System for automated unloading of an agricultural material

Patent metadata

Field	Value
Publication number	US-9545048-B2
Application number	US-201113209801-A
Country	US
Kind code	B2
Filing date	Aug 15, 2011
Priority date	Aug 15, 2011
Publication date	Jan 17, 2017
Grant date	Jan 17, 2017

Abstract

A system for managing the transfer of agricultural material from a material-transferring vehicle to a material-receiving vehicle. An unloading chute is adapted to transfer material from a first storage container of the material-transferring vehicle to a material-receiving vehicle alongside the material-transferring vehicle. A location-determining receiver is adapted to estimate position data for guiding the material-transferring vehicle. An image sensor is mounted on the material-transferring vehicle or the first storage container for estimating a lateral separation distance between the first storage container and the material-receiving vehicle for receiving the material. An electronic data processing system guides the material-transferring vehicle based on the estimated position data and the estimated lateral separation distance, to maintain a generally constant target lateral separation distance between the material-transferring vehicle and the material-receiving vehicle during the transfer of the material.

First claim

The following is claimed:

1. A system for managing the transfer of material from a material-transferring vehicle to a material-receiving vehicle, the system comprising:
a material-transferring vehicle comprising a first storage container;
an unloading chute extending above or from a side of the first storage container, the unloading chute adapted to transfer material from the first storage container to a material-receiving vehicle alongside the material-transferring vehicle;
a location-determining receiver adapted to estimate position data for guiding the material-transferring vehicle;
an image sensor mounted on the material-transferring vehicle or the first storage container for providing observed image data to estimate a lateral separation distance, between the first storage container and the material-receiving vehicle for receiving the material, based on the observed image data of a reflective alignment pattern painted, marked or labeled on the receiving vehicle;
a discriminator for identifying pixels within the reflective alignment pattern distinct from background pixels associated with the observed image data; and
an electronic data processing system for guiding the vehicle and its associated material-transferring vehicle based on the estimated position data and the estimated lateral separation distance, the electronic data processing system comprising a manager to determine whether to use the estimated lateral separation distance, between the vehicles, derived from image data of the image sensor or derived from estimated position data of the location-determining receiver, where the estimated lateral separation distance of the image sensor supersedes or augments the estimated position data for the material-transferring vehicle to maintain at least a minimum target lateral separation distance between the material-transferring vehicle and material-receiving vehicle during the transfer of the material.

2. The system according to claim 1 wherein the image sensor comprises a camera, a stereo image sensor, or a monocular image sensor to determine the lateral separation distance between the material-transferring vehicle and the material receiving vehicle by identification of the reflective alignment pattern on the material receiving vehicle and estimation of the distance between the material transferring vehicle and the material receiving vehicle by vertical height of the reflective alignment pattern with respect to a reference vertical height at a known reference position.

3. The system according to claim 2 wherein the alignment pattern comprises a substantially linear lighter stripe on a side of the vehicle on a darker background color.

4. The system according to claim 3 wherein the linear lighter strip is white or whiter than the background color.

5. The system according to claim 2 wherein the alignment pattern comprises a plurality of linear stripes that intersects with and is contiguous with at least a back corner of the material-receiving vehicle.

6. The system according to claim 1 wherein the mage sensor comprises one or more laser range finders spaced apart on the material-transferring vehicle, each laser range finder measurement device using time of flight of a pulse of infrared laser light, or detection of frequency or phase of modulated laser signal.

7. The system according to claim 1 wherein the material-receiving vehicle is stationary in a location of known geographic coordinates and wherein the material-transferring vehicle is configured to approach the known location with the stationary material receiving vehicle.

8. The system according to claim 1 wherein the material-transferring vehicle comprises:
a first communications device; and
wherein the material-receiving vehicle further comprises:
a second location-determining receiver for estimating a receiving position of the material-receiving vehicle;
a second communications device for transmitting the receiving position to the first communications device.

9. The system according to claim 1 wherein the transferring vehicle further comprises:
a plurality of sensors for measuring a mass of agricultural material in a storage container of the material-transferring vehicle to estimate the agricultural material transferred to the receiving vehicle;
an unloading controller for unloading a desired amount of agricultural material to the material-transferring vehicle and stopping an unloading chute auger propulsion unit when the desired amount of agricultural material is reached.

10. The system according to claim 9 wherein the material-transferring vehicle comprises:
a first communications device; and
wherein the material-receiving vehicle further comprises:
a second communications device for transmitting a data message indicative of the transfer of desired amount of agricultural material to the first communications device.

11. The system according to claim 1 wherein the discriminator identifies the pixels within the reflective alignment pattern by establishing a derivative image layer that overlays the original observed image data from the image sensor and assigns a first digital value to the identified pixels within the alignment pattern and a second digital value, distinct from the first digital value, to all background pixels in the derivative image data or derivative image layer.

12. The system according to claim 11 further comprising:
an object extractor to analyze the derivative image data from the discriminator to identify a boundary or outline of the reflective alignment pattern or other identified alignment pattern.

13. The system according to claim 1 wherein the alignment pattern comprises a plurality of linear stripes that intersect with each other.

14. The system according to claim 13 wherein the linear stripes are contiguous with at least a back corner of the material-receiving vehicle.

15. A system for managing the transfer of material from a material-transferring vehicle to a material-receiving vehicle, the system comprising:
a material-transferring vehicle comprising a first storage container;
an unloading chute extending above or from a side of the first storage container, the unloading chute adapted to transfer material from the first storage container to a material-receiving vehicle alongside the material-transferring vehicle;
a location-determining receiver adapted to estimate position data for guiding the material-transferring vehicle;
an image sensor mounted on the material-transferring vehicle or the first storage container for providing observed image data to estimate a lateral separation distance, between the first storage container and the material-receiving vehicle for receiving the material, based on the observed image data of a reflective alignment pattern painted, marked or labeled on the receiving vehicle;
a discriminator for identifying pixels within the reflective alignment pattern distinct from background pixels associated with the observed image data; and
an electronic data processing system for guiding the vehicle and its associated material-transferring vehicle based on the estimated position data and the estimated lateral separation distance, the electronic data processing system comprising a lateral estimator for determining the estimated lateral separation distance and a manager to determine whether to use the estimated lateral separation distance, between the vehicles, derived from the image data of the image sensor or derived from the estimated position data of the location-determining receiver, where, by a default setting of the manager, the estimated lateral separation distance of the image s

Assignees

• Pickett Terence D
• Mcdonald Brandon M
• Deere & Co

Inventors

• Pickett Terence D
• Mcdonald Brandon M

Classifications

• A01B69/008 Primary

  automatic · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title

• G05D2201/0201

  Physics · mapped topic

• G05D1/024

  in combination with a laser (lasers per se H01S) · CPC title

• G05D1/0246

  using a video camera in combination with image processing means · CPC title