SYSTEMS AND METHODS FOR AUTOMATED GRAIN CART UNLOADING

Systems and methods for automatic unloading of harvested material from a grain cart to storage compartment(s). In response to activation of the system by an operator, harvested material can be automatically unloaded into the storage compartment based on a predetermined fill profile. The fill profile can provide an indication of the maximum height, weight, and distribution profile(s), among other information, for the one or more piles of the harvested material that are to be formed in the storage compartment. Information provided from a sensor can be utilized by a controller to determine whether adjustments are to be made during the unloading of the harvested material so as to attain the fill profile. Such adjustments can relate to the rate, quantity, and/or location at which harvested material is being unloaded into the storage compartment, as well as a speed and direction of travel of the grain cart.

FIELD OF THE DISCLOSURE

The present disclosure generally relates to grain carts, and more specifically, but not exclusively, to systems and methods for automated unloading of grain carts.

BACKGROUND

An agricultural harvester, such as, for example, a combine, generally accumulates harvested material during operation, including while traveling along a field containing crop material. At certain times during such harvesting operations, the harvested material can be transferred from the harvester to a grain cart, also referred to as a wagon, that can be positioned by the harvester as the harvester moves through the field. Once the grain cart is sufficiently filled, the grain cart can travel to a receiving vehicle, such as, for example, one or more semi-trailers, for transfer, or unloading, of the harvested material to the trailer.

Traditionally, an operator of a tractor that is pulling the grain cart carefully maneuvers the grain cart relative to the trailer(s) as harvested material is transferred from the grain cart to the trailer. However, various factors can adversely impact such transfer or unloading of harvested material to the trailer. For example, misalignment between the grain cart, or components of the grain cart, and the trailer during the transfer can contribute spillage or other potential loss of the harvested material. Additionally, a variety of settings, relative positions, or environmental conditions, as well as combinations thereof, among other factors, can contribute to uneven distribution in terms of the spreading or accumulation of transferred harvested material within the trailer. Such uneven distribution can create issues with respect to either or both the quantity of the harvested material that may be placed in the trailer or load distribution of the trailer, among other potential issues.

Accordingly, the unloading or transfer of harvested material from grain carts remains an area of interest.

SUMMARY

In one embodiment of the present disclosure, an apparatus is provided for unloading a harvested material to a storage compartment. The apparatus can include a plurality of sidewalls that at least partially define an inner area, the inner area configured to house the harvested material. The apparatus can also include a conveyance assembly comprising a base portion, a conveyance means, and a chute, and a gate that can be configured to control a passage of the harvested material from the inner area to the base portion. Additionally, the conveyance means can be configured to convey the harvested material from the base portion to the chute, the chute being configured to release at least a portion of harvested material into the storage compartment. The apparatus can also include a sensor that can be configured to capture a captured information of the harvested material in the storage compartment and at least one processor. Further, the apparatus can include a memory device coupled with the at least one processor. The memory device can include instructions that when executed by the at least one processor can cause the at least one processor to identify a fill profile corresponding to at least one of a location or a height of one or more piles of harvested material that are to be formed within the storage compartment from the harvested material released from the chute. Additionally, the memory device can include instructions that when executed by the at least one processor can cause the at least one processor to determine, from information provided by or from the captured information, and based on the fill profile, whether to adjust a position of at least one of the gate, the apparatus, and the conveyance assembly, and generate an adjustment signal to adjust, based on an outcome of the determination, at least one of the position of the gate, the apparatus, and the conveyance assembly to adjust either or both a location or rate at which the harvested material is released from the chute.

In another embodiment, a method is provided for unloading a harvested material to a storage compartment. The method can include displacing, by a gate actuator, a gate from a closed position to an at least partially open position, and conveying the harvested material that passed by the gate along a conveyance means to a chute of a conveyance assembly. The chute can be configured to deposit at least a portion of the harvested material into the storage compartment. Additionally, a sensor can capture a captured information of the harvested material deposited into the storage compartment. The method can also include identifying a fill profile corresponding to at least one of a location or a height of one or more piles of harvested material that are to be formed within the storage compartment from the harvested material deposited into the storage compartment. From information provided by or from the captured information, and based on the fill profile, a determination can be made as to whether to adjust a position of at least one of the gate or the conveyance assembly. The method can also include adjusting, based on an outcome of the determination, at least one of the position of the gate or the conveyance assembly to adjust either or both a location and a rate at which the harvested material is being deposited into the storage compartment.

DETAILED DESCRIPTION

A number of features described below may be illustrated in the drawings in phantom. Depiction of certain features in phantom is intended to convey that those features may be hidden or present in one or more embodiments, while not necessarily present in other embodiments. Additionally, in the one or more embodiments in which those features may be present, illustration of the features in phantom is intended to convey that the features may have location(s) and/or position(s) different from the locations(s) and/or position(s) shown.

Disclosed are examples of automated grain cart unloading systems, methods and machine-readable mediums that monitor characteristics regarding the unloading of harvested material from a grain cart, including the distribution of the unloaded harvested material in an associated storage trailer. Embodiments disclosed herein also relate to automatically adjusting the operations, movement, and/or positions of the grain cart, including an associated conveyance assembly, in response to at least identified characteristics relating to the distribution of the harvested material in the trailer.

