Method and system for controlling the loading of a container associated with a vehicle

• US 8,060,283 B2
• Filed: 10/15/2007
• Issued: 11/15/2011
• Est. Priority Date: 10/15/2007
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Mott, Cameron Ray, Rekow, Andrew Karl Wilhem
• Primary Examiner(s): Trammell; James
• Assistant Examiner(s): Marc; McDieunel
• Application Number:
  US11/872,097
• Publication Number:
  US 20090099775A1
• Time in Patent Office: 1,492 Days
• Field of Search: 701/50, 701/300, 477/40, 220/DIG.33, 246/122.R, 104/66, 348/15, 348/14.08, 348/211.99
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01D 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 43/07 in or into a trailer A01D43/077 takes precedence
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

A leader location-determining receiver determines a leader location of a lead vehicle. A follower location-determining receiver determines a follower location of a follower vehicle, which has a container for storing a material. A data processor or position module calculates an observed relative position between the lead vehicle and the follower vehicle. Target relative positions are established between the lead vehicle and the follower vehicle. A data processor or selector selects a preferential one of the established target positions. A data processor or adjuster adjusts the observed relative position of the follower vehicle to achieve the selected preferential one of the established target positions.

Claims

1. A method for controlling the loading of a container associated with a vehicle, the method comprising:

determining a leader location of a lead vehicle;

determining a follower location of a follower vehicle having a container for storing a material;

calculating an observed relative position between the lead vehicle and the follower vehicle;

establishing target relative positions between the lead vehicle and the follower vehicle, where the target relative positions include at least a first target relative position and a second target relative position spatially separated form the first target relative position;

selecting a preferential one of the established target positions; and

wherein the first target relative position is expressed as a first distance (D₁) and a first angle (θ

₁) with respect to a leader reference point of the leader vehicle and a follower reference point of the follower vehicle;

the first target relative position aligned such that a chute or conduit of the leader vehicle is aligned with a first volume or first zone of the container of the follower vehicle

adjusting the observed relative position of the follower vehicle to achieve the selected preferential one of the established target positions.

2. The method according to claim 1 wherein the selecting comprises a user'"'"'s manual selection of one or more preset positions as the target positions between the leader vehicle and the follower vehicle.

3. The method according to claim 1 wherein the selecting comprises maintaining a certain relative position between the vehicles for a corresponding maximum time period prior to shifting a next relative position between the vehicles.

4. The method according to claim 1 wherein the second target relative position is expressed as a second distance (D₂) and a second angle (θ

₂) with respect to a leader reference point of the leader vehicle and a follower reference point of the follower vehicle;

the second target relative position aligned such that a chute or conduit of the leader vehicle is aligned with a second volume or second zone of the container of the follower vehicle.

5. The method according to claim 1 wherein the third target relative position is expressed as a third distance (D₂) and a third angle (θ

₂) with respect to a leader reference point of the leader vehicle and a follower reference point of the follower vehicle;

the third target relative position aligned such that a chute or conduit of the leader vehicle is aligned with a third volume or second zone of the container of the follower vehicle.

6. The method according to claim 1 further comprising:

detecting a weight associated with a material stored or accumulated in a corresponding portion or zone of the container;

determining whether the weight or mass applied to the weight sensor reaches a threshold minimum weight; and

generating a signal or status message that the corresponding zone of the container is regarded as full with the material if the determined weight reaches or meets a threshold.

7. The method according to claim 4 further comprising:

shifting the position of the follower vehicle, with respect to the leader vehicle if the minimum threshold weight is exceeded in one zone or volume of the container until the zones or volumes associated with the other positions are full to a desired degree.

8. The method according to claim 1 further comprising:

transmitting an electromagnetic signal toward at least one of a reflector or reflective surface mounted in the container of the vehicle;

determining whether a reflection of the electromagnetic signal is not received for a minimum threshold time based on a material in a corresponding zone of the container blocking or attenuating the transmitted electromagnetic signal;

generating a signal or status message that the corresponding zone of the container is regarded as full with the material if the reflection is not received for the minimum threshold time.

9. The method according to claim 7 further comprising:

shifting a position of the follower vehicle with respect to the leader vehicle until the zones or volumes of the container associated with the other positions are full to a desired degree if the status signal indicates that the corresponding zone of the container is full.

