a block diagram of a method for locating a discharge pipe using corrected images, disparity images, and discharge pipe position data; and Fig. is a flowchart of a method for operating a guidance system equipped with machine vision to facilitate the unloading of agricultural material from a transferring vehicle. DESCRIPTION OF THE PREFERRED EMBODIMENT

[0010] An embodiment of the present invention requires a primary or first imaging device on the receiving vehicle and a secondary or second imaging device on the transferring vehicle, as in Fig. shown. Fig. show guidance systems 11, 111 equipped with machine vision for a transferring vehicle 91 for controlling the unloading of agricultural material (e.g. grain) from the transferring vehicle 91 ( Fig. - combine harvesters; Fig. - self-propelled forage harvester) into a receiving vehicle 79. Fig. shows a similar machine vision-equipped guidance system 311 for a receiving vehicle 79 for controlling the unloading of agricultural material (e.g., grain) from the transferring vehicle 91 into a receiving vehicle 79.

[0011] Fig. is a plan view of a transferring vehicle 91 and a receiving vehicle 79. As in Fig. Shown for illustrative purposes, the transferring vehicle 91 is a combine harvester with a harvesting header 185, while the receiving vehicle 79 is a tractor with a grain trailer. The transferring vehicle 91 may also be another vehicle, e.g., a harvester or other heavy equipment that collects or harvests material for transfer to the receiving vehicle. The receiving vehicle 79 may be a combination of a power unit 75 and a transport trailer 93 (e.g., a towed transport trailer). The discharge pipe 89 or the end of the discharge pipe 87 is generally aligned over a central region 83, a central zone, or a target area in the grid pattern (not shown) of the receiving vehicle 79's hopper 85 to discharge the material from the transferring vehicle 91 into the receiving vehicle 79. The discharge pipe 89 may also be referred to as an unloading auger.The end 87 of the discharge pipe may be referred to as a nozzle. Similarly, the transferring vehicle 91 and the receiving vehicle 79 are aligned in their positions with each other as shown, regardless of whether the vehicles are moving forward together (e.g., with coordinated or tracked directions of movement of the vehicles) or are stationary, as is common during harvesting.

[0012] As mentioned above, the receiving vehicle 79 is equipped with a system 311 comprising a first imaging device 10 connected to an image processing module 18 ( Fig. ). The transferring vehicle 91 is equipped with the systems 11, 111, which include a second imaging device 12 connected to an image processing module 18 ( Fig. Each imaging device 10, 12 includes an image correction unit 101 that converts the raw image into a corrected image. Although the transferred material in the example presented here is agricultural material, the invention is not limited to agricultural material, but can also be used for other materials, e.g., coal and other minerals.

[0013] Embodiments of the first imaging device 10 may include a primary stereo camera or a monocular camera, while the second imaging device 12 may include a secondary stereo camera or a monocular camera. In one configuration, the second imaging device 12 is a stereo camera and may be optional, providing redundancy for the first imaging device 10 in the event of a failure, malfunction, or if the image data of the first imaging device 10 is unavailable when the first field of view 277 of the first imaging device 10 is sufficient to view into the container 85. In one configuration, the second imaging device with a second field of view 477 has only one lens and is required for a stereo image of the container or box 85 when used in conjunction with the image of a first monocular imaging device 10 with the first field of view 277 allowing sufficient view into the container 85.The boundaries of fields of view 277 and 477 are shown for illustrative purposes only and may vary in practice.

[0014] Like reference numbers in the figures indicate like elements, and the first description of an element is sufficient explanation for all subsequent mentions of that element. For example, the image processing module or the intelligent unloading controller 18 can be located in the system architecture of either the transferring vehicle 91, the receiving vehicle 79, or both vehicles. Whether the data from the image processing module or the intelligent unloading controller 18 is processed in the system of the transferring vehicle 91 or the system of the receiving vehicle 79, or both systems, depends on the end user's specification. A wireless connection can be established between the imaging device 10 of the receiving vehicle 79 and the image processing module 18 of the transferring vehicle 91 to send the image data back to the transferring vehicle 91 for processing.In this case, the receiving vehicle 79 would only have the imaging device, a buffer memory, and a wireless transceiver on one side of the wireless link, as shown in . Fig. shown. Therefore, all processing can be performed on the transferring vehicle 91, and the image processing module 18 on the receiving vehicle can be omitted. A variant of the IEEE 802.11 standard (e.g., 802.11g or n) or spread spectrum modulation (e.g., CDMA (Code Division Multiple Access)) can be used as the wireless protocol, for example to reduce interference. Therefore, an image processing module or an intelligent offload controller 18 can be installed on both vehicles, and only one image processing module or intelligent offload controller 18 can be used to process the data acquired by the imaging devices, while the other image processing module or the intelligent offload controller 18 can be used as a backup or as needed.

[0015] Now let us come to the Fig. to describe the data flow and processing by the image processing module 18 from the raw images to the vehicle commands. The dashed lines indicate optional steps or modules. The modules are explained in detail below. The raw images can be acquired with the imaging device 10, 12 (e.g., stereo camera or camera with only one lens). In some embodiments of the present invention, only one imaging device is required. The raw images pass through image correction 101 to obtain corrected images. The corrected images are processed by the image data evaluator 25 to determine a quality factor for the corrected image and to determine whether the image should be used for further processing in the alignment module 24. The corrected images are also processed by the container identification module 20 and the material profile module 27.The corrected images can also be processed in conjunction with disparity images from the outlet locator 22 if a disparity image generator 103 is present. Otherwise, the outlet locator 22 uses only the data stored in the vehicle model 1000, e.g., data about the transferring vehicle 91, the dimensions of the outlet 89, and the kinematic model of the outlet. The outlet locator 22 also requires data about the vehicle status, e.g., the speed of the transferring vehicle, the angle(s) of the outlet pipe, the switch-on status of the auger, and the relative GPS position of the receiving vehicle 79 if machine synchronization is present.The output data of the outlet locator 22 is transmitted as input data to the container identification module 20 and processed together with the corrected images and the disparity images (if any) from the container identification module 20 to determine the position and dimensions of the container. The corrected images and the disparity images (if any) are processed in the material profile module 27 together with the data on the position and dimensions of the container from the container identification module 20 to generate a fill profile of the container 85. The alignment module 24 processes the data from the container identification module 20 and the material profile module 27 together with the vehicle status information to generate vehicle commands, e.g.for the speed and steering of the transferring vehicle 91, the position of the discharge pipe, the engagement state of the auger drive and the speed and steering of the receiving vehicle 79, if machine synchronization is present, in order to position the end of the discharge pipe 87 over the corresponding open area of ​​the container 85 so that an even distribution of the agricultural material in the container 85 is achieved.

[0016] In the embodiment where the receiving vehicle 79 and the transferring vehicle 91 each have image processing modules 18, these can operate in a master-slave configuration (e.g., the transferring vehicle with the master image processing module 18 assigns tasks to the slave image processing module 18 in the receiving vehicle) or in a parallel processing configuration, where the devices can share a shared electronic memory on a vehicle via a wireless connection, which is quite complex. Given the large volume of image data to be processed, dual image processing systems are advantageous.

[0017] An embodiment of the present invention requires that the first imaging device 10 for a receiving vehicle 79 comprises an imaging device with a lens (e.g., digital camera) and the second imaging device 12 for a transferring vehicle 91, e.g., a combine harvester, comprises an imaging device with a lens (e.g., a digital camera), which respectively provide first monocular image data and second monocular image data. If the first imaging device 10 is a stereo camera, the second imaging device 12 may be optional or serve as a backup in case the imaging device 10 is faulty or provides a poor image. The image processing module 18 of the system 11, 111, 311 may generate a first monocular image data (e.g., the right image data) and the second monocular image data (e.g.,the left image data) generate a stereo image according to the relative position and orientation of the first imaging device 10 and the second imaging device 12. The image processing module 18 determines: (1) at least two points on a common viewing axis 479 (. Fig. , which intersects the lenses of the first imaging device 10 and the second imaging device 12, and (2) a linear spatial separation 481 ( Fig. between the first imaging device 10 and the second imaging device 12, wherein the first field of view 277 of the first imaging device 10 and the second field of view 477 of the second imaging device 12 at least partially overlap to capture the discharge pipe 89, the end of the discharge pipe 87, the bin rim 81, the level (e.g., height z or average height z), or the profile of the agricultural material in the bin or box 85 (e.g., at specific x,y coordinates or positions in the bin 85) in the collected image data. The remaining components have the same reference numbers, which were already explained above.

