• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    system for managing material transfer a system (11) for managing the transfer of agricultural material from a material transfer vehicle to a material receiving vehicle. an unloading conveyor chute is adapted to transfer material from a first storage container of the material transfer vehicle to a material receiving vehicle along the side of the material transfer vehicle. a location determination receiver (20) is adapted to estimate position data to guide the material transfer vehicle. an image sensor (18) is mounted on the material transfer vehicle or the first storage container to estimate a lateral separation distance between the first storage container and the material receiving vehicle for receiving the material. an electronic data processing system (10) guides the material transfer 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 transfer vehicle. material and the material receiving vehicle during material transfer.
    公开号:BR112014001267B1
    申请号:R112014001267-9
    申请日:2012-08-14
    公开日:2021-08-10
    发明作者:Terence D. Pickett；Brandon M. Mcdonald
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    field of invention
    [0001] This invention relates to a system for the automated unloading of an agricultural material. Fundamentals of Invention
    [0002] A cart, wagon or other vehicle may contain harvested agricultural material (eg grain) until it is unloaded or transferred to a truck for transport from a farm. In some prior art, certain carts or wagons have integral augers and unloading conveyor chutes to facilitate the transfer of harvested agricultural material to the truck. If the driver fails to maintain proper alignment between the cart and truck, an unwanted collision between the unloading chute and the truck can occur, which can lead to inopportune equipment downtime in the middle of the harvest season. Thus, there is a need for a system for the automated unloading of agricultural material that minimizes unwanted collisions, among other inconveniences. Invention Summary
    [0003] In one embodiment, a system manages the transfer of agricultural material from a material transfer vehicle to a material receiving vehicle. An unloading conveyor chute extends above or from one side of a first storage container of the material transfer vehicle. The unloading conveyor chute is adapted to transfer material from the first storage container to a material receiving vehicle along the material transfer vehicle. A location determination receiver is adapted to estimate position data to guide the material transfer vehicle. An image sensor is mounted on the material transfer vehicle or the first storage container to estimate a lateral separation distance between the material transfer vehicle and the material receiving vehicle. An electronic data processing system guides the movement and position of the material transfer vehicle based on the estimated position data and the estimated lateral separation distance, where the estimated lateral separation distance of the image sensor overlaps or increases the estimated position data for the material transfer vehicle to maintain at least a minimum target lateral separation distance between the material transfer vehicle and material receiving vehicle before, during and after the transfer of the agricultural material. Brief Description of Drawings
    [0004] Figure 1 illustrates a block diagram of a modality of a system for the automated unloading of agricultural material.
    [0005] Figure 2 illustrates a block diagram of another modality of a system for the automated unloading of an agricultural material.
    [0006] Figure 3 is a side view of a possible configuration of a material transfer vehicle, consistent with the exhibition system.
    [0007] Figure 4A is a perspective view of a possible configuration of a material receiving vehicle consistent with an embodiment of the exhibition system.
    [0008] Figure 4B shows an enlarged circular portion of Figure 4A at a first distance.
    [0009] Figure 4C shows an enlarged circular portion of Figure 4A at a second distance, closer than the first distance.
    [00010] Figure 5 shows the material transfer vehicle aligned with the material receiving vehicle for the transfer of an agricultural product, where the material receiving vehicle is in a fixed stationary position defined by one or more visible markings on the ground or around a periphery of the material receiving vehicle. Description of the Preferred Mod
    [00011] According to an embodiment, Figure 1 illustrates a block diagram of a system 11 for managing the transfer of agricultural material from a material transfer vehicle to a material receiving vehicle. For example, system 11 comprises an electronic data processing system, such as a computer programmed with software instructions or software modules for managing the alignment of a material transfer vehicle and a material receiving vehicle. Agricultural material may comprise grain, corn, sweet corn, soybean, oilseed, fiber, vegetables, fruit, hard nut, seeds, or other harvested crop. The material transfer vehicle has a material transfer vehicle system 10; the material receiving vehicle has a material receiving vehicle system 12.
    [00012] In Figure 1, the lines interconnecting the components of the material transfer vehicle system 10 or the material receiving vehicle system 12 may comprise physical data paths, logical data paths, or both. Physical data paths comprise one or more data collector bars, conductors, metallic wires, transmission lines, wireless links, or traces of a printed circuit board, for example, logical data paths comprise data communication through software or software modules.
    [00013] As illustrated in Figure 1 and Figure 3, the material transfer vehicle (301 in Figure 3) comprises a first storage container 28, an auger 29, an unloading conveyor chute controller 16, an unloading chute unloading conveyor, auger propulsion unit 30, and an unloading conveyor chute 32 for unloading first storage container 28. First storage container 28 is supported by a frame 91 of material transfer vehicle 301, which is associated with two or more rotating wheels 305 to engage the ground. The unload conveyor chute auger propulsion unit 30 drives the auger 29 to move or transport material through the unload conveyor chute 32. The unload conveyor chute controller 16 controls one or more of the following: (1) the rotation, direction of rotation, torque, slip by torque, or operating cycle of the auger 29, (2) the rotation rate of the auger 29 or the auger drive unit 30, (3) an active state ("on state" ") or inactive state ("off state") of the auger propulsion unit 30, and (4) the angular position of the unloading conveyor chute 32 with respect to vehicle 401, or its side, where the angular position is controlled by a servo motor and an angular position sensor connected to the unloading conveyor chute controller 16.
