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

Claim 11:
12. An agricultural harvester, comprising:
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;
a flap movably mounted to the outlet end of the spout;
a flap actuator that drives movement of the flap relative to the spout based on a flap actuator control signal;
harvesting functionality, mounted to the frame, that engages material from a field and delivers the material through the outlet end of the spout as the harvester moves through the field in a direction of travel;
a forward-looking sensor that captures an image of material forward of the harvester in the direction of travel;
a turn location and angle identifier that processes the captured image of the material forward of the agricultural harvester, identifies an orientation of the material forward of the agricultural harvester, identifies a location and angle of a turn forward of the agricultural harvester in the direction of travel based on the identified orientation of the material forward of the agricultural harvester, and generates a turn location indicator indicative of the location of the turn and an angle indicator indicative of the angle of the turn;
a speed detector that detects a speed of the agricultural harvester and generates a speed indicator indicative of the detected speed;
a position compensation control system that generates spout position compensation information for controlling the spout actuator and that generates flap position compensation information for controlling the flap actuator, based on the turn location indicator, the angle indicator, and the speed indicator, the position compensation control system outputting the spout position compensation information and the flap position compensation information prior to the agricultural harvester executing the turn;
a spout position controller that receives the spout position compensation information prior to the agricultural harvester executing the turn and generates the spout actuator control signal to control the spout actuator based on the spout position compensation information; and
a flap position controller that receives the flap position compensation information prior to the agricultural harvester executing the turn and generates the flap actuator control signal to control the flap actuator based on the flap position compensation information.