[0018] Where the fields of view 277 and 477 overlap, the image processing module 18 can create a virtual profile of the material distribution level ( Fig. ) in the transport trailer 85 even if the entire surface of the agricultural material is not visible to one of the two imaging devices 10, 12. The rotation sensor for the outlet pipe 116 ( Fig. ) can facilitate the use of the end of the discharge pipe 87 as a reference point in the acquired image data (e.g., for fusion, virtual stitching, or alignment of image data from multiple imaging devices). The virtual profile of the entire surface of the agricultural material in the transport trailer 93 enables the systems 11, 111, 311, or the image processing module 18 to create an intelligent filling strategy for the transport trailer 93 of the receiving vehicle 79.

[0019] The first imaging device 10 and the second imaging device 12 may provide digital output data as stereo video image data or as a series of stereo still images at regular or periodic intervals or at other acquisition intervals. Each stereo image (e.g., the first image data or the second image data) includes two component images of the same shot or a portion of the same shot. For example, the first imaging device 10 has a first field of view 277 of the transport trailer 93 of the receiving vehicle 79, the first field of view 277 at least partially overlapping the second field of view 477 of the second imaging device 12 (if present). In one embodiment, the first imaging device 10, the second imaging device 12, or both may include a charge-coupled device (CCD) sensor, a complementary metal-oxide semiconductor (CMOS) array, or other suitable device for detecting or acquiring image data.

[0020] In one configuration, an optical sensor 110, 112 ( Fig. ) a light meter, a photosensor, a photosensitive resistor, a photosensitive component, or a cadmium sulfite cell. A first optical sensor 110 may be associated with the first imaging device 10, and a second optical sensor 112 may be associated with the second imaging device 12. The first optical sensor 110 and the second optical sensor 112 may each be connected to the image processing module 18. The optical sensor 110, 112 provides a measurement value or level corresponding to the ambient light in the field of view of the respective imaging device 10, 12.

[0021] The image processing module 18 can be connected directly or indirectly to the lights 14 ( Fig. ) on a transferring vehicle 91 for the illumination of the storage container 85 or the outlet pipe 89. For example, the image processing module 18 can have a light controller 50 ( Fig. ) which includes controlling drivers, relays or switches, which in turn control the activation or deactivation of the lights 14 on the transferring vehicle 91. The image processing module 18 can control the lights 14, 52 on the transferring vehicle for illuminating the storage container 85 ( Fig. , the outlet tube 89, or both devices when an optical sensor 110, 112 or a light meter indicates that the ambient light intensity falls below a certain minimum value. In one configuration, the optical sensor 110, 112 faces the same direction as the lens or aperture of the imaging devices 10, 12.

[0022] In the embodiment for the combine harvester ( Fig. ), the vehicle controller 46 controls the outlet pipe 89, which has a rotation sensor 116 for detecting the angle of rotation ((β) in Fig. of the outlet pipe 89 with respect to one or more axes of rotation, as well as a rotary drive 122 for changing the angle of rotation of the outlet pipe 89, and thus detecting the position of the outlet pipe 89 relative to the receiving vehicle 79 or its storage container 85. The rotary drive 122 can comprise a motor, a linear motor, an electro-hydraulic device, a mechanical device driven by a ratchet or a cable, or another device for moving the outlet pipe 89 or the end of the outlet pipe 87. The angle of rotation of the outlet pipe can be a simple angle, a combined angle, or a multi-dimensional angle relative to a reference axis parallel to the direction of travel of the transferring vehicle.

[0023] If the rotary actuator 122 comprises an electro-hydraulic device, the use of proportional control valves in the hydraulic cylinder of the electro-hydraulic device that rotates the discharge pipe (or changes the angle of rotation of the discharge pipe) facilitates finer adjustment of the discharge pipe (e.g., a) than would be possible in other cases. Accordingly, proportional control valves of the electro-hydraulic device assist the rotary actuator 122 in achieving a uniform profile or distribution of the discharged agricultural material in the transport trailer 93 or in the hopper or box 85. Many commercially available combine harvesters are typically equipped with non-proportional control valves for rotating or moving the discharge pipe 89; electro-hydraulic devices with non-proportional control valves may provide the storage container with an inefficient multi-modal or irregular distribution (e.g.,508) of agricultural material, e.g. with areas of high and low altitude, as in . Fig. shown, fill.

[0024] A vehicle controller 46 may be connected to the vehicle data bus 60 to generate a data message indicating when the auger drive 47 is activated or deactivated for unloading the agricultural material from the transferring vehicle. The auger drive 47 may include an auger, an electric motor for driving the auger, and a rotation sensor for detecting the rotational movement or speed of the auger or its associated shaft. In one embodiment, the auger (not shown) is combined with a container for storing the agricultural material (e.g., a grain bin) of a transferring vehicle 91. When the vehicle controller 46 (e.g., the auger controller) reports that the auger of the transferring vehicle 91 is rotating or active, the image processing module 18 activates the exit locator 22 and the bin or box identification module 20.Thus, the vehicle controller 46 can conserve data processing resources or reduce energy consumption by switching the container identification module 20 and the discharge identification module 22 to an inactive state (or standby) as long as the transferring vehicle 91 is only harvesting but is not unloading agricultural material into the receiving vehicle 79.

[0025] The image processing module 18, or any other controller, may include a controller, a microcomputer, a microprocessor, a microcontroller, an application-specific integrated circuit, a programmable logic array, a logic device, an arithmetic logic unit, a digital signal processor, or other data processor, as well as supporting electronic hardware and software. In one embodiment, the image processing module 18 includes a disparity image generator 103, a container identification module 20, a spill locator 22, an alignment module 24, a material profile module 27, and a vehicle model 1000.

[0026] The image processing module 18 may be associated with a data storage device, which may include, for example, electronic memory, non-volatile RAM, a magnetic disk drive, an optical disk drive, a magnetic storage device, or an optical storage device. If the container identification module 20, the discharge locator 22, the alignment module 24, the material profile module 27, and the vehicle model 1000 are software modules, they are stored in the data storage device.

[0027] The container identification module 20 identifies a set of two-dimensional or three-dimensional points (e.g., in Cartesian or polar coordinates) in the acquired image data or in the real world that define at least a portion of the container boundary 81 of the transport trailer 85 ( Fig. The set of two-dimensional or three-dimensional points corresponds to pixel positions in images acquired by the first imaging device 10, the second imaging device 12, or both. The container identification module 20 can use or retrieve container reference data.

[0028] The vehicle model 100 may include container reference data with one or more of the following information: reference dimensions (e.g., length, width, height), volume, reference shape, drawings, models, layout and configuration of the container 85, circumference of the container rim 81, edges of the container 181; reference dimensions, reference shape, drawings, models, layout and configuration of the entire transport trailer 93 of the receiving vehicle; wheelbase of the transport trailer, turning circle of the transport trailer, coupling configuration of the transport trailer 93 of the receiving vehicle; and distance between the coupling pivot point and the wheelbase of the transport trailer. The container reference data may be stored in and retrieved from the data storage device (e.g., non-volatile electronic memory). For example,The container reference data is stored, retrieved, or indexed with a corresponding identifier for the receiving vehicle in the data storage device of the systems of the transferring vehicle 11, 111. With each identifier of the receiving vehicle, corresponding unique container reference data can be stored in the data storage device.

[0029] In one configuration, the container identification module 18 identifies the position of the container or box 85 as follows. If the linear arrangement of a set of pixels in the acquired image data corresponds to one or more edges 181 of the container boundary 81 of the container 85, as described in the container reference data, the position of the container 85 has been identified. A target region, a central region, or a central zone of the container opening 83 of the container 85 can be identified, for example, by dividing the distance (e.g., the shortest distance or the distance of the normal vectors) between opposite sides of the container (by two), or by detecting the corners of the container and determining the intersection of the diagonals passing through those corners. In one configuration, the central region can be defined as a (e.g.,circular, elliptical or rectangular) opening in the container with an area of ​​the opening which is greater than or equal to the cross-sectional area of ​​the end of the outlet pipe by a factor of at least two, although other areas may also meet the conditions of the claims.