    [00014] As illustrated in Figure 5, during a loading process, an unloading conveyor chute 32 extends (e.g. generally orthogonally) above or from one side of a first storage container 28 of the transfer vehicle. material 301. The unload conveyor chute 32 is adapted to transfer material from the first storage container 28 to a second storage container 401 of a material receiving vehicle (307 in Figure 5) along the material transfer vehicle. material (301 in Figure 3 and Figure 5).
    [00015] In Figure 1, a first location determination receiver 20 is adapted to estimate position data to guide the material transfer vehicle 301. An image sensor 18 is mounted on the material transfer vehicle 301 or on the first container of storage 28 for estimating a lateral separation distance (e.g., 311 in Figure 5) between the material transfer vehicle 301 and the material receiving vehicle 307 for receiving the agricultural material. An electronic data processing system 10 guides the material transfer vehicle 301 based on the estimated position data and the estimated lateral separation distance, wherein the estimated lateral separation distance of the image sensor 18 overlaps or augments the data. estimated position for material transfer vehicle 301 to maintain at least a minimum target lateral separation distance 301 between material transfer vehicle 307 and material receiving vehicle during material transfer.
    [00016] The lateral separation distance can be defined according to various definitions, which can be applied alternately or cumulatively, or in dependence on the relative position of the vehicles (301 - 307). Under a first definition, the lateral separation distance 301 can represent the shortest linear distance between the reference points on the material transfer vehicle 301 to the corresponding reference point on the material receiving vehicle 307. Under the first definition , the material transfer vehicle 301 and the material receiving vehicle 307 need not be in a side-by-side positional relationship. Under a second definition, the lateral separation distance can represent the linear distance between a reference point on the material transfer vehicle 301 to the corresponding reference point on the material receiving vehicle 307, where the linear distance is normal to , or generally orthogonal to, a side of material transfer vehicle 301 facing one side of material receiving vehicle 307.
    [00017] In Figure 1, the material transfer vehicle system 10 comprises sensors 14 (e.g., mass, weight or volume sensor 14), an unloading conveyor chute controller 16, and an image sensor 18, which are coupled to a vehicle data collection bar 36, either directly or through an optional implement data collection bar 25 and an optional safety manager 27. The optional implement data collection bar 25 and the safety manager 27 are shown in dashed lines. In an illustrative embodiment, the sensors 14, unloading conveyor chute controller 16, and image sensor 18, and implement data collection bar 25 are located on a wagon, trolley, or other mobile storage portion (e.g. , first container 18) of material transfer vehicle 301, while the other elements of material transfer vehicle system 10 illustrated in Figure 1 are located in a tractor or propelled vehicle portion (not shown) for pulling or pushing the wagon, cart, or mobile storage portion. As illustrated in Figure 3, a tractor or propulsion vehicle portion may be mechanically coupled to hitch assembly 303 to pull the weight, cart or mobile storage portion of material transfer vehicle 301. Hitching assembly 303 may also support electrical wire grommets or wireless link to facilitate one or more physical data paths necessary to perform the material transfer system 10.
    [00018] In one configuration, the security manager 27 comprises one or more of the following: an interface, bridge or gateway between data collector bars, shared or common memory, buffer memory, a router, and a security device. The security manager 27 is programmed or configured to block access from the implement; data collector bar 25 to vehicle data collector bar ring 36, unless an appropriate security measure, such as a security key or encrypted data message, generated based on the key, is transmitted to and accepted by the manager of security 27.
    [00019] In one embodiment, the image sensor 18 comprises a camera, a stereo image sensor, or a monocular image sensor. In another embodiment, the image sensor 18 comprises one or more laser range finders spaced apart on the material transfer vehicle, each laser range finder measurement device using a time-of-flight pulse of infrared laser light, or frequency detection. or phase modulated laser signal. The image sensor 18 is configured to determine the lateral separation distance or the closest lateral separation distance between the material transfer vehicle and the material receiving vehicle. The image sensor 18 can determine the lateral separation distance of the material receiving vehicle at one or more points on the material receiving vehicle with respect to one or more reference locations of the image sensor 18 on the material transfer vehicle. material.
    [00020] The first location determination receiver 20, one or more data ports 34, and a vehicle guide controller 78 are coupled to the vehicle data collection bar 28. A first communication device 22 (e.g., transceiver wireless) is coupled to a data port 34, which is in turn connected to data collection bar 36. Another data port 34 is coupled to vehicle data collection bar 36 to data collection bar 26. The port 34 may comprise one or more of the following: an input/output data port, buffer, shared or common memory, a data transceiver.