10. The method according to claim 1 further comprising:

transmitting a signal from the follower vehicle to a leader vehicle such that the leader position module or the leader adjuster shifts the position of the leader vehicle with respect to the follower vehicle.

11. The method according to claim 1 wherein the leader vehicle comprises a combine and wherein the follower vehicle comprises a grain cart, and wherein the material comprises harvested grain.

12. A system for controlling the loading of a container associated with a vehicle, the system comprising:

a leader location-determining receiver for determining a leader location of a lead vehicle;

a follower location-determining receiver for determining a follower location of a follower vehicle having a container for storing a material;

a position module for calculating an observed relative position between the lead vehicle and the follower vehicle;

a data processor for establishing target relative positions between the load vehicle and the follower vehicle, where the target relative positions include at least a first target relative position and a second target relative position spatially separated from the first target relative position;

a selector for selecting a preferential one of the established target positions; and

wherein the first target relative position is expressed as a first distance (D₁) and a first angle (θ

₁) with respect to a leader reference point of the leader vehicle and a follower reference point of the follower vehicle;

the first target relative position aligned such that a chute or conduit of the leader vehicle is aligned with a first volume or first zone of the container of the follower vehicle

an adjuster for adjusting the observed relative position of the follower vehicle to achieve the selected preferential one of the established target positions.

13. The system according to claim 12 wherein the selector supports a user'"'"'s manual selection of one or more preset positions as the target positions between the leader vehicle and the follower vehicle.

14. The system according to claim 12 wherein the selector facilitates selecting and maintaining a certain relative position between the vehicles for a corresponding maximum time period prior to shifting a next relative position between the vehicles.

15. The system according to claim 12 wherein the second target relative position is expressed as a second distance (D₂) and a second angle (θ

₂) with respect to a leader reference point of the leader vehicle and a follower reference point of the follower vehicle;

the second target relative position aligned such that a chute or conduit of the leader vehicle is aligned with a second volume or second zone of the container of the follower vehicle.

16. The method according to claim 12 wherein the third target relative position is expressed as a third distance (D₂) and a third angle (θ

₂) with respect to a leader reference point of the leader vehicle and a follower reference point of the follower vehicle;

the third target relative position aligned such that a chute or conduit of the leader vehicle is aligned with a third volume or second zone of the container of the follower vehicle.

17. The system according to claim 12 further comprising:

a weight sensor associated with a material stored or accumulated in a corresponding portion or zone of the container;

a weighing module for determining whether the weight or mass applied to the weight sensor reaches a threshold minimum weight;

the weighting module arranged to generate a signal or status message that the corresponding zone of the container is regarded as full with the material if the determined weight reaches or meets a threshold.

18. The system according to claim 17 further comprising:

a follower adjuster for shifting the position of the follower vehicle with respect to the leader vehicle if the minimum threshold weight is exceeded in one zone or volume of the container until the zones or volumes associated with the other positions are full to a desired degree.

19. The system according to claim 12 further comprising:

a reflector or reflective surface of a container of the vehicle;

a transmitter for transmitting an electromagnetic signal toward at least one of the reflector or the reflective surface;

a receiver for determining whether a reflection of the electromagnetic signal is not received for a minimum threshold time based on a material in a corresponding zone of the container blocking or attenuating the transmitted electromagnetic signal; and

a sensor processing module for generating a signal or status message that the corresponding zone of the container is regarded as full with the material if the reflection is not received for the minimum threshold time.

20. The system according to claim 19 further comprising:

a follower adjuster shifting a position of the follower vehicle with respect to the leader vehicle until the zones or volumes of the container associated with the other positions are full to a desired degree if the status signal indicates that the corresponding zone of the container is full.

21. The system according to claim 12 further comprising:

a wireless communications device for transmitting a signal from the follower vehicle to a leader vehicle such that the leader position module or the leader adjuster shifts the position of the leader vehicle with respect to the follower vehicle.

22. The system according to claim 12 wherein the leader vehicle comprises a combine and wherein the follower vehicle comprises a grain cart, and wherein the material comprises harvested grain.