[0030] The spout locator 22 detects the following: (1) the spout pixels on at least a portion of the spout tube 89 and / or (2) the pixels at the end of the spout tube that represent the end of the spout tube 87 or the spout tube 89. The spout identification module 22 may discriminate by color, brightness, or texture to distinguish background pixels from one or more selected spout pixels with associated spout pixel patterns or attributes (e.g., color or color pattern (e.g., red, green, and blue (RGB) pixel values), pixel brightness pattern, texture pattern, luminance, brightness, hue, or reflectivity) to identify the spout tube 89 or the end of the spout tube 87.

[0031] The alignment module 24, the master controller 59, or both periodically estimate or determine movement commands to maintain the alignment of the discharge spout 56 over the center area, center zone, or target area of ​​the agricultural material discharge container 85. The alignment module 24, the master controller 59, or both may send commands or requests to the transferring vehicle 91 regarding its speed, velocity, or direction of travel to maintain the alignment of the position of the transferring vehicle 91 with respect to the receiving vehicle 79. For example, the alignment module 24 may send a request to the master controller 59 for a change in the spatial offset between the vehicles 79 and 91.In response, the master controller 59 or the coordination module 57 sends a steering command or a direction command to the steering controller 32, a braking or deceleration command to the braking system 34, and a drive, acceleration, or torque command to a drive controller 40 to achieve the desired spatial offset or change in spatial offset.

[0032] In another configuration, the alignment module 24 may regularly or periodically adjust or rotate the target area or the center area during loading of the receiving vehicle's hopper 85 to achieve uniform filling, uniform height, or uniform distribution of the agricultural material throughout the hopper 85, wherein the image processing module 18 determines the fill status of the agricultural material in the image data from the material profile module 27.

[0033] The image processing module 18 may include a material profile module 27 or a fill level sensor to generate a one-dimensional, two-dimensional, or three-dimensional representation of the fill level or volumetric distribution of the agricultural material in the container 85 or in the transport trailer 93. For example, Fig. for illustration purposes, various two-dimensional representations of the filling state of the container 85 or the distribution of the agricultural material in the container 85, which are explained in detail below.

[0034] In one configuration, the coordination module 57 or the steering controller 32 adjusts the relative position (or offset) of the transferring vehicle 91 to the receiving vehicle 79. The alignment module 24, the coordination module 57, and the auger rotation system 116 can control the relative position of the discharge tube 89 or the end of the discharge tube 87 to the container skirt 81 to achieve a uniform fill to the desired fill level. For example, the rotary drive 122 of the combine harvester can control the angle of the discharge pipe (e.g., a first discharge angle (α), a second discharge angle (β), or a combined angle (α and (β)) that the discharge pipe 89 has relative to the reference axis or reference coordinate system of the transferring vehicle 91 or a general perpendicular plane to the direction of travel of the transferring vehicle 91, such that the discharge pipe 89 moves and rotates relative to the vehicle.In the case of the self-propelled forage harvester, the angle of the discharge pipe is controlled by the discharge pipe controller 54 in conjunction with the rotation sensor 116, the tilt sensor 118, the deflector sensor 120, the rotation drive 122, the tilt drive 124 and the deflector drive 126.

[0035] The end of the outlet pipe 87 can be adjusted to discharge the agricultural material by changing its outlet angle or the outlet position within the container rim 81 and with a tolerance distance to the container rim 81 within the container 85. The end of the outlet pipe 87 can be adjusted using various methods, which can be used alternately or together. In one method, the alignment module 24 adjusts the end of the outlet pipe 87 to discharge the agricultural material by adjusting the outlet angle (e.g., a first outlet angle (α), a second outlet angle (β), or both (α and β). Accordingly, the end of the outlet pipe 87 can be regularly adjusted to discharge the agricultural material (e.g.,in a matrix of one or more rows or columns of several preset offset positions) by changing the spatial relationship between the transferring vehicle and the receiving vehicle by a forward or rearward offset or a lateral offset in order to achieve a predetermined orientation or a desired uniform distribution when filling the container 85 or the transport trailer 93 with agricultural material (. Fig. ), while the adjustment of the outlet angle is used to fine-tune the distribution of the agricultural material within the container (e.g. starting from any position within the matrix).

[0036] In the image processing module 18, the image data evaluator 25 includes an evaluation device, a judgment module, a Boolean logic circuit, an electronics module, a software module, or software instructions for determining whether the first image data, the second image data, or both should be used to align a relative position of the spout and the container border (or to adjust the spatial offset between the vehicles) based on an evaluation of significant differences in the intensity of the pixel data or significant differences in the ambient light conditions during a sampling interval.

[0037] In the combine harvester, the master controller 59 is connected to the vehicle data bus (e.g., 60). In contrast, in the self-propelled forage harvester, the master controller 59 is coupled to the implementation database 58, which is connected to the vehicle data bus 60 via the gateway 29. In one embodiment, the master controller 59 comprises an automatic guidance module 55 and a coordination module 57. The automatic guidance module 55 or the master controller 59 can control the transferring vehicle 91 according to the location data from the first location-determining receiver 42 and a route plan or a desired vehicle path (e.g., stored in the data storage device).The automatic guidance module 55 or the master controller 59 sends command data to the steering controller 32, the braking controller 36 and the propulsion controller 40 to control the travel path of the transferring vehicle 91 to automatically follow a path plan or a course manually controlled by an operator via the operator interface 44 or the steering system 30.

[0038] In one embodiment, in guidance mode, the transferring vehicle 91 is controlled by the automatic guidance module 55 or the steering controller 32 according to the path plan, or by a human operator. When the transferring vehicle 91 is operating in an automatic mode or in automatic steering mode, the master controller 59 provides command data locally to the steering controller 32, the braking controller 36, and the drive motor controller 40 of the transferring vehicle 91. In both automatic mode and master-slave mode, the transferring vehicle 91 is automatically controlled and directed during the transfer of agricultural material from the transferring vehicle 91 to the receiving vehicle 79.

[0039] The image processing module 18 provides image data (corrected, disparity, or both) to an operator interface processing module 26, which directly or indirectly provides status and performance data to an operator interface 44.

[0040] In one embodiment, a position-determining receiver 42, a first wireless communication device 48, a vehicle controller 46, a steering controller 32, a braking controller 36, and a propulsion controller 40 are capable of communicating with each other via the vehicle data bus 60. The steering controller 32, in turn, is connected to a steering system 30 of the transferring vehicle 91; the braking controller 36 is connected to the braking system 34 of the transferring vehicle 91; and the propulsion controller 40 is connected to the propulsion system 38 of the transferring vehicle 91.

[0041] The steering system 30 may include an electronically controlled steering system, an electro-hydraulic steering system, a gear-driven steering system, or another steering system that influences the course of the transferring vehicle 91 or one or more wheels of the transferring vehicle 91. The braking system 34 may include a regenerative braking system, an electro-hydraulic braking system, a mechanical braking system, or another braking system capable of stopping the vehicle using hydraulic, mechanical, friction, or electrical forces.The drive system 38 may include one or more of the following components: (1) the combination of an electric motor and an electric controller, (2) an internal combustion engine controlled by an electronic fuel injector or other fuel metering device that can be controlled by electrical signals, or (3) a hybrid vehicle in which an internal combustion engine drives an electric generator connected to one or more electric traction motors.

[0042] In summary, one or more imaging devices 10, 12 are arranged to capture image data. A container identification module 20 identifies the container border 81 of the transport trailer 93 in the captured image data. The transport trailer 93 has an opening within the container border for receiving the agricultural material. An outlet locator 22 is configured to identify an outlet 89 of the transferring vehicle 91 in the captured image data.An alignment module 24 is configured to detect the relative position of the outlet 89 to the container perimeter 81 and generate command data for the transferring vehicle 91 to steer the transferring vehicle 91 in common alignment with the receiving vehicle 79 (or to steer the receiving vehicle 79 in common alignment with the transferring vehicle 91) such that the outlet 89 is aligned with a central region 83 or opening of the grid pattern 82 within the container perimeter 81. A steering controller 32 is connected to a steering system 30 of the transferring vehicle 91 and the receiving vehicle 79 to steer the transferring vehicle 91 and the receiving vehicle, respectively, according to the common alignment.