    [00021] The first location determination receiver 20 may comprise a Global Positioning System (GPS) receiver, a GLONASS receiver (for example, Russian equivalent to GPS), a global navigation satellite system (GNSS0, or other receiver Satellite navigation tool to estimate a location or position in coordinates (eg two-dimensional or three-dimensional coordinates).
    [00022] The first data processor 38, one or more data ports 34: a first user interface 24, and a data storage device 40 are coupled to the data collector bus 38. The first data processor 38 can be communicate with the data ports 3.4, the first user interface 24, and the data storage device 40 (or software modules stored therein) via the data collector bus 36. The data storage device 40 (by example, electronic memory) can store software instructions or software modules for execution by the first data processor 38. For example, the data storage device 40 stores, retrieves or manages one or more of the following software modules: a coordinator of load 42, a manager/arbiter 44, a side estimator 48, a discriminator 48, and object extractor 50, and an object height estimator 52.
    [00023] The load coordinator 42 determines and records load data records that comprise one or more of the following: a first quantity (e.g., volume, weight or hectoliters) of agricultural material loaded onto the material transfer vehicle 301 or in the first container 28, a second quantity of agricultural material loaded onto the material receiving vehicle 307 or in the second container 401, a transfer date of the agricultural material loaded onto or from any vehicle (301, 307) (e.g., with a vehicle identifier), a date of transfer of the loaded agricultural material from the material transfer vehicle 301 to the material receiving vehicle 307, a batch or batch identifier of the loaded agricultural material, oil content (for example , average or average) of the loaded agricultural material, moisture content (eg average or average) of the loaded agricultural material, and a field or location identifier for the loaded agricultural material.
    [00024] The lateral estimator 48 estimates the lateral separation distance (for example; 311 in Figure 5) between the material transfer vehicle 301 and the material receiving vehicle 307 based on image data. For example, in one embodiment, the lateral estimator 46 estimates the lateral separation distance from the image sensor 18, and image data processing (collectively or individually) by the discriminator 48, the object extractor 50 and the height extractor of object 50, for example.
    [00025] Discriminator 48 facilitates identification of the reflective alignment pattern (eg 409 in Figure 4A) from background image data (eg sides 410, 412 of material receiving vehicle 307 in Figure 4A ) by color differentiation or pixel intensity data, where the white or lighter pixels of the reflective alignment pattern tend to have greater pixel intensity or clarity than background pixels of a darker color, at least for those pixels associated with the material receiving vehicle 307. In one example, the discriminator 48 identifies the pixels within the reflective alignment pattern (408) by establishing a derivative image layer that lies on top of the original image data, observed, from the image sensor 18 and associates a first digital value to the pixels identified within the alignment pattern and a second digital value, distinct from the first digital value, to all pixels of background in the derivative image data or derivative image layer.
    [00026] The object extractor 50 analyzes the derivative image data (or derivative image layer) from the discriminator 48 to identify a boundary or contour of the reflective alignment pattern 409 or other identified alignment pattern. Object extractor 50 can process image data by applying one or more of the following processes: (1) use pattern adaptation to identify generally linear patterns of the pixels or linear boundaries of the reflective alignment pattern, or (2) interpolate or embed the identified derivative layer or alignment pattern to associate generally linear boundaries or boundaries with it. In one embodiment, the object extractor 50 may provide a derivative contour image layer (or contour image data) that is located on top of the original, observed image data, and associates a primary digital value to the contour pixels identified within from the alignment pattern and a secondary digital value, distinct from the primary digital value, to all other pixels in the contour image layer or contour image data.
    [00027] Object height estimator 52 can estimate an image height or a real world height of the portion (eg a horizontal list) of alignment pattern 409 (eg from the contour image layer) . The image height can be proportional to the real world height of the analyzed portion of the alignment pattern 409. The object height estimator 52 has reference heights for various separations (distances) of the image sensor 18 from the alignment pattern 409 because the 409 alignment standard is of a known size and shape, from empirical testing, a calibration procedure, or factory programmed adjustments, reference heights and corresponding separations, ranges or distances between vehicles (301, 307) are stored in a data file, a check table, a graph, a database, a data record, or other data structure. The object height estimator 52 or the lateral estimator 48 can estimate the distance or lateral separation distance (for example, 311 in Figure 5) between the image sensor 18 and the alignment pattern 409.
    [00028] The manager/arbitrator 44 can determine whether or not to use the lateral separation distance determined by the lateral estimator 46 or the object height estimator 52 to overcome a lateral separation distance derived from an estimated location (for example, two or three dimensional coordinates) of a first location-determining receiver 20 and a known or fixed location of the material receiving vehicle 307. The fixed location may be marked with alignment markings 309, as illustrated in Figure 5, for example. The lateral estimator 46 or first data processor 38 can estimate or determine the lateral separation distance according to one or more techniques, which can be applied separately or cumulatively. Under a first technique, the manager/arbiter 44 may have a pattern setting or logic processing to overcome the lateral separation distance derived from the location data of the first location determination receiver 20 and the known or fixed location of the receiving vehicle. of material 307. The lateral separation distance of the lateral estimator 46 or the object height estimator 52 can be used to guide the material transfer vehicle into an appropriate position relative to the material receiving vehicle 307 to avoid collisions.
