Crop harvesting machine
A crop harvesting machine has a machine body and a discharge spout attached to the machine body for overloading crop via a crop stream to a trailer. And electronic spout control and a discharge spout drive arrangement displaces the discharge spout relative to the machine body based on drive commands of the electronic spout control for guiding the crop stream to a target hit point at the trailer. A first sensor arrangement generates sensor information by optically identifying a reference feature at the trailer and detecting the position of the reference feature and/or space orientation of the reference feature. The second sensor arrangement generates sensor information by detecting a space orientation of the machine body, the discharge spout or both. The electronic spout control generates its drive commands for guiding the crop stream based on the sensor information.
1. A crop harvesting machine comprises:
a machine body;
a discharge spout attached to the machine body for overloading crop via a crop stream to a trailer;
an electronic spout control;
a discharge spout drive arrangement to displace the discharge spout relative to the machine body based on drive commands of the electronic spout control for guiding the crop stream to a target hit point at the trailer;
a first sensor arrangement that generates first sensor information by optically identifying a reference feature at the trailer and detects a position of a space orientation of a reference feature, a space orientation of the reference feature or both; and
a second sensor arrangement that generates second sensor information by detecting a space orientation of the machine body, the discharge spout or both;
wherein the electronic spout control generates drive commands for guiding the crop stream based on the first sensor information of the first sensor arrangement and the second sensor information of the second sensor arrangement,
wherein the first sensor arrangement comprises a camera arrangement or a laser sensor arrangement for generating the respective sensor information, and
wherein the second sensor arrangement comprises a mechanic or electronic gyroscope, acceleration sensor or compass for the generation of the respective second sensor information.
2. The crop harvesting machine according to claim 1 , wherein the second sensor arrangement detects a change or a change rate in space orientation of the machine body, the discharge spout or both.
3. The crop harvesting machine according to claim 2 , wherein the electronic spout control adjusts its drive commands based on the sensor information of the second sensor arrangement if a change or a change rate in space orientation of the machine body, the discharge spout or both is detected by the second sensor arrangement.
4. The crop harvesting machine according to claim 1 , wherein the reference feature is defined by a crop receiving area.
5. The crop harvesting machine according to claim 4 , wherein the reference feature is defined by a frame structure of the crop receiving area of the trailer.
6. The crop harvesting machine according to claim 1 , wherein an update frequency of the sensor information provided to the electronic spout control is higher for the second sensor arrangement than for the first sensor arrangement.
7. The crop harvesting machine according to claim 1 , wherein the electronic spout is configured to generate drive commands for guiding the crop stream to the target hit point based on the sensor information of the first sensor arrangement and wherein the electronic spout control is configured to adjust its drive commands based on the sensor information of the second sensor arrangement.
8. The crop harvesting machine according to claim 7 , wherein the electronic spout control adjusts its drive commands based on the sensor information of the second sensor arrangement of the detected change or change rate in space orientation of the machine body, the discharge spout or both exceeds a predefined critical value.
9. The crop harvesting machine according to any claim 1 , wherein the electronic spout control, based on the sensor information of the second sensor arrangement, determines a drive track of the crop harvesting machine and wherein the first sensor arrangement, for identifying the reference feature, searches for the reference feature in a search area, which search area is defined by the drive track of the crop harvesting machine.
10. The crop harvesting machine according to claim 1 , wherein the electronic spout control, based on the sensor information of the second sensor arrangement, detects the crop harvesting machine entering into a curve and at least in a first part of the curve guides the crop stream to the target hit point based on the sensor information of the second sensor arrangement by moving at least part the discharge spout in a sideways direction (H 1 ) using the discharge spout drive arrangement.
11. The crop harvesting machine according to claim 1 , wherein the electronic spout control, based on the sensor information of the second sensor arrangement, detects the crop harvesting machine entering into an inclination and at least in a first part of the inclination guides the crop stream to the target hit point based on the sensor information of the second sensor arrangement moving at least part the discharge spout in an up and down direction (V 1 /V 2 ) using the discharge spout drive arrangement.
12. The crop harvesting machine according to claim 1 , wherein the crop harvesting machine comprises a steering control and a steering drive arrangement for automatic steering of the crop harvesting machine based on drive commands of the steering control and wherein the electronic spout control and the steering control, independently from each other, generate drive commands for the steering drive and the discharge spout drive arrangement respectively.