[0043] In one embodiment, an optional mast controller 674, shown in dashed lines, is connected to the vehicle data bus 60 ( Fig. ) or the implementation data bus 58 ( Fig. ) for controlling an optional adjustable mast 573 for mounting and adjustable positioning of the first imaging device 10, the second imaging device 12, or both. The mast controller 674 is configured to change the orientation of the first imaging device 10, the second imaging device 12, or both, or their height above ground, where the orientation can be expressed in one of the following ways: a tilt angle, a pan angle, a downward tilt angle, a depression angle, or a rotation angle.

[0044] In an illustrative embodiment of a machine vision guidance system 11, 111, 311 having an adjustable mast 573, at least one imaging device 10, 12 is aligned with the transport trailer 93 of the receiving vehicle 79 and acquires image data. For example, the adjustable mast 573, with the aid of data from the mast controller 674, is capable of adjusting the height of the imaging device 10, 12 within a height range, the downward tilt angle of the imaging device 10, 12 within a downward angle range, and a rotation or pan angle within a pan angle range. The image processing module 18 is designed or programmed (e.g., with software instructions or code) to, based on an evaluation of significant changes in the intensity of the pixel data or significant changes in the ambient light conditions (e.g.,via the optical sensor 110, 112) determines during an acquisition interval whether the height of the imaging device 10, 12 should be adjusted or whether the downward tilt angle of the imaging device 10, 12 should be increased or decreased. Under certain operating conditions, e.g., ambient light conditions outdoors, the quality of the acquired image data can be improved by increasing or decreasing the downward tilt angle, or fluctuations in the intensity of the image data below a certain threshold can be reduced. Reduced fluctuations in the intensity of the image data or less accumulation of dust or dirt on a lens of an imaging device are advantages that can be achieved, for example, by increasing or adjusting the downward tilt angle of the imaging device 10, 12.As previously stated, a container identification module 20 may identify the container perimeter 81 of the transport trailer 93 in the acquired image data. Similarly, a spout locator 22 may identify a spout of the transferring vehicle 91 in the acquired image data. An alignment module 24 determines the relative position of the spout 89 to the container perimeter 81 and generates command data for the steering controller 32 to steer the transferring vehicle 91 in common alignment with the receiving vehicle 79 such that the spout 89 or the end of the spout tube 87 is aligned with a target area of ​​the grid pattern (not shown) or the central area 83 within the container perimeter 81.

[0045] In one illustrative embodiment of a machine vision guidance system with adjustable mast 573, image processing module 18 sends a data message to a mast controller 674 (or to adjustable mast 573) to increase or decrease the downward tilt angle when the significant variation in pixel data intensity or the significant variation in ambient light conditions during a sampling interval exceeds a certain deviation threshold. For example, image processing module 18 sends a data message to a mast controller 674 to increase or decrease the downward tilt angle in discrete increments (e.g., increase or decrease by one degree) within an angular range of approximately minus ten to approximately minus twenty-five degrees from horizontal.

[0046] When the second imaging device 12 is elevated or mounted on the transferring vehicle 91 at a sufficient height relative to the transport trailer 93, the second imaging device 12 has a view or a second downward field of view 677 into the transport trailer 93 or the container 85 sufficient to observe the surface of the agricultural material (e.g., grain) and profile its surface area (or height (z) at the corresponding x, y coordinates in the container) as the transport trailer 85 is filled with the agricultural material. The second imaging device 12 can be mounted on the roof of the transferring vehicle 91 so that it views directly from the side of the transferring vehicle 91 with the discharge pipe 89 for unloading the agricultural material.

[0047] In an illustrative configuration consistent with the downward field of view 677, the optical axis, perpendicular to the corresponding lens, of the second imaging device 12 is tilted downward relative to the generally horizontal plane at a downward tilt angle (ε) (e.g., approximately 10 to 25 degrees downward). Tilting the field of view or optical axis of the second imaging device 12 downward relative to a generally horizontal plane has several advantages. First, the acquired images have a more uniform image brightness profile when less sky is visible in the field of view of the second imaging device 12. The tilted arrangement of the optical axis(es) (impinging perpendicularly upon the lens of the second imaging device 12) is well-suited to reducing potential dynamic range issues, e.g., due to bright sunlight or intermittent cloud cover.Second, the lower portion of the transport trailer 93 becomes more visible in the images, enabling the recording of image data relating to one or more wheels of the transport trailer 93. The wheel is a feature of the transport trailer 93 that can be reliably tracked using image processing methods. Third, tilting the stereo camera downward reduces the accumulation of dust or other debris on the lens or viewing window of the imaging device 10, 12.

[0048] Fig. shows a two-dimensional representation of the various possible distributions of the material in the container 85 for illustration, corresponding to a view along the reference line 5B in Fig. In one configuration, the y-axis corresponds to the longitudinal axis or direction of travel of the container, the z-axis corresponds to the height of the material in the container, and the x-axis is perpendicular to the direction of travel of the container, with the x, y, and z axes generally being orthogonal to each other.

[0049] In the graphic of Fig. The vertical axis represents the mean height (Z) 500 of the material in the container 85, and the horizontal axis corresponds to the longitudinal axis (y) 502 of the container 85. The maximum capacity 504, or the capacity of the container, is indicated by the dashed line on the vertical axis. The front 512 of the container 85 is located at the origin, while the rear 514 of the container 85 is located on the vertical axis.

[0050] Fig. For illustrative purposes, it shows three material distributions within the container 85. The first distribution is a bimodal profile 508, in which there are two main peaks in the material distribution within the container 85. The bimodal profile 508 is shown as a dotted line. The bimodal profile 508 can occur when the discharge angle is adjusted by an electrohydraulic system without proportional valves.

[0051] The second distribution is the forward-tilted modal profile 510, in which a single peak of material is present toward the front of the container 85. The forward-tilted modal profile 510 is drawn with a line of alternating short and long dashes. The second distribution can occur when the volume or length (y) of the container 85 is above a minimum threshold and the relative orientation between the end of the discharge pipe 87 and the container 85 remains largely unchanged during material transfer.

[0052] The third distribution is the target profile 508, which can be achieved by pursuing a suitable filling strategy, as outlined in this document. For example, during unloading, the discharge angle can be adjusted to promote a uniform distribution of the agricultural material in the hopper 85.

[0053] In one configuration, an operator interface 44 is configured to accept input of container reference data or dimensional parameters of the receiving vehicle. For example, the container reference data or dimensional parameters include a distance between a trailer coupling or pivot point (where the drive unit 75 and the transport trailer 93 are connected) and the rotation axis of the front wheels of the transport trailer 93 of the receiving vehicle 79.

[0054] In another embodiment, Fig. an optional odometry sensor 440 and an optional inertial sensor 442, shown in dashed lines. The odometry sensor 440 may comprise a magnetic rotation sensor, a gear-driven sensor, or a non-contact sensor for measuring the rotational speed of one or more wheels of the transferring vehicle to determine the distance traveled by the transferring vehicle during a measurement period or the travel speed of the transferring vehicle.

[0055] The odometry sensor 440 may be connected to the vehicle data bus 60 or an implementation data bus 58. The inertial sensor 442 may include one or more accelerometers, gyroscopes, or other inertial-measuring devices connected to the vehicle data bus 60 or an implementation data bus 58. The optional odometry sensor 440 and the optional inertial sensor 442 may enhance or supplement the position or motion data provided by the first position-determining receiver 42.

[0056] As mentioned above, the machine vision-equipped guidance system 111 is in Fig. similar to System 11 in Fig. , except that the 111 system in Fig. further includes an implementation data bus 58, a gateway 29, and a lighting controller 50 and a spout controller 54 connected to the vehicle data bus 60 for the lights 14 and the spout 89, respectively. The lighting controller 50 controls the lights 14; the spout controller 54 controls the spout tube 89 via a servo motor, an electric motor, or an electro-hydraulic mechanism for moving or adjusting the orientation or spout angle of the spout tube 89 or the end of the spout tube 87. In one configuration, the implementation data bus 58 may comprise a data bus implemented via a Controller Area Network (CAN). Similarly, the vehicle data bus 60 may comprise a CAN data bus.In an alternative embodiment, the implementation data bus 58, the vehicle data bus 60, or both may comprise an ISO (International Organization for Standardization) data bus or ISOBUS, Ethernet, or other data protocol or communications standard.