    [00029] Under a second technique, if no actual lateral separation distance is available from the side estimator 48 or the object height estimator 52, a lateral separation distance derived from a location of a first determination receiver. location 20 and a known or fixed location of material receiving vehicle 307 controls and is used to guide material transfer vehicle 301.
    [00030] Under a third technique, if the lateral estimator 48 indicates that a lateral separation distance is unreliable because of ambient lighting, ambient darkness, precipitation, fog, dust, or poor visibility for any other reason, a separation distance The lateral estimator derived from a location of a first location determination receiver 20 and a known or fixed location of the material receiving vehicle 307 controls and is used to guide the material transfer vehicle 301. The lateral estimator 46 may use a light calibration procedure (eg, from image data extracted from image sensor 18, a photocell detector, a charged coupled device, or other optical or infrared sensors) to determine whether one or more spectral bands are within appropriate ranges (for example, pixel brightness, pixel intensity, lumen level, or radiation level range) or medium ranges, for example, within d and an acceptable standard deviation) for the operation of the image processing sensor and the image sensor 18 to provide a reliable estimate of lateral separation between vehicles. The spectral bands can include visible light, ultraviolet radiation or infrared radiation, observable by the image sensor 18.
    [00031] A vehicle guidance controller 76 provides control data to one or more of the following via one or more physical data paths, one or more logical data paths, or both: a steering system 78, a steering system. braking 80, and propulsion system 82. Vehicle guide controller 75 can control steering system 78, braking system 80, and propulsion system 82 for approaching a stationary material receiving vehicle 307 in a known fixed location, while maintaining at least a minimum target separation (eg 311) based on position data from a first location determination receiver 20, augmented by lateral separation data provided by image sensor 18 and estimator side 46 or the first processor given spring elements 38.
    [00032] In one configuration, the steering system 78, braking system 80, and propulsion system 82 are associated with a tractor or a propulsion vehicle (e.g., propulsion vehicle portion of material transfer vehicle 301, to move and control the movement of the material transfer vehicle 301, when manually driven by a human operator operating or controlling a user interface, or as instructed automatically by the vehicle guide controller 76. The steering system 78 may comprise a electro-hydraulic steering system, an electro-mechanical steering system, an electric motor steering system, or other electrically or electronically controllable steering device to control the position of the vehicle 301. The braking system 80 may comprise an electro braking system - hydraulic, an electromechanical braking system, or other electrically or electronically controllable braking device to stop or d and slowing down the vehicle 301. The propulsion system 82 may comprise an internal combustion engine and an engine controller (e.g., to control an air and fuel metering device), or an electric motor and engine controller, to propel the vehicle 301.
    [00033] In an unmanned or automated navigation mode, the vehicle guidance controller 76 provides steering command data, brake command data, and propulsion command data to the steering system 78, braking system 80 , and propulsion system 82 for controlling the navigation, position, positioning, speed, acceleration of the material transfer vehicle, or its position and positioning relative to the material receiving vehicle 307. For example, in response to command data from steering or manual feeding from a human operator, the steering system 78 is capable of executing or performing steering command data (eg steering angle versus time or yaw) to a tractor or other propulsion vehicle to control the position, position and movement of material transfer vehicle 301.
    [00034] The material receiving vehicle system 12 comprises a second data processor 70, a second data storage device 72, a data port 34, and a second communication device 58 (e.g., wireless transceiver) , and a second user interface 82, which are coupled to the second data collector bus 68. The second data processor 70 can communicate with one or more of the following through the second data collector bar 88: the second storage device data port 72, data port 34, second communication device 58, and second user interface 62.
    [00035] The material transfer vehicle system 10 and the material receiving vehicle system 12 have some similar elements or components. For example, the first user interface 24 and the second user interface 62 may each comprise a user interface comprising one or more of the following: a display, a pointing device (e.g., electronic mouse), a keyboard switch, a keyboard, a switch, or a console. The first communication device 22 and the second communication device 58 may each comprise more of the following: a wireless transceiver, a cellular radio, a communication device GSM (Global System for Mobile Communications), a time division multiple access wireless device, a code division multiple access communication device, an analog wireless communication device, a digital wireless communication device, a wireless radio, a transmitter, or a receiver.
    [00036] The data port 34 provides an interface, bridge or gateway between the second data collection bar 68 and the vehicle data collection bar 64. The data port 34 is coupled to the second data collection bar 68 and to the vehicle data collector bar 64.
