Harvester Transfer Spout Control Using Visual Target Tracking
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Solution Overview
Problem
Existing systems for controlling the position of an adjustable transfer device on forage harvesters struggle to accurately unload crop into a container positioned at the rear, especially when the distance between the harvester and the container is large, and when the field is opened.
Innovation Solution
A control arrangement comprising an image capture device mounted on the harvesting machine, which provides an image signal to a target detection module and/or a target tracking module, allowing the system to locate and track the container and adjust the position of the transfer device accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If an image-based system is used to control the transfer device, then the unloading efficiency is improved, but the system fails to identify the container correctly when the distance is large
Solution Approach 1:
The patent introduces a target object (such as a reflective board or marker) placed on or near the container as an intermediary visual target. This target object provides high-contrast, easily detectable features that the image capture device can reliably identify and track, even at large distances. The target serves as a mediator between the harvester's vision system and the container, enabling accurate position detection without requiring direct container recognition.
Solution Approach 2:
The system changes the visual parameters of the target by using a reflective board or marker with specific optical properties (high reflectivity, distinct color, or unique pattern). This parameter change makes the target significantly more detectable by the image capture device compared to the container itself, especially at large distances where image resolution is limited.
2Ease of operation
If the field is opened and the transport vehicle follows from behind, then the harvesting operation can proceed, but the distance between the harvester and container becomes large making control difficult
Solution Approach 1:
The target object acts as a visual mediator that maintains detectability over large distances. By placing this high-contrast target on the container or near it, the system preserves visual information about the container's position even when the distance is large, enabling the control system to maintain accurate relative position data throughout the harvesting operation.
Solution Approach 2:
The patent replaces mechanical position sensing methods with an optical detection system using the image capture device and image processing. This substitution allows for non-contact, real-time position detection over variable distances, providing flexibility in the harvesting operation while maintaining control capability through visual information processing.
Data Source
Figure 1A~1B
Figure 2
Figure 3A~3B
AI summary
Disclosed herein is an adjustable transfer device for unloading processed crop onto a container of a transport vehicle including a control arrangement with an electronic control unit, among other integrated components. Electronic control unit calculates position of expected point of incidence of crop flow on the container. Further provided is a system that identifies and tracks a target object in image data, which is then used to determine the trajectory of the target. With the trajectory known, the control arrangement can accurately direct the crop flow into the container.