[0057] The self-propelled forage harvester includes a gateway 29 to support secured or controlled communication between the implementation data bus 58 and the vehicle data bus 60. The gateway 29 includes a firewall (e.g., hardware or software), a communications router, or other security device that prevents or restricts network elements or devices on the implementation data bus 58 from communicating with the vehicle data bus 60 or a network element or device on the vehicle data bus 31 (e.g., unauthorized communication) if the network element or device on the implementation data bus 58 does not follow or use a particular security protocol, handshake, password and key, or other security measure.Furthermore, in one embodiment, the gateway 29 can encrypt communication toward the vehicle data bus 60 and decrypt communication out of the vehicle data bus 60 if the correct code key is entered or other security conditions are met. The gateway 29 can allow network devices on the implementation data bus 58 that communicate with an open standard or allow communication to third parties as hardware and software suppliers, while the network devices on the vehicle data bus 60 are supplied or approved exclusively by the manufacturer of the transferring vehicle (e.g., the self-propelled forage harvester).

[0058] In Fig. A first position-determining receiver 42, a user interface 44, an operator interface processing module 26, and the gateway 29 are connected to the implementation data bus 58, while in other embodiments, such elements or network devices may be connected to the vehicle data bus 60. The light controller 50 and the outlet controller 54 are connected to the vehicle data bus 60. The light controller 50 and the outlet controller 54 are in turn connected directly or indirectly to lights 14 on the transferring vehicle 91 and the outlet pipe 89 on the transferring vehicle 91 (e.g., a self-propelled forage harvester). Although the system in Fig. is well suited for use or installation on a self-propelled forage harvester (SPFH), the system can be Fig. can also be used for combine harvesters or other heavy equipment.

[0059] Fig. is a plan view of a transferring vehicle 91 and a receiving vehicle 79, with the transferring vehicle 91 aligned within a matrix 500 of possible offset positions 502, 504 between the transferring vehicle 91 and the receiving vehicle 79. As shown, the matrix 500 is a two-dimensional 2x3 matrix (2 columns and 3 rows) of possible offset positions 502, 504. Although six possible matrix positions 502, 504 are shown, in other embodiments the matrix 500 may include any number of possible offset positions greater than or equal to two. Here, the transferring vehicle 91 is currently located at the offset position 504 in the first column of the second row of the matrix 500, while the other possible offset positions 502 are unoccupied by the transferring vehicle 91.Depending on the command of one of the systems 11, 111, 311, the image processing module 18 or master controller 59 of the transferring vehicle 91 can change to any unoccupied or other possible offset position 502 within the matrix 500 to promote or facilitate an even distribution of the agricultural material within the container 85 or the transport trailer of the receiving vehicle 79. The spatial distance 481 between the transferring vehicle 91 and the receiving vehicle 79 can be adjusted according to the matrix 500 or another matrix of preset positions or spatial distances to promote an even distribution of the agricultural material within the transport trailer of the receiving vehicle 79, wherein each matrix is ​​associated with a unique, relative spatial distance 481 between the vehicles 79, 91.

[0060] In one embodiment of the Fig. the transferring vehicle 91 and the receiving vehicle 79 may move forward at approximately the same speed and direction (e.g., within an error tolerance of the control systems during harvesting), the relative position of the receiving vehicle 79 being generally fixed or constant with respect to each of the positions 502, 504 in the matrix 500 that the transferring vehicle 91 may occupy.

[0061] In another embodiment, the receiving vehicle 79 may be represented in a two-dimensional matrix (e.g., a 3x3 matrix with three columns and three rows) of possible offset positions, while the position of the transferring vehicle 91 is generally fixed or constant relative to any position in the matrix that the receiving vehicle 79 could occupy. Depending on the dictation of one of the systems 11, 111, 311 in this other embodiment, the image processing module 18 may change to any unoccupied or other possible offset position within the matrix to promote or facilitate an even distribution of the agricultural material within the container 85 or transport trailer 93 of the receiving vehicle 79.

[0062] In the Fig. Each of the building blocks or modules in the block diagrams can represent a software module, an electronic module, or both. Software modules can contain software instructions, subroutines, object-oriented code, or other software content. The arrows connecting the building blocks or modules in Fig. Show the flow of data or information between the modules. The arrows can represent physical communication paths, virtual communication paths, or both. Physical communication paths are transmission lines or one or more data buses for sending, receiving, or transmitting data. Virtual communication paths represent the communication of data, software, or data messages between modules.

[0063] As in Fig. As shown, the first imaging device 10, the second imaging device 12, or both provide stereo camera raw images (or image raw data) to the image correction module 101. The block diagram in Fig. shows that the raw images (generated by the monocular or stereo camera) are processed by the image correction 101 to generate corrected images for transfer to the container identification module 20. Optionally, data from the outlet locator 22 can also be supplied to the container identification module 20. The block diagram in Fig. shows that the raw images (generated by the monocular or stereo camera) are processed by the image corrector 101 to generate a corrected image. The corrected image is processed by the disparity image generator 103 to generate regions in the form of disparity data. Subsequently, the corrected images and the disparity data are processed by the spout locator 22 with the spout position data 1002. The data output by the spout locator 22 is transmitted to the bin identification module 20. In an alternative embodiment, data from the spout locator 22 can be transmitted to the bin identification module 20 to effect an improvement in the material distribution in the bin or box 85.

[0064] The block diagram in Fig. shows that the raw images (generated by the monocular or stereo camera) are processed by the image correction 101 to generate corrected images for transfer to the exit locator 22 for further processing with the exit position data 1002 provided by the vehicle model 1000. The output data of the exit locator 22 can be used as input data for the container identification module 20.

[0065] The block diagram in Fig. shows that the raw images (generated by the monocular or stereo camera) are processed by the image corrector 101 to generate corrected images. The corrected images are processed by the disparity image generator 103 to generate regions in the form of disparity data. The corrected images and the disparity data are then processed by the leak locator 22 together with the leak position data 1002. The data output by the leak locator 22 can be further processed by the container identification module 20. The image correction module 101 performs image processing on the acquired image data or the raw stereo images to reduce or remove radial lens-induced distortion and prepare the images for stereo matching. The radial lens-induced distortion originates from the radial lenses of the first imaging device 10, the second imaging device 12, or both devices.The input data of the image correction module 101 is raw stereo image data, while the output of the image correction module 101 provides corrected stereo image data. The same reference numbers in the . Fig. denote the same elements.

[0066] In one illustrative embodiment, the image correction module 101 removes or reduces any vertical offset or disparities that may exist between a stereo image pair of the same shot in the image data. Furthermore, the image correction module may align the horizontal component (or horizontal pixel lines of the stereo images) to be parallel to the scan lines or common reference axis of each imaging device (e.g., left and right imaging devices) within the first and second imaging devices 10, 12. For example, the image correction module 101 may shift pixels from the original coordinates to corrected coordinates for the right image, the left image, or both images to achieve correct acquisition of the images or the corrected right and left images of the stereo images.The corrected image allows efficient processing and easy identification of corresponding pixels or objects within the image in the left and right images of a common setting for subsequent image processing.

[0067] In one configuration, the disparity image generator 103 applies a stereo matching algorithm or disparity calculation to the acquired stereo image data, e.g., the corrected stereo image data output from the image correction module 101. The stereo matching algorithm or disparity calculation may include a sum of absolute disparities algorithm, a sum of squares disparities algorithm, a consensus algorithm, or another algorithm to determine the disparity or deviation at each set of corresponding pixels in the left and right images (e.g., along a horizontal axis of the images or parallel thereto).

[0068] In one illustrative method for determining the sum of absolute disparities, the left and right images (or blocks of image data or rows in image data) may be shifted to align the corresponding pixels in the right and left images. The stereo matching algorithm or disparity calculation determines a disparity value between the corresponding pixels in the left and right images of the image data. For example, to determine the disparity value, each first pixel intensity value of a first object pixel and a first sum of the intensity values ​​of the first surrounding pixels (e.g., in a block or array of pixels) around the first pixel may be compared with each second corresponding pixel intensity value of the second object pixel and a second sum of the intensity values ​​of the second surrounding pixels (e.g., in a block or array of pixels) around the second pixel.The disparity values ​​can be used to create a disparity map or disparity image of the corresponding right and left image data.

