Transferring device and an agricultural vehicle
View Patent ↗A transferring device includes controllable goods carrier conveying goods to a target area, a stereo camera for providing images of the target area and a control system for deriving information from the images and controlling the goods carrier taking into account the information derived from the images. The stereo camera has two objective lenses and defines a common base line with a tilt angle relative to a horizontal. The common base line is placed in a vertical plane. The transferring device also includes floodlight projectors that are placed at a distance of at least 0.5 m from the stereo camera. Preferably, the controllable goods carrier is an ejecting spout.
1. A transferring device comprising:
a controllable goods carrier ( 9 ) for conveying goods to a target area ( 19 );
an imaging device ( 29 ) for providing images of the target area, the imaging device ( 29 ) comprising two objective lenses ( 36 a , 36 b ) positioned at a common base line ( 43 ) in a vertical plane and situated relative to a horizontal ( 45 ) in a tilted manner; and
a control system ( 46 ) for deriving information from the target area images and controlling the controllable goods carrier ( 9 ) in accordance with the derived information.
2. The transferring device according to claim 1 ,
wherein the two objective lenses ( 36 a , 36 b ) have respective axes of view ( 37 a , 37 b ) extending in respective directions of view,
wherein a mean of the axes of view ( 37 a , 37 b ) defines a view axis ( 39 ) of the stereo camera,
wherein a line perpendicular to the view axis ( 39 ) at a midpoint between the two objective lenses ( 36 a , 36 b ) and intersecting the respective axes of view ( 37 a , 37 b ) defines the common base line ( 43 ) of the stereo camera, and
wherein the common base line ( 43 ) in a plane perpendicular to the view axis ( 39 ) has a tilt angle (α) relative to horizontal ( 45 ) of greater than 15°.
3. The transferring device according to claim 2 , wherein the tilt angle (α) relative to horizontal ( 45 ) lies in a range extending between 30° and 45°.
4. The transferring device according to claim 1 , wherein the respective axes of view ( 37 a , 37 b ) of view are positioned in a common plane.
5. The transferring device according to claim 1 , wherein the controllable goods carrier ( 9 ) is elongate and is configured with an outer end ( 23 ) from which the goods are conveyed to the target area.
6. The transferring device according to claim 1 , wherein the transferring device is mounted on a vehicle ( 1 ) utilized in the at least one of the harvesting and transfer of agricultural material.
7. The transferring device according to claim 1 , wherein the imaging device ( 29 ) is attached to the controllable goods carrier ( 9 ).
8. A forage harvester ( 1 ) comprising a transferring device according to claim 1 .