FIG.1illustrates a top plan view of an exemplary grain cart100being pulled by a towing machine102and unloading grain into a grain trailer104that is coupled to a semi-truck106. The trailer104can include a plurality of sidewalls108that can at least partially define one or more storage compartments110a-dwithin the trailer104, among storage compartments of other equipment, such as, for example, gravity wagons and mother-bin, among other equipment or structures. The trailer104can also include one or more partition walls112that extend between opposing sidewalls108, and which, in combination with the sidewalls108, can also at least partially define the storage compartments110a-dof the trailer104. The sidewalls108can also at least partially define an opened upper area of the trailer104that can accommodate passage of harvested material114that is being unloaded from the grain cart100and into a storage compartment(s)110a-d.

In the illustrated embodiment, the grain cart100is coupled to a towing machine102, such as, for example, a tractor, via a hitch116, which can be attached to a frame of the grain cart100. In such an embodiment, the towing machine102can have a propulsion system118(FIG.4) that can include a prime mover120(FIG.5), such as, for example, an internal combustion, electric, or hybrid, engine or motor, that can provide a force to propel the grain cart100in at least a forward direction119of travel, and in a direction that is reverse to the forward direction119of travel. As shown, in the illustrated embodiment, the towing machine102has an operator cab124and a plurality of engagement bodies126, such as, for example, wheels or tracks, that can travel along a ground surface128(FIG.2) of the field. The operator cab124can be sized for placement of the operator as the operator operates the towing machine102. Alternatively, according to certain embodiments, the towing machine102can be an autonomous vehicle. Further, according to other embodiments, rather than being coupled to a towing machine102, or other agricultural machine, the grain cart100can be an autonomous, or self-propelled, vehicle.

The grain cart100can include a plurality of sidewalls130that can, at least in part, generally define an inner area132of the grain cart100that can house harvested material114. While the inner area132is shown inFIG.1as being uncovered, according to certain embodiments, the grain cart100can also include a cover or roof that can extend over at least a portion of the inner area132. The grain cart100can also include a plurality of engagement bodies114, such as, for example, wheels or tracks, that are positioned to roll along the ground surface128. The grain cart100can also include a selectively displaceable conveyance assembly134that can be used in the conveyance or unloading of harvested material114from the grain cart100and to the trailer104.

ReferencingFIG.2, the illustrated conveyance assembly134can include a conveyance housing136that extends from a base portion138to a chute140of the conveyance assembly134. The base portion138can be positioned adjacent to, or include, a gate142that is selectively displaceable, such as, for example, slidingly displaceable, via operation of an associated gate actuator228(FIG.4) between an open position and a close position, as well as positions therebetween. The position of the gate142, which can be detected via use of a gate sensor146(FIG.4), can at least control whether, or the rate at which, harvested material114in the inner area132of the grain cart100can, or cannot, flow into the base portion138of the conveyance assembly134. Thus, for example, the gate142can be displaced from the close position at which the gate142covers or blocks a passage between the inner area132of the grain cart100and the base portion138, to an open position at which the gate142generally does not impede the flow of the harvested material from the inner area132of the grain cart100passing through the passage and into the base portion138. Additionally, according to certain embodiments, the gate142can be operably positioned at various positions between the open and closed positions so as to control the amount, or rate, at which harvested material114can pass from the inner area132of the grain cart100to the base portion138. As discussed below, such positioning of the gate142can provide at least one approach to controlling the amount, or rate, at which harvested material114is unloaded from the grain cart100to the trailer104.

A variety of different types of devices can be utilized for the gate sensor146, including, but not limited to, an optical sensor, among other types of sensors. Additionally, according to certain embodiments, the gate position can be indirectly detected or determined, such as, for example, via determinations regarding the amount, or rate, at which harvested material is flowing into the base portion and/or is being unloaded from the grain cart100. For example, according to certain embodiments, the position of gate142can be determined using information regarding a change in weight of the grain cart100. Information regarding the weight change of the grain cart100can indicate a mass flow rate for the harvested material114being unloaded, which can be used to estimate the flow of harvested material114passing through the gate142, which can provide an indication of a position of the gate142. A flow rate of harvested material traveling along, or being outputted from, the conveyance assembly134can similarly provide information that can be used to derive the rate of flow of material passing through the gate142, which can similarly be used to determine the position of the gate142.

The conveyance housing136can define and interior passageway148for placement of at least a portion of a conveyance means for conveying harvested material114from the base portion138to the chute140. A variety of different types of devices or assemblies can be utilized by the conveying means, including, for example, an auger150or a conveyor belt, among other means for transporting or moving the harvested material114. For example, according to certain embodiments, the conveyance means is an auger150that is operably coupled to a Power Take Off (PTO) drive of the prime mover120of the towing machine102, or, alternatively, of the grain cart100. According to such an embodiment, operation of the prime mover120can be utilized to power rotational displacement of the auger150within the conveyance housing136, which may be monitored using one or more auger sensors152(FIG.4). The auger150can have one or more helical or spiral oriented threads or twists positioned around a shank that, upon rotational displacement of the auger150, can be utilized to at least upwardly displace harvested material114from the