[0069] A bin locator determines the distance or separation from the first imaging device 10, the second imaging device 12, or both devices to the pixels or points on the bin perimeter 81, on the edge of the bin 181, at the spout 89, at the end of the spout 87, or at any other linear edge, curve, ellipse, circle, or object detected by the edge detector, the linear Hough transformer, or both. For example, the image processing module 18 can use the disparity map or disparity image to determine the distance or separation from the first imaging device 10, the second imaging device 12, or both devices to the pixels or points on the bin perimeter 81, on the edge of the bin 181, the bin opening 83, in the vicinity of any of the aforementioned locations, or at another location.

[0070] In one embodiment, the container identification module 20 comprises: (1) an edge detector for measuring the strength or reliability of one or more edges 181 or points on the container perimeter 81 in the image data; (2) a linear Hough transformer for identifying an angle and an offset for candidate linear segments in the image data relative to a reference point on an optical axis, a reference axis of one or both of the imaging devices 10, 12;(3) a bin locator configured to utilize spatial and angular constraints to eliminate eligible linear segments that, logically or logically, cannot be part of the identified linear segments of the bin perimeter 81 or points on the bin perimeter 81, and (4) the bin locator converting the non-eliminated identified linear segments or the identified points into two- or three-dimensional coordinates with respect to a reference point or frame of reference of the receiving vehicle and the harvesting vehicle;

[0071] The edge detector can apply an edge detection algorithm to the corrected data from the image correction module 101. The edge detector can use any number of suitable edge detection algorithms. Edge detection refers to a method for detecting and positioning sudden transitions between pixels in an image or acquired image data. For example, a sudden transition can consist of a significant change in the brightness or color of pixels that define the boundaries of objects in an image. For edge detection, a gradient method can be applied by filtering the image data so that it returns different pixel values ​​in the first regions of larger jumps or gradients than in second regions with smaller jumps or gradients. For example, the gradient method detects the edges of an object by determining the maximum and minimum of the first derivative of the pixel brightness of the image data.The Laplace method detects the edges of an object in an image by searching for zero crossings in the second derivative of pixel brightness. Other examples of suitable edge detection algorithms include Roberts, Sobel, and Canny, which are familiar to anyone familiar with the subject. The edge detector can provide a numerical output, an output signal, or a symbol indicating the strength or reliability of the edges 181 in the image. For example, the edge detector can provide a numerical value or an indicator of the strength of the edge within a range or scale, or a relative strength or reliability, to the linear Hough transformer.

[0072] The linear Hough transformer receives the edge data (e.g., an indicator of edge strength) of the receiving vehicle and identifies the estimated angle and offset of the strong line segments, curve segments, or generally linear edges (e.g., of the container 85, the spout 89, the end of the spout 87, and the opening 83) in the image data. The estimated angle is assigned to the angle or combined angle (e.g., the multidimensional angle) with respect to a linear axis intersecting the lenses of the first imaging device 10, the second imaging device 12, or both. The linear Hough transformer includes pattern recognition to identify the line segments of objects with specific shapes in the image data. For example, the linear Hough transformer identifiesThe parameters of the linear or ellipse equations of the objects in the image data are derived from the edge data output by the edge detector, or the Hough transformer classifies the edge data as a line segment, ellipse, or circle. This makes it possible to detect containers or spouts with generally linear, rectangular, elliptical, or circular shapes.

[0073] In one embodiment, the data manager supports the entry or selection of container reference data via the operator interface 44. The data manager supports the entry, retrieval, and storage of container reference data, e.g., information about the dimensions of the cart, by the image processing module 18 to generate spatial constraints for the container locator on the line segments or data points that are potential edges 181 of the opening of the transport trailer 83.

[0074] In one embodiment, the angle determiner may comprise a Kalman filter or an extended Kalman filter. The angle determiner estimates the angle of the transport trailer 93 (e.g., cart) of the receiving vehicle 79 relative to the axis of travel of the driven portion 75 (e.g., tractor) of the receiving vehicle 79. The angle determiner (e.g., Kalman filter) provides the container locator with information regarding angle constraints regarding the lines or data points representing potential edges 181 of the container opening 83. The configuration provides that the angle determiner or Kalman filter is coupled to the container locator. The angle determiner's filter provides or may output the received estimated angle of the transport trailer 93 relative to the axis of travel of the driven portion 75 of the vehicle.

[0075] The container locator is configured to receive measurements of the dimensions of the vehicle's container perimeter 81 or transport trailer 93 to facilitate the identification of candidate linear segments that qualify as identified linear segments of the container perimeter 81. In one embodiment, the container locator is configured to receive an estimated angle of the transport trailer 93 relative to the drive member 75 to facilitate the identification of candidate linear segments that qualify as identified linear segments of the container perimeter 81.The container locator uses spatial and angular constraint information to eliminate candidate lines in the image data that cannot potentially or logically be part of the container opening 83 or the container edges 181, then selects preferred lines (or data points on the container edge 81) as the most likely candidate information for the valid container opening 83 (with material contained) or the container edges 181. The container locator labels the preferred lines as, or converts them to, three-dimensional coordinates relative to the vehicle or other reference frame to represent the container perimeter of the container 85.

[0076] In one embodiment, the spout locator 22 includes a spout classifier configured to identify potentially candidate pixels in the image data based on at least one of reflectivity, brightness, color, or texture pattern in the image data (or pixels), the corrected image data, or the raw image data, where the candidate pixels represent a portion of the spout 89 or the end of the spout 87. The spout locator 22 is configured to estimate a relative position of the spout 89 to the imaging device based on the classified candidate pixels for a portion of the spout 89.The runout locator 22 obtains an estimated runout position of the combine or a runout angle (α) relative to the mounting position of the imaging device or the optical axis or the reference axis of one or more imaging devices, based on previous measurements, to provide constraining data on where the runout 89 may be located.

[0077] The spout classifier uses or includes software instructions to an algorithm that identifies candidate pixels that are likely parts of the spout 89 or the end of the spout tube 87 based on the expected color and texture features within the processed or raw image data. For example, in one configuration, the end of the spout 87 may be painted, coated, labeled, or marked with a coating or pattern having higher visible or infrared reflectivity, higher intensity, or higher luminance than the remainder of the spout 89 or the transferring vehicle.The higher luminance, intensity, or reflectivity of the end of the spout 87 (or the associated spout pixels in the image data compared to the background pixels) may be achieved by painting or coating the end of the spout 87 in white, yellow, chrome, or a lighter color or shade than the rest of the spout 89 or parts of the transferring vehicle in the field of view of the imaging devices 10, 12.

[0078] In one embodiment, the means for estimating the discharge position comprises a Kalman filter or an extended Kalman filter that receives as input historical measurements and reference data about the bin and outputs an estimate of the discharge position, the discharge angle, or the associated error. The means for estimating the discharge position provides an estimate of the combine's discharge position, or the discharge angle or its error, relative to one or more of the following parameters: (1) the mounting position or pivot point of the discharge pipe on the transferring vehicle, or (2) the optical axis or other reference axis or point of the first imaging device 10, the second imaging device 12, or both, or (3) the axis to the direction of forward movement or the direction of travel of the transferring vehicle.The Kalman filter provides constraints on the possible position of the spout 89 or the end of the spout 87, an estimated spout position, or a zone in which the spout is located, or a zone in which the estimated position of the spout is located. In one embodiment, the means for estimating the spout position or the Kalman filter is coupled to the spout locator 22.

[0079] The discharge locator 22 takes pixels classified as belonging to the auger discharge tube 89 of the combine and uses a disparity map or disparity image from the disparity image generator 103 to estimate the relative position of the discharge tube to the first imaging device 10, the second imaging device 12, or both, or a reference axis or coordinate system to the vehicle.

[0080] Fig. is a flowchart of a method for facilitating the unloading of agricultural material from a vehicle or from a transferring vehicle 91 to a receiving vehicle 79. The method in Fig. may operate with one or more of the embodiments of the system 11, 111, 311 set forth hereinabove.

[0081] In step S902, the first imaging device 10 is aligned with the transport trailer of the receiving vehicle 79 (e.g., a grain trailer) and acquires first image data (e.g., first stereo image data, first monocular image data, or a right image of a stereo image pair). For example, the first imaging device 10 may be mounted on the body of the transferring vehicle 91 and aligned with the receiving vehicle 79 and the container 85. In one embodiment, the first imaging device 10 has a first field of view 277 or 477 of the transport trailer of the receiving vehicle 79 ( Fig. .

[0082] In an alternative embodiment, the first imaging device 10 comprises a monocular imaging device that provides a first image portion (e.g., the left image) of the stereo image data of a shot or object.

