WO2015011237A3 - Unloading apparatus controller for agricultural harvesting machines - Google Patents

Unloading apparatus controller for agricultural harvesting machines Download PDF

Info

Publication number
WO2015011237A3
WO2015011237A3 PCT/EP2014/065942 EP2014065942W WO2015011237A3 WO 2015011237 A3 WO2015011237 A3 WO 2015011237A3 EP 2014065942 W EP2014065942 W EP 2014065942W WO 2015011237 A3 WO2015011237 A3 WO 2015011237A3
Authority
WO
WIPO (PCT)
Prior art keywords
unloading apparatus
agricultural harvesting
crop material
apparatus controller
harvesting machines
Prior art date
Application number
PCT/EP2014/065942
Other languages
French (fr)
Other versions
WO2015011237A2 (en
Inventor
Joachim BOYDENS
Bernard E. D. Depestel
Bart M. A. Missotten
Pieter Vanysacker
Karel M. C. Viaene
Original Assignee
Cnh Industrial Belgium Nv
Cnh Industrial America Llc
Cnh (China) Management Co., Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cnh Industrial Belgium Nv, Cnh Industrial America Llc, Cnh (China) Management Co., Ltd filed Critical Cnh Industrial Belgium Nv
Priority to US14/907,092 priority Critical patent/US9655301B2/en
Priority to EP14742239.8A priority patent/EP3024315B1/en
Publication of WO2015011237A2 publication Critical patent/WO2015011237A2/en
Publication of WO2015011237A3 publication Critical patent/WO2015011237A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
    • A01D90/10—Unloading means
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D43/00—Mowers combined with apparatus performing additional operations while mowing
    • A01D43/08—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters
    • A01D43/086—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters and means for collecting, gathering or loading mown material
    • A01D43/087—Mowers combined with apparatus performing additional operations while mowing with means for cutting up the mown crop, e.g. forage harvesters and means for collecting, gathering or loading mown material with controllable discharge spout
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
    • A01D90/12—Vehicles for carrying harvested crops with means for selfloading or unloading with additional devices or implements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Sorting Of Articles (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Guiding Agricultural Machines (AREA)
  • Combines (AREA)

Abstract

A controller (12) for a movable unloading apparatus (1) of an agricultural harvesting machine, wherein the movable unloading apparatus (1) is configured to direct crop material (3) from the agricultural harvesting machine to a container (4) driven in the vicinity of the agricultural harvesting machine, and wherein the controller is configured to receive image data representative of a stream (3) of crop material as it passes from the unloading apparatus (1) to the container (4); process the image data in order to determine a shape of the stream (3) of crop material in the image data; and set an attribute of the unloading apparatus (1) in accordance with the determined shape of the stream of crop material in order to direct the crop material (3) from the unloading apparatus (1) to the container (4).
PCT/EP2014/065942 2013-07-24 2014-07-24 Unloading apparatus controller for agricultural harvesting machines WO2015011237A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/907,092 US9655301B2 (en) 2013-07-24 2014-07-24 Unloading apparatus controller for agricultural harvesting machines
EP14742239.8A EP3024315B1 (en) 2013-07-24 2014-07-24 Unloading apparatus controller for agricultural harvesting machines

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
BE2013/0509A BE1021158B1 (en) 2013-07-24 2013-07-24 HARVESTING MACHINES FOR USE IN AGRICULTURE
BEBE2013/0509 2013-07-24

Publications (2)

Publication Number Publication Date
WO2015011237A2 WO2015011237A2 (en) 2015-01-29
WO2015011237A3 true WO2015011237A3 (en) 2015-03-19

Family

ID=49274366

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/065942 WO2015011237A2 (en) 2013-07-24 2014-07-24 Unloading apparatus controller for agricultural harvesting machines

Country Status (4)

Country Link
US (1) US9655301B2 (en)
EP (1) EP3024315B1 (en)
BE (1) BE1021158B1 (en)
WO (1) WO2015011237A2 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2792229B1 (en) 2013-04-02 2016-03-23 Deere & Company Control arrangement and method for controlling a position of a transfer device of a harvesting machine
US9992932B2 (en) 2013-04-02 2018-06-12 Deere & Company Control arrangement and method for controlling a position of a transfer device of a harvesting machine
US10129528B2 (en) 2013-04-02 2018-11-13 Deere & Company Control arrangement and method for controlling a position of a transfer device of a harvesting machine
BE1023152B1 (en) * 2015-08-28 2016-12-02 Cnh Industrial Belgium Nv Harvesting machine with feedback control of chopping parameters
EP3165078B1 (en) * 2015-11-06 2020-04-22 Exel Industries Crop transfer device and corresponding method
WO2018035082A1 (en) * 2016-08-15 2018-02-22 Raptor Maps, Inc. Systems, devices, and methods for monitoring and assessing characteristics of harvested specialty crops
EP3300582B1 (en) * 2016-09-30 2019-10-09 CLAAS E-Systems GmbH Agricultural working machine
EP3315007B1 (en) * 2016-10-31 2022-12-14 Carnegie Mellon University Control arrangement and method for controlling a position of a transfer device of a harvesting machine
US11019768B2 (en) 2018-02-26 2021-06-01 Deere & Company Double decker crop residue spreader
CN108550141A (en) * 2018-03-29 2018-09-18 上海大学 A kind of movement wagon box automatic identification and localization method based on deep vision information
US11553649B2 (en) 2020-11-18 2023-01-17 Levi Lynn Conveyor with shock-absorbing boom
US11980134B2 (en) 2021-03-09 2024-05-14 Deere & Company Operator commanded placement for control of filling mechanisms
US12004449B2 (en) 2021-03-24 2024-06-11 Deere & Company Control system for controlling filling mechanisms in communication with a mobile device
US11765993B2 (en) 2021-05-17 2023-09-26 Deere & Company Control system detecting fill level on receiving vehicle(s)
US11930738B2 (en) * 2021-06-28 2024-03-19 Deere & Company Closed loop control of filling mechanisms
US11903344B2 (en) * 2021-11-16 2024-02-20 Cnh Industrial America Llc System and method for controlling unloading system position of an agricultural harvester
WO2023092205A1 (en) * 2021-11-25 2023-06-01 CNH Industrial Brasil Ltda. Agricultural method and system for removing debris from a stream of harvested crops in an agricultural harvester
EP4427573A1 (en) * 2023-03-07 2024-09-11 CNH Industrial Belgium N.V. Crop container monitoring

