Stereo Vision Spout Alignment for Agricultural Unloading
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Solution Overview
Problem
Existing systems for unloading agricultural material between vehicles are prone to misalignment due to transient errors in GPS positioning, leading to inefficient transfer and potential misdirection of material.
Innovation Solution
A stereo vision system with imaging devices on the transferring and receiving vehicles, a rotatable spout, and a propulsion system controller, which uses image processing to determine the relative position of the spout and container, and adjusts vehicle speed and alignment to ensure accurate alignment and even distribution of material.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS receivers are used to maintain proper spacing between vehicles, then vehicle positioning is achieved, but misalignment occurs due to transient errors and signal discontinuities
Solution Approach 1:
The patent introduces an imaging device as an intermediary system to capture visual data of the container and spout, creating a backup measurement method that does not depend on GPS satellite signals. This intermediary visual measurement system provides reliable alignment data even when GPS receivers experience transient errors or signal discontinuities due to electromagnetic interference or multipath propagation.
Solution Approach 2:
The system implements feedback by continuously monitoring the relative position between the spout and container using image processing, and automatically adjusting vehicle speed or spout rotation to maintain proper alignment. This closed-loop control compensates for positioning errors in real-time, improving both measurement precision and reliability of the unloading operation.
2Ease of operation
If GPS positioning is used for vehicle alignment, then spacing maintenance is possible, but material misdirection occurs due to positioning errors
Solution Approach 1:
The imaging device serves as an intermediary measurement system that directly observes the critical alignment between spout and container, providing more accurate visual feedback for material transfer precision than GPS positioning alone. This visual intermediary system enables automatic spacing control while ensuring material is directed accurately into the container.
Solution Approach 2:
The patent replaces the GPS-based mechanical positioning system with an optical vision system for the critical measurement function of aligning spout to container. This substitution uses optical fields instead of electromagnetic satellite signals, providing superior precision for the specific task of material transfer alignment while maintaining automatic control capabilities.
3Device complexity
If simple GPS-based spacing control is used, then system complexity is low, but alignment precision deteriorates due to signal errors
Solution Approach 1:
The imaging device performs multiple functions: it captures images for container identification, calculates relative position and orientation, and provides feedback for alignment control. This multi-functional approach achieves high measurement precision without proportionally increasing system complexity, as a single imaging system handles multiple measurement tasks that would otherwise require separate specialized devices.
Solution Approach 2:
The image processing module acts as an intermediary computational system that extracts precise position and orientation data from visual information. This intermediary processing layer converts raw image data into accurate measurement parameters, achieving high measurement precision through software-based analysis rather than requiring complex hardware measurement systems.
4Adaptability or versatility
If GPS receivers are used for vehicle positioning, then basic navigation is achieved, but alignment reliability decreases due to electromagnetic interference and signal propagation issues
Solution Approach 1:
The vision-based measurement system serves as an intermediary alternative that is immune to electromagnetic interference and signal propagation issues affecting GPS. This intermediary system provides reliable alignment measurements by using optical fields instead of radio frequency satellite signals, maintaining adaptability while improving reliability in challenging electromagnetic environments.
Solution Approach 2:
The system combines GPS positioning capability with vision-based measurement in a composite positioning system. This composite approach leverages the strengths of both systems: GPS provides broad navigation capability and adaptability, while the vision system provides reliable, interference-free alignment measurements, together achieving both versatility and high reliability.
Data Source
AI summary
A spout is pivotally mounted to a transferring material for transferring the agricultural material to the receiving vehicle. An imaging device faces towards the storage portion of the receiving vehicle and collects image data. A container module is adapted to determine a container position of the storage portion, or its container perimeter. An alignment module determines the relative position of the spout and the container perimeter and for generating command data to shift a relative longitudinal alignment between the vehicles in or against a direction of travel of the vehicles when the discharge end of the spout is in misalignment state. An angle sensor is associated with the spout for measuring an observed rotational angle of the spout, wherein the misalignment state means the observed rotational angle is equal to or greater than a rotational angle limit.