[0083] In step S904, the optional second imaging device 12, if present, is aligned with the transport trailer 93 of the receiving vehicle 79 (e.g., a grain trailer) and acquires second image data (e.g., second stereo image data, second monocular image data, or a left image of a stereo image pair). For example, the second imaging device 12 may be mounted on the body of the transferring vehicle 91 and aligned with the receiving vehicle 79 ( Fig. In one embodiment, the second imaging device 12 has a second field of view 677 of the transport trailer of the receiving vehicle, wherein the first field of view 277 at least partially overlaps with the second field of view 677.

[0084] In an alternative embodiment, the second imaging device 12 comprises a monocular imaging device that provides a second image portion (e.g., right image) of the stereo image data of a shot or object, wherein the image processing module 18 supports the generation of a stereo image from a combination of the first image portion (of the first monocular imaging device) and the second image portion, based on the relative position and orientation of the first imaging device 10 and the second imaging device 12.

[0085] In step S906, an image processing module 18 or a container identification module 20 identifies the container border 81 of the transport trailer 93 in the acquired image data (e.g., the first image data, the second image data, or both), wherein the transport trailer 93 has an opening 83 within the container border 81 for receiving the agricultural material. Step S906 may be performed using various methods, which may be used alternatively or together. In the first method, the image processing module 18 or container identification module 20 may employ the following methods or substeps: (1) measuring the strength of one or more edges 181 in the image data (raw and corrected image data); (2) identifying an angle and an offset of candidate linear segments in the image data relative to an optical axis, a reference axis (e.g.,the direction of travel of the transferring vehicle) or a reference point associated with one or more imaging devices 10, 12; and (3) using spatial and angular constraints to eliminate candidate linear segments that, logically or logically, cannot be part of the identified linear segments of the container perimeter, wherein the container identification module 20 converts the identified linear segments into three-dimensional coordinates with respect to a reference point or frame of reference of the receiving vehicle or the harvesting vehicle.

[0086] In the second method, the image processing module 18 or container identification module 20 may receive container reference data or measurements of the dimensions of the container perimeter 81 or the transport trailer 93 of the vehicle to facilitate the identification of candidate linear segments or candidate data points that qualify as identified linear segments of the container perimeter 81.

[0087] In the third method, the image processing module 18 or the container identification module 20 may receive an estimated angle of the transport trailer 93 relative to the drive portion 75 of the vehicle to facilitate the identification of candidate linear segments that qualify as identified linear segments of the container perimeter 81.

[0088] In the fourth method, the image processing module 18 or the container identification module 20 provides the received estimated angle of the transport trailer 93 relative to the drive part 75 of the vehicle.

[0089] In step S908, the image processing module 18 or a discharge locator 22 identifies a discharge pipe 89 (or the end of the discharge pipe 87) of the transferring vehicle 91 in the acquired image data. The image processing module 18 or the discharge locator 22 may use various methods, which may be used alternatively or in conjunction. In the first method, the image processing module 18 or the discharge locator 22 identifies candidate pixels in the image data (e.g., corrected or raw image data) based on the expected color and texture patterns of the image data, wherein the candidate pixels represent a portion of the discharge pipe 89 (e.g., auger discharge pipe of the combine harvester) or the end of the discharge pipe 87.

[0090] In the second method, the image processing module 18 or the spout locator 22 estimates a relative position or angle of the spout 89 or the end of the spout 87 to the imaging device based on the classified pixels of a portion of the spout 89 identified as candidate.

[0091] In the third method, the image processing module 18 or the discharge locator 22 receives an estimated discharge position of the combine, or a discharge angle, relative to the mounting position, optical axis, reference axis, or a reference point of the imaging device 10, 12, based on previous measurements to provide constraint data regarding where the discharge pipe 89 may actually be located.

[0092] In the fourth method, the image processing module 18 or the exit locator 22 provides the estimated exit position of the combine harvester or the estimated exit angle to the container identification module 20.

[0093] In step S910, the image data evaluator 25 or the image processing module 18 determines, based on an assessment of the intensity of the pixel data or the ambient light conditions, whether the first image data, the second image data, or both should be used. Step S910 can be performed using various methods, which can be used alternatively or together.

[0094] In the first method, in which a first optical sensor 110 is associated with the corresponding first imaging device 10, the image data evaluator 25 or the image processing module 18 decides to use the first image data if the ambient illumination fluctuations in a sampling interval (e.g., equal to the sampling rate of 1 to 120 samples per second) are less than or equal to a maximum ambient light fluctuation measured with the first optical sensor 110. Here, in the first method, the first image data are acquired only with the first imaging device 10. During operation or normal operation of the systems 11, 111, 311, a background level, average level, or mode level of ambient light fluctuations in the image data, a block of pixels in the first image data, or an object in the image data (e.g., spout, end of the spout, inner container rim, or container) can be collected or tracked.In one embodiment, the maximum ambient light level is set to a value above the background level, the average level, or the mode level. For example, the maximum ambient light level (e.g., within the visible light spectrum, the near-infrared spectrum, or the infrared spectrum) is set to be equal to or greater than a threshold (e.g., within a range of approximately 3 to 6 dB) according to a statistical measurement method (e.g., one to two standard deviations above the background level), the average level, or the mode level, or a signal level difference between the maximum ambient light level and the average level.

[0095] In the second method, in which a second optical sensor 112 is associated with the corresponding second imaging device 12, the image data evaluator 25 or the image processing module 18 decides to use the second image data if the ambient light fluctuations in a sampling interval (e.g., equal to the sampling rate of 1 to 120 samples per second) are less than or equal to a maximum ambient light fluctuation measured with the first optical sensor 112. Here, in this second method, the second image data is acquired only with the second imaging device 12. During operation or normal operation of the systems 11, 111, 311, a background level, average level, or mode level of ambient light fluctuations in the image data, a block of pixels in the second image data, or an object in the image data (e.g., spout, end of spout, container border, or container) can be collected or tracked.In one embodiment, the maximum ambient light level is set to a value above the background level, the average level, or the mode level. For example, the maximum ambient light level (e.g., within the visible light spectrum, the near-infrared spectrum, or the infrared spectrum) is set to be equal to or greater than a threshold (e.g., within a range of approximately 3 to 6 dB) according to a statistical measurement method (e.g., one to two standard deviations above the background level), the average level, or the mode level, or a signal level difference between the maximum ambient light level and the average level.

[0096] In the third method, the image processing module 18 or the image data evaluator 25 decides to use the first image data of the first imaging device 10 if the fluctuations in the pixel intensity of a spout, an end of the spout, or a container in the first image over a sampling interval are less than or equal to the maximum fluctuation in the pixel intensity detected by the image processing module 18.

[0097] In the fourth method, the image processing module 18 or the image data evaluator 25 decides to use the second image data of the second imaging device 12 if the fluctuations in the pixel intensity of a spout or an end of the spout in the second image over a sampling interval are less than or equal to the maximum fluctuation in the pixel intensity detected by the image processing module 18.

[0098] In the fifth method, the image processing module 18 or the image data evaluator 25 is configured to determine whether the first image data, the second image data, or both should be used for identifying the container perimeter and the outlet pipe 89 (or the end of the outlet pipe 87) based on the criterion that the pixel intensity of the unused image data is outside a desired range or a fluctuation in the pixel intensity during the sampling interval, wherein the image processing module 18, the image data evaluator 25, or the image processing module 18 is configured to inhibit the processing or use of the rejected image data containing a portion of the acquired first image data or second image data that would otherwise be interfered with by one or more of the following conditions:is prevented under the following conditions: (1) temporarily excessive sunlight during sunrise or sunset or excessive light radiation from other sources (e.g. headlights of other vehicles), (2) alternating sun and clouds, (3) fog, precipitation or humidity, (4) shadows (e.g. by vegetation, trees, buildings or treetops), (5) dust or dirt in the air, (6) light reflections (e.g. by polished, shiny or reflective surfaces of other machines or vehicles) or other lighting conditions that may temporarily prevent or impair the proper operation of the imaging devices 10, 12.