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030174207A1 (en) * 2002-03-13 2003-09-18 Deere & Company, A Delaware Corporation Image processing spout control system
US20090044505A1 (en) * 2007-08-03 2009-02-19 Jochen Huster Agricultural working machine
EP2138027A1 (en) * 2008-06-25 2009-12-30 CLAAS Agrarsystems GmbH & Co. KG A transfering device and an agricultural vehicle
WO2011101458A1 (en) * 2010-02-21 2011-08-25 Cnh Belgium N.V. Method for directing an unloading apparatus of a harvesting machine to a container

Family Cites Families (16)

* Cited by examiner, † Cited by third party
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DE10064862A1 (en) 2000-12-23 2002-07-11 Claas Selbstfahr Erntemasch Device and method for coordinating and adjusting agricultural vehicles
DE10064861A1 (en) 2000-12-23 2002-06-27 Claas Selbstfahr Erntemasch Automatic control of a top transfer device of a combine harvester so that it correctly directs harvested grain into a collection trailer by use of satellite or GPS positioning devices
DE102007016670A1 (en) * 2007-04-04 2008-10-09 Claas Selbstfahrende Erntemaschinen Gmbh Self-propelled agricultural harvester with controllable transfer device
US9221186B2 (en) * 2009-04-09 2015-12-29 David W. Scaroni Produce processing apparatus
US9345194B2 (en) * 2009-09-30 2016-05-24 Cnh Industrial America Llc Automatic display of remote camera image
US8451139B2 (en) * 2010-02-22 2013-05-28 Cnh America Llc System and method for coordinating harvester and transport vehicle unloading operations
US9002591B2 (en) * 2011-02-18 2015-04-07 Cnh Industrial America Llc Harvester spout control system and method
DE102011082052B4 (en) * 2011-09-02 2015-05-28 Deere & Company Arrangement and method for the automatic overloading of crop material from a harvester onto a transport vehicle
US8626406B2 (en) * 2011-12-22 2014-01-07 Deere & Company Method and system for transferring material between vehicles
US8868304B2 (en) * 2012-02-10 2014-10-21 Deere & Company Method and stereo vision system for facilitating the unloading of agricultural material from a vehicle
US9392746B2 (en) * 2012-02-10 2016-07-19 Deere & Company Artificial intelligence for detecting and filling void areas of agricultural commodity containers
US8649940B2 (en) * 2012-02-10 2014-02-11 Deere & Company Method and stereo vision system for managing the unloading of an agricultural material from a vehicle
US9326444B2 (en) * 2013-02-08 2016-05-03 Deere & Company Method and stereo vision system for facilitating the unloading of agricultural material from a vehicle
EP2792229B1 (en) * 2013-04-02 2016-03-23 Deere & Company Control arrangement and method for controlling a position of a transfer device of a harvesting machine
US9119342B2 (en) * 2013-04-22 2015-09-01 Deere & Company, A Delaware Corporation Methods for improving the robustness of an automated unloading system
DE102013018724B4 (en) * 2013-11-08 2015-09-03 LASE Industrielle Lasertechnik GmbH Agricultural harvester

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030174207A1 (en) * 2002-03-13 2003-09-18 Deere & Company, A Delaware Corporation Image processing spout control system
US20090044505A1 (en) * 2007-08-03 2009-02-19 Jochen Huster Agricultural working machine
EP2138027A1 (en) * 2008-06-25 2009-12-30 CLAAS Agrarsystems GmbH & Co. KG A transfering device and an agricultural vehicle
WO2011101458A1 (en) * 2010-02-21 2011-08-25 Cnh Belgium N.V. Method for directing an unloading apparatus of a harvesting machine to a container

Also Published As

Publication number Publication date
EP3024315A2 (en) 2016-06-01
US20160150733A1 (en) 2016-06-02
WO2015011237A2 (en) 2015-01-29
EP3024315B1 (en) 2020-12-30
US9655301B2 (en) 2017-05-23
BE1021158B1 (en) 2015-10-30

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