    [00037] In one embodiment, a material transfer vehicle system 10 comprises a computer system, such as the first data processor 38 and load coordinator 42, to determine or estimate a first amount of agricultural material that is loaded onto the material transfer vehicle 301 and a second quantity of agricultural material which is transferred to one or more material receiving vehicles 307 (e.g., trucks). In addition, material transfer system 10 supports wireless communication between material transfer vehicle system 10 and material receiving vehicle system 12 of one or more of the following: the first quantity of agricultural material available in the first container 28 of the material transfer vehicle 301, a second quantity of agricultural material is loaded from the first container 28 to the second container 401 of the material receiving vehicle 307 (e.g., truck). Wireless communication between a documentation computer, such as a second data processor 70 and load coordinator 42, over material receiving vehicle system 12, allows the operator to unload the appropriate amount into the second container 401, or a system. automated offload conveyor chute controller 16 and offload conveyor chute auger propulsion unit 30 to unload a prescribed amount or target quantity of agricultural material (e.g., in hectoliters, metric tons, weight, or volume). The material receiving vehicle system 12 would document and record the amount of agricultural material (eg, grain) discharged into the material receiving vehicle 12.
    [00038] In one example, an operator on the tractor pulling the material transfer vehicle 301 can control the unloading operation by estimating the amount of agricultural material (eg, grain) that has been loaded onto the truck based on the measurement of weight from sensors 14 or full scale on material transfer vehicle 301.
    [00039] In one configuration, the material receiving vehicle system 12 (for example, on the truck) facilitates loading the material receiving vehicle 307 with up to the maximum amount of weight than the material receiving vehicle 307 ( eg truck) can legally accommodate for compliance with applicable state, federal, laws or regulations. Material receiving vehicle system 12 estimates the amount of agricultural material loaded onto material receiving vehicle 307 during any previous, interrupted, or current unload operation. The first data processor 38 for the material transfer vehicle 301 can be positioned on the tractor, or the material transfer vehicle 301. The second data processor 70 for the material receiving vehicle system 12 is positioned on the vehicle. of material receiving 307. The first data processor 38 and the second data processor 70 can communicate with each other through the first communication device 22 and the second communication device 58 to facilitate recording or recording maintenance. loading operations, and to provide instructions to ensure proper automated loading from the first container 28 of the material transfer vehicle 301 to the second container 401 of the material receiving vehicle 307, avoiding collision of the unload conveyor chute 32 of the material transfer vehicle 301 with the material receiving vehicle,
    [00040] In one embodiment, one or more image sensors 18 (e.g., vision sensors) are mounted on the material transfer vehicle 301, the unloading conveyor chute 32, or its first container 28 to provide data. guides through the user interface for a user to guide the 301 material transfer vehicle (eg through a tractor) to avoid impact or edge contact of the 307 material receiving vehicle (eg truck) and to keeping the unloading conveyor chute 32 generally aligned with the center of the second container 401, or otherwise aligned for uniformly distributing loading of agricultural material to the second container 401. For example, the first user interface 24 may display an aerial visual representation of the relative position of material transfer vehicle 301 and material receiving vehicle 307 in real time, or other visual representation that allows to an operator to maintain a desired or target lateral separation between the vehicles (301, 307) for a loading operation.
    [00041] In another embodiment, the vehicle guide controller 78 automatically steers or guides the material transfer vehicle 301 to maintain at least a minimum desired or target lateral separation between the material transfer vehicle 301 and the material receiving vehicle. material. Vehicle guide controller 78 guides material transfer vehicle 301 along material receiving vehicle 307 when material receiving vehicle 307 rests in a known stationary position for loading and unloading.
    [00042] System 111 of Figure 2 is similar to system 11 of Figure 1, except that system 111 of Figure 2 has a second location determination receiver 58 within material receiving vehicle system 12. System 111 of Figure 2 is intended to address loading operations, where the material receiving vehicle 307 is not parked or is not stationary at a known location, without the assistance of the second location determination receiver 56. The second location determination receiver 56 may comprise a Global Positioning System (GPS) receiver, a GIGNASS receiver (eg the Russian equivalent of GPS), a global navigation satellite system (G SS), or other satellite navigation receiver to estimate a location or position in coordinates (eg two-dimensional or three-dimensional coordinates).
    [00043] In one configuration, the second location determination receiver 58 communicates its generally fixed position (for example, in two or three dimensional coordinates) to the material transfer vehicle system 10 such that the transfer vehicle system Material 10 can use both a first GPS position (e.g. first two-dimensional or three-dimensional coordinates) of the first location determination receiver 20 and a second GPS position of a second location determination receiver 56 to align in the direction of displacement. along material receiving vehicle 307 (eg truck). However, in the lateral dimension, the image sensor 18 and vision processing system and software would generally determine the alignment between the material transfer vehicle 301 (e.g., mobile cart) and the material receiving vehicle 307 (e.g., stationary truck), unless the first data processor 38 finds that the image data is unreliable, for example.
    [00044] Figure 3 illustrates a material transfer vehicle 301, cart or wagon to support agricultural material or load agricultural material onto a material receiving vehicle 307 (in Figure 5) or truck (e.g., a road truck ). The same reference numerals in Figure 1, Figure 2 and Figure 3 indicate the same elements.