[0099] In step S912, the image processing module 18 or the alignment module 24 determines the relative position of the discharge pipe 89 or the end of the discharge pipe 87 to the container perimeter 81 in order to generate command data for controlling the travel speed of the transferring vehicle 91 or for repositioning the discharge pipe 89 or both in common alignment so that the discharge pipe 89 (or the end of the discharge pipe 87) is aligned with the central region 83 within the container perimeter 81. The image processing module 18 can use, retrieve, or access previously stored data, e.g., dimensional parameters of the receiving vehicle, wherein the dimensional parameters include information on the distance between the trailer hitch and the axis of rotation of the front wheels of the transport trailer 93. Such dimensional parameters can be entered via an operator interface 44, which can, for example,connected to the vehicle data bus 60 or the image processing module 18.

[0100] To perform step S912, the image processing module 18 may use first position data from a first position determining receiver 42 on the transferring vehicle 91 to determine the relative position of the discharge pipe to the container perimeter and generate command data to, in common alignment, control the travel speed of the transferring vehicle 91 or reposition the discharge pipe 89, or both, so that the discharge pipe 89 is located in a central region within the container perimeter 181 or a portion of the grid pattern 82.

[0101] In step S914, in a first configuration, the controller 59 or the drive controller 40 controls the travel speed of the transferring vehicle 91. In a second configuration, the vehicle controller 46 or the spout controller 54 changes the position of the spout pipe 89. The rotary drive 122 (e.g., a servo motor, an electric motor, a linear motor, and a gear assembly for converting linear to rotary motion) controls the spout angle of the spout pipe 89 or the end of the spout pipe 87 relative to the direction of travel or another reference axis of the transferring vehicle in response to the alignment module 24 or the image processing module 18 (e.g., intelligent unloading controller). In a third configuration, both the speed of the transferring vehicle and the spout pipe 89 are influenced.

[0102] Although the invention has been described in detail and with reference to specific embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the embodiments. Therefore, it is entirely intended that the invention disclosed herein be susceptible to changes and modifications in its scope, provided they remain within the scope of the appended claims and their equivalents.

Claims

[1] A method for facilitating the transfer of material from a transferring vehicle having a material outlet to a receiving vehicle having a container for receiving the transferred material, the method comprising the following steps: a. Identifying and locating the container using first image data and / or second image data, wherein a first imaging device on the receiving vehicle captures the first image data comprising a first field of view including the material distribution and the container, and wherein a second imaging device on the transferring vehicle captures the second image data comprising a second field of view including the material distribution and the container; b. Detecting a representation of the fill level or volumetric distribution of the material in the container c. aligning the material dispensing end over a target area of ​​the container to receive the material, wherein an image data evaluator provides an image quality assessment to determine whether the first image data and / or the second image data should be used to align the material distribution end over the target area of ​​the container; d. Determine additional target areas of the container to receive material based on a representation of the fill level or volumetric distribution of the material in the container e. Transfer of the material from the transferring vehicle to the current destination area of ​​the container of the receiving vehicle f. Detect when the current target area of ​​the container is filled with the material g. Repeat steps c to f until the other target areas of the container are filled and h. Completion of the transfer of the material from the transferring vehicle to the receiving vehicle. [2] Method according to claim 1, wherein the representation of the fill level or the volumetric distribution of the material in the container is one-dimensional. [3] A method according to claim 1, wherein the representation of the fill level or volumetric distribution of the material in the container is two-dimensional. [4] A method according to claim 1, wherein the representation of the fill level or volumetric distribution of the material in the container is three-dimensional. [5] A method according to claim 1, wherein detecting the representation of the fill level or volumetric distribution of the material in the container further comprises: Receiving data from a level distribution sensor and Generating a representation of the fill level or volumetric distribution of the material in the container using the fill level distribution sensor. [6] A method according to any one of the preceding claims, wherein the detection of the representation of the fill level or the volumetric distribution of the material in the container further comprises: Receiving corrected image data from at least the first imaging device or the second imaging device, Generating difference image data from the corrected image data, and Generate a representation of the fill level or volumetric distribution of the material in the container using area data based on the difference image data. [7] A method according to any one of the preceding claims, wherein determining the parts of the container in which further material is required based on the representation of the fill level or the volumetric distribution of the material in the container comprises: Developing a target area matrix of the container, where each target area of ​​the matrix is ​​identified by a predetermined set of coordinates relative to the container, Identify the target areas of the matrix that are filled or not filled based on the representation of the fill level or the volumetric distribution of the material in the container and Determination of the previously defined set of coordinates of another target area to be filled and the previously defined set of coordinates of the current target area over which the outlet for material distribution is positioned. [8] A method according to any preceding claim, wherein aligning the material distribution end over a current target area of ​​the container in which material is required comprises activating a control mechanism for moving the material distribution end over the predetermined set of coordinates of a next target area to be filled. [9] A method according to claim 8, wherein activating the control mechanism to move the material distribution end over the predetermined set of coordinates of a next target area to be filled comprises: Determining a current lateral run-out angle of the end for material distribution, Converting the previously defined set of coordinates between the current target area and the next target area to be filled into a change in the current lateral run-out angle to obtain a new lateral run-out angle, Transferring the new lateral exit angle to an exit controller of the transferring vehicle and Controlling the outlet controller from the current lateral outlet angle to the new lateral outlet angle, with the end aligned to distribute material over the next target area to be filled. [10] A method according to any preceding claim, wherein orienting the material distribution end over a current target area of ​​the container in which material is required comprises changing a linear spatial distance between the receiving vehicle and the transferring vehicle to bring the material distribution end to the current target area over the next target area to be filled. [11] A method according to claim 10, wherein changing a linear spatial distance between the receiving vehicle and the transferring vehicle comprises: Establishing a current linear spatial distance between the receiving vehicle and the transferring vehicle, Converting the previously defined set of coordinates between the current target area and the next target area to be filled into a change in the current linear spatial distance to obtain a new linear spatial distance, Transferring the new lateral distance to a steering controller of the transferring vehicle and Controlling the transferring vehicle to establish a new linear spatial distance between the receiving vehicle and the transferring vehicle, with the end aligned to distribute material over the next target area to be filled. [12] A method according to claim 10, wherein changing a linear spatial distance between the receiving vehicle and the transferring vehicle comprises: Establishing an initial linear spatial distance between the receiving vehicle and the transferring vehicle, Converting the previously defined set of coordinates between the current target area and the next target area to be filled into a change in the current linear spatial distance to obtain a new linear spatial distance, Transmission of the new linear lateral distance to a drive controller of the transferring vehicle or the receiving vehicle or both vehicles or a brake controller of the transferring vehicle or the receiving vehicle or both vehicles and Acceleration or braking of the transferring vehicle or the receiving vehicle or both vehicles to establish the new linear distance between the transferring vehicle and the receiving vehicle, with the end aligned to distribute material over the next target area to be filled. [13] Method according to one of the preceding claims, wherein transfer of the material from the transferring vehicle to the current target area of ​​the container of the receiving vehicle includes activating a conveyor screw and / or an outlet. [14] A method according to any one of the preceding claims, wherein detecting whether the current target area of ​​the container is filled with the material comprises detecting a representation of the fill level or volumetric distribution of the material in the current target area of ​​the container. [15] The method of claim 14, wherein detecting a representation of the fill level or volumetric distribution of the material in the current target area of ​​the container further comprises: Receiving data from a level distribution sensor and Generate a representation of the fill level or volumetric distribution of the material in the current target area of ​​the container using the fill level distribution sensor. [16] The method of claim 14, wherein detecting a representation of the fill level or volumetric distribution of the material in the current target area of ​​the container further comprises: Receiving corrected image data from at least the first imaging device or the second imaging device, Generating difference image data based on the corrected image data and Generate a representation of the fill level or volumetric distribution of the material in the container with area data using the difference image data. [17] A method according to any one of the preceding claims, wherein terminating the transfer of material from the transferring vehicle to the receiving vehicle when the current target area of ​​the container is filled includes stopping a screw conveyor and / or the outlet. [18] A method according to claim 1, wherein the material is an agricultural material and / or mineral material. [19] A method according to claim 6 or any claim dependent thereon, wherein receiving the corrected image data from at least one of the first imaging device and the second imaging device further includes receiving corrected image data from the first imaging device from the receiving vehicle. [20] A method according to claim 6 or any claim dependent thereon, wherein receiving the corrected image data from at least one of the first imaging device and the second imaging device further comprises: Receiving first image data from the first imaging device and Receiving second image data from the second imaging device; and Using an image data evaluator to determine whether to use the first image data, the second image data, or both the first image data and the second image data.

Images