Method and stereo vision system for facilitating unloading of agricultural material from a vehicle
A spout is operably connected 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. A spout module is adapted to identify a spout of the transferring vehicle in the collected image data, or to determine a spout position. An alignment module is adapted to determine the relative position of the spout and the container position based on the collected image data and to generate command data or user interface data to facilitate placement of the spout and storage container in relative cooperative alignment for transferring of material from the transferring vehicle to the receiving vehicle.
1. A method for facilitating the transfer of agricultural material from a transferring vehicle to a receiving vehicle, the method comprising:
collecting image data with an imaging device facing towards a storage portion of a receiving vehicle, the storage portion capable of storing agricultural material;
determining a container position of the storage portion in the collected image data, where the container position comprises a reference point or three dimensional coordinates;
determining three dimensional coordinates of a spout in the image data;
identifying the spout of the transferring vehicle in the collected image data by applying edge detection in a region of discontinuities in pixel color or pixel intensity in the collected image data to identify edges of the spout that provides or estimates an angular orientation of the spout with respect to the transferring vehicle;
determining the relative position of the spout and the container position; and
generating command data or user interface data to facilitate placement of the spout and storage container with a target spatial offset between the spout and the container perimeter, the command data or user interface data being for placement of the spout and storage portion in relative cooperative alignment for transferring material from the transferring vehicle to the receiving vehicle.
2. The method according to claim 1 further comprising:
determining first location data by a first location-determining receiver associated with the transferring vehicle;
determining second location data by a second location-determining receiver associated with the transferring vehicle;
determining the relative position or spatial offset of the vehicles based on the first location data and second location data; and
steering a propelled portion of the receiving vehicle in accordance with the command data consistent with the cooperative alignment and the determined relative position, or the spatial offset.
3. The method according to claim 1 further comprising:
determining the container position by processing one or more of the following input data: (a) sensor data indicative of a trailer tongue angle between the propulsion portion and the storage portion of the receiving vehicle, (b) a heading of the propelled portion, (c) a position of the propelled portion; (d) a position of the storage portion, and (e) physical vehicle data associated with one or more dimensions of the storage portion, such as the distance between a pivot point of the trailer tongue and wheelbase, and (f) kinematic model data associated with the movement of the storage portion with respect to the propulsion unit.
4. The method according to claim 1 further comprising:
identifying a container perimeter of the storage portion in the collected image data by identifying one or more edges of the container perimeter in the collected image data.
5. The method according to claim 1 further comprising:
aligning the spout within a target zone or central zone of the storage portion inside the container perimeter by controlling steering of the receiving vehicle to adjust the relative spatial offset between the transferring vehicle and the receiving vehicle.
6. The method according to claim 5 further comprising
adjusting the relative spatial offset within a range on a regular or periodic basis to promote even distribution of agricultural material in the storage portion.
7. The method according to claim 1 further comprising:
shifting a spatial offset between the transferring vehicle and the receiving vehicle to promote even distribution of agricultural material in the storage portion.
8. The method according to claim 7 wherein the shifting further comprises shifting the spatial offset in accordance with a matrix of preset positions of the spatial offset, where each point of the matrix is associated with a unique lateral offset and fore/aft offset between the vehicles.
9. The method according to claim 1 further comprising:
maintaining the spatial offset between the vehicles unless an observed length, width or other dimension of the storage portion exceeds a respective maximum length, maximum width, or maximum dimension for uniform filling of the storage portion by adjustment of the spout angle within its angular range.
10. The method according to claim 1 further comprising:
down-tilting the imaging device at a down-tilt angle to avoid washout of, corruption of, or interference with collected image data during a transient exposure time period to sunlight, a reflection or a light source that exceeds a threshold brightness level for a material portion of the pixels in the collected image data.
11. The method according to claim 1 further comprising:
identifying a spout end of the spout via at least one detector selected from the group consisting of a pattern identification detector, a color discrimination detector, and an edge detector, where a color or visual pattern is placed on or near the spout end to facilitate distinguishing spout data from background pixel data.
12. The method according to claim 11 further comprising:
determining the range of the pixels to the imaging device to estimate coordinates of a spout end of the spout.
13. The method according to claim 12 wherein a spout module does not use a spout angle sensor for detecting an angle of the spout with respect to the transferring vehicle for estimating a position of the spout end relative to the storage portion.
14. The method according to claim 1 wherein the transferring vehicle wirelessly transmits a spout angle or spout position to the receiving vehicle.
15. The method according to claim 1 further comprising:
directing the angular orientation in the cooperative alignment such that a spout end of the spout is aligned with the central zone or the target zone of the storage portion.
16. The method according to claim 1 wherein a target alignment is based on image processing of the collected image data associated with the target spatial offset between the spout and the container perimeter.