Patent ID: 11968927
Assignee: DEERE & COMPANY
Field: Other special machines (Mechanical engineering)
Classification: CPC A  G | IPC A  G

Claim 6:
7. A method of controlling an agricultural harvester, comprising:
an agricultural harvester having a frame;
a spout having an outlet end and being movably mounted relative to the frame;
a spout actuator that drives movement of the spout relative to the frame based on a spout actuator control signal;
engaging material from a field with harvesting functionality to deliver the material through an outlet end of a spout as the agricultural harvester moves through the field in a direction of travel;
capturing an image of material forward of the agricultural harvester in the direction of travel;
processing the captured image of the material forward of the agricultural harvester in the direction of travel to identify an orientation of the material forward of the agricultural harvester in the direction of travel, to identify a location of a turn forward of the agricultural harvester in the direction of travel based on the orientation of the material forward of the agricultural harvester in the direction of travel, and to identify an angle of the turn forward of the agricultural harvester in the direction of travel based on the orientation of the material forward of the agricultural harvester in the direction of travel;
generating a turn location indicator indicative of the location of the turn;
generating a turn angle indicator indicative of the angle of the turn;
detecting a speed of the agricultural harvester;
generating a speed indicator indicative of the detected speed;
generating, prior to the agricultural harvester executing the turn, spout position compensation information for controlling the spout actuator based on the turn location indicator, the turn angle indicator, and the speed indicator; and
generating a spout actuator control signal to control the spout actuator based on the spout position compensation information.