    [00045] The material transfer vehicle 301 comprises a frame 91, a first container 28 which is secured or movably secured to the frame 81 through resilient elements. One or more wheel axles 92 or spindles can be attached to frame 91 through suspension components, springs, torsion bars 94, or directly. Two or more wheels 305 are associated with the wheel axle 92 or wheel axles. Although the material transfer vehicle 301 of Figure 3 has four wheels 305, in an alternative embodiment that falls under the scope of the claims, the vehicle may have two wheels.
    [00046] As shown in Figure 3 for illustrative purposes, the front wheels and wheel axle 92 are supported by an optional torsion bar assembly (93, 94, 95 and 96 collectively) comprising a torsion bar 94 that is attached to frame 91 and can rotate with respect to frame 91. Torque bar 94 is placed under torque tension and is coupled to a lever arm 93. Lever arm 93 is mechanically coupled to wheel axle 92 through a pivot 95, where lever arm 93 and link 95 are pivotable on a pivot 96 (eg bushing).
    [00047] In an alternative embodiment, the torsion bar assembly (93, 94, 95 and 96 collectively) can be omitted from the material transfer vehicle 301 and replaced by a direct connection of axle 92 to frame 91. shown in Figure 3 for illustrative purposes, the rear wheel axle 92 is directly connected to the frame 91.
    [00048] The sensors 14 can be mounted between the frame 91 and the wheel axle 92, as shown in Figure 3, between a bottom or floor of the first container 28 and top of the frame 91, on the tongue or trailer assembly 303 of a two-wheeled material transfer vehicle 301, integrated into the suspension of material transfer vehicle 301, or mounted somewhere to measure the weight, mass or volume of agricultural material.
    [00049] In Figure 3, sensors 14 may comprise weight sensors such as load cells, a variable resistor, a displacement sensor, piezo resistive sensors, or piezoelectric sensors that are operable to detect the weight, mass or volume of agricultural material (eg grain, oilseeds, fiber) in the first container 28,
    [00050] In an alternative embodiment, one or more optical sensors (eg photo cells and optical or infrared transmitters) can be used to measure the level or levels of agricultural material in the first container 28.
    [00051] In one embodiment, the image sensor 18 is configured to estimate or determine the lateral separation distance between the material transfer vehicle 301 and the material receiving vehicle 307 by identifying a reflective alignment pattern (409 in the Figure 4A) on the material receiving vehicle 307 and estimating the distance, swath or lateral separation distance (311 in Figure 5) between the material transfer vehicle 301 and the material receiving vehicle 307 by vertical height (441 in the Figure 4B or 443 in Figure 4C) of the reflective alignment pattern with respect to a vertical reference height at a known reference position stored in a data storage device 40. Figure 4A, Figure 4B and Figure 4C come from an illustrative example of a reflective alignment pattern 409 on material receiving vehicle 307.
    [00052] In Figure 4A, the material receiving vehicle 307 comprises a propulsion unit 415 or cabin that pulls the second container 401 or wheeled trailer 413. The second container 401 has an open top, as illustrated, for receiving of agricultural material. The sides (410, 412) of the second container 401 are painted, marked or labeled with an alignment pattern 409.
    [00053] In Figure 4A, the alignment pattern 409 comprises a substantially linear lighter stripe 405 on one side of the material receiving vehicle 307 over a darker background color of the side 412. In a first example, the alignment pattern 409 may comprise one or more linear strips (405, 403, and 407) that intersect at a rear corner (e.g., upper rear corner) of material receiving vehicle 307, for example. In a second example, the lightest linear strip (405, 403, 407) is white or whiter than the background (sides) color that surrounds or delimits the strip. In a third example, alignment pattern 409 comprises a plurality of linear streaks (405, 403, and 407) that intersect with, and are contiguous with, at least one lid corner of material receiving vehicle 307.
    [00054] In Figure 4B and Figure 40, the horizontal strip 407 (or horizontal list) of the alignment pattern 409 has a first object height 441 and a second object height 443, respectively. The image sensor 18, first data processor 33, or lateral estimator 46 estimates the first lateral separation distance (e.g., 311) between vehicles (301 and 307) for the first object height 441 and a second distance of lateral separation between vehicles for second object height 443. The first and second lateral separation distances can be measured at a normal or generally orthogonal angle to material transfer vehicle 301. For example, image sensor 18, first data processor 38, or lateral estimator 48 estimates a closer lateral separation distance (311) between the vehicles (301 and 307) for the second object height 443 with respect to the first object height 441, because the second height of object 443 is greater than the first height of object 441. The lateral estimator 48 or the object height estimator 52 is capable of estimating the lateral separation between vehicles (30 and 307), as described in more detail in this exposure.
    [00055] The material receiving vehicle 307 is stationary at a location of known geographic coordinates, wherein the material transfer vehicle 301 is configured to approach the known location with the material receiving vehicle 307, stationary.
    [00056] In one embodiment, the material transfer vehicle comprises a first communication device 22 and the material receiving vehicle 307 comprises a second communication device 58 and a second location determination receiver 56. The second determination receiver of location is set to estimate a receiving position of the material receiving vehicle. A second communication device 58 is capable of transmitting the receive position to the first communication device 22 and a first data processor 38,
    [00057] The sensors 14 are configured to measure a weight or mass of agricultural material in a first storage container 28 of the material transfer vehicle 301 to estimate the agricultural material transferred to the receiving vehicle 307. An offload controller is capable of unloading a desired amount of agricultural material into the material transfer vehicle 307 and shutting down an unloading conveyor chute auger propulsion unit 30 when the desired amount of agricultural material is reached. In one embodiment, a second communication device 58 is capable of transmitting a data message indicative of the transfer of a desired amount of agricultural material to the first communication device 22 to coordinate the delivery of the desired amount of agricultural material.
    [00058] In Figure 5, during a loading process, an unloading conveyor chute 32 extends above or from one side of a first storage container 28 of the material transfer vehicle 301 towards the second storage container. storage 401 of the material receiving vehicle 307. The unloading conveyor chute 32 is adapted to transfer material from the first storage container 28 to the second storage container 401 of the material receiving vehicle 307 along the side of the vehicle. of material transfer vehicle 301. Figure 5 provides a top or plan view of material receiving vehicle 307, while Figure 4A provides a perspective view of material receiving vehicle 307. Same reference numerals in Figure 5. Figure 1 and Figure 4A indicate the same elements.
    [00059] The material receiving vehicle 307 is parked or positioned in a known stationary position, which is defined by two or more visual alignment markings 309 (for example, generally linear markings placed on the ground). For example, visual alignment markings 309 may generally comprise linear markings that are placed on the ground based on measurements from watchful accuracy of a global satellite positioning system.
    [00060] In one configuration, the tracking of agricultural material that is loaded onto the material receiving truck or vehicle 307 is provided by a vehicle identification number. Material receiving vehicle 307 has a vehicle identification number to track the particular batch of agricultural material (e.g., grain) that goes to the elevator, the amount of agricultural material, and from which field and farm or source the material. agricultural origins. If there is any other information that is required to increase the traceability or quantity of agricultural material loaded onto the material receiving vehicle 307, this can also be done with that system (10,12). The amount of agricultural information can be used to calibrate scale or sensors 14 on material transfer vehicle 307 against a scale on a grain elevator, for example.
    [00061] In one configuration, the operator may be able to manually trigger the amount of filling or the total load of agricultural material deposited in the first container 28. For example, the first data processor 38 and the auger of the transfer vehicle of material 301 can be adjusted to load some percentage (eg, five percent (5%)) below a full load of agricultural material, and any deviation or additional amount of agricultural material must be manually loaded. The manual override feature can be advantageous for situations where the second container 401 has a few hectoliters of spare capacity remaining, and the operator wishes to completely unload the agricultural material from the first container 28,
    [00062] Another aspect of the exhibit is to load the second storage container 401 or material receiving vehicle in a manner that aids traction or road stability of the material receiving vehicle 307. material receiving 307 (eg truck) is filled from the rear, and an operator then wants to move the truck when it is partially full, the truck may not be able to get good traction, and it may be difficult to move the truck. truck. However, the system (10, 12) could load the truck from over the drive axles first to ensure good traction if the truck needs to be moved.
    [00063] The 1D material transfer vehicle system may communicate supplementary information about agricultural material (eg grain) to the material receiving system 12. Such supplementary information may comprise one or more of the following items: moisture, content of protein, source, or other load data. Supplemental information could provide faster service and transfer of agricultural material to the grain elevator, so the grain elevator can efficiently manage moisture levels within the various containers. In one example, supplemental information is measured by sensors (eg, moisture, spectroscopic, microwave sensors) in the combine, and it provides information transferred from the combine to a 301 material transfer vehicle (eg , grain cart) and from material transfer vehicle 301 to material receiving vehicle 307 (eg truck).
    [00064] The method and system of this exhibit is well suited for automating the unloading of agricultural material (eg, grain, soybean, oilseed, or fiber) from a combine harvester or cart to a truck to avoid collisions between a unloading conveyor chute 32 of the trolley and the truck. Consequently, the method and system minimizes downtime for repairing the discharge chute 32, trolley and truck against collisions that would otherwise slow down or impede the harvesting operation while the repair is carried out.
    [00065] The method and system of this exhibit is well suited for loading the truck properly, so the added weight is corrected and is also evenly distributed within the container truck.
    [00066] Having described the preferred embodiment, it will be apparent that various modifications can be made without departing from the scope of the invention as defined in the appended claims.
    权利要求:
    Claims (10)
    [0001]
    1. A system (11) for managing the transfer of material from a material transfer vehicle (301) to a material receiving vehicle (307), comprising: a material transfer vehicle (301) comprising a first storage container (28); an unloading conveyor chute (32) extending above or from one side of the first storage container (28), the unloading conveyor chute (32) adapted to transfer material from the first storage container ( 28) to a material receiving vehicle (307) along the side of the material transferring vehicle (301); and, a location determination receiver (20) adapted to estimate position data to guide the material transfer vehicle (301); characterized in that it further comprises: an image sensor (18) mounted on the material transfer vehicle (301) or the first storage container (28) to provide observed image data to estimate a lateral separation distance (311) between the first storage container (28) and the material receiving vehicle (307) for receiving the material, based on the observed image data of a reflective alignment pattern (409) painted, marked or labeled on the receiving vehicle ( 307); a discriminator (48) for identifying pixels within the reflective alignment pattern (409) distinct from background pixels associated with the observed image data; and, an electronic data processing system (10) for guiding the vehicle and its associated material transfer vehicle (301) based on the estimated position data and the estimated lateral separation distance, the electronic data processing system ( 10) comprising a manager (44) for determining whether to use the estimated lateral separation distance (311) between the vehicles derived from the image data of the image sensor (18) or derived from the estimated position data of the determination receiver of location (20), where the estimated lateral separation distance (311) of the image sensor (18) overlaps or augments the estimated position data for the material transfer vehicle (301) to maintain at least a minimum separation distance target side between material transfer vehicle (301) and material receiving vehicle (307) during material transfer.
    [0002]
    2. System according to claim 1, characterized in that the image sensor (18) comprises a camera, a stereo image sensor, or a monocular image sensor to determine the lateral separation distance (311) between the material transfer vehicle (301) and material receiving vehicle (307) by identifying the reflective alignment pattern (409) on the material receiving vehicle (307) and estimating the distance (311) between the transfer vehicle of material (301) and the material receiving vehicle (307) by vertical height (411) of the reflective alignment pattern (409) with respect to a vertical reference height at a known reference position.
    [0003]
    3. System according to claim 2, characterized in that the alignment pattern (409) comprises a lighter list (403, 405, 407) linear on one side (412) of the vehicle (307) over a color of darker background.
    [0004]
    4. System according to claim 3, characterized in that the linear lighter strip (403, 405, 407) is white or whiter than the background color.
    [0005]
    5. System according to claim 2, characterized in that the alignment pattern (409) comprises a plurality of linear lists (403, 405, 407) that intersect with, and is contiguous with, at least one back corner of the material receiving vehicle (307).
    [0006]
    6. System according to claim 1, characterized in that the image sensor (18) comprises one or more laser range finders spaced over the material transfer vehicle, each laser range finder measuring device using time of flight of a pulse of infrared laser light, or frequency or phase detection of modulated laser signal.
    [0007]
    7. System according to claim 1, characterized in that the material receiving vehicle (307) is stationary at a location of known geographic coordinates and that material transferring vehicle (301) is configured to approach the location known as the stationary material receiving vehicle.
    [0008]
    8. System according to claim 1, characterized in that the material transfer vehicle (301) comprises: a first communication device (22); and, wherein the material receiving vehicle (307) further comprises: a second location determination receiver (58) for estimating a receiving position of the material receiving vehicle (307); and, a second communication device (58) for transmitting the receiving position to the first communication device (22).
    [0009]
    9. System according to claim 1, characterized in that the transfer vehicle (301) further comprises: a plurality of sensors (14) for measuring a mass of agricultural material in a storage container (28) of the transfer vehicle. material transfer (301) to estimate the agricultural material transferred to the receiving vehicle; an unloading controller (16) for unloading the desired amount of agricultural material into the material transfer vehicle (301) and shutting down an unloading conveyor chute worm propulsion unit (30) when the desired amount of material agricultural is reached.
    [0010]
    10. System according to claim 9, characterized in that the material transfer vehicle (301) comprises: a first communication device (22); and, which material receiving vehicle (307) further comprises: a second communication device (58) for transmitting a data message indicative of the transfer of the desired quantity of agricultural material to the first communication device (22).
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    同族专利:
    公开号 | 公开日
    AU2012295122B2|2016-12-15|
    EP2744697B1|2019-05-15|
    CN103732479B|2018-04-27|
    US9545048B2|2017-01-17|
    BR112014001267A2|2017-02-21|
    US20130045067A1|2013-02-21|
    EP2744697A1|2014-06-25|
    CN103732479A|2014-04-16|
    EP2744697A4|2015-06-03|
    AU2012295122A1|2014-02-20|
    WO2013025687A1|2013-02-21|
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    法律状态:
    2018-12-11| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-10-01| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-03-16| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2021-07-20| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-10| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 14/08/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US13/209,801|US9545048B2|2011-08-15|2011-08-15|System for automated unloading of an agricultural material|
    US13/209,801|2011-08-15|
    PCT/US2012/050732|WO2013025687A1|2011-08-15|2012-08-14|System for automatic unloading of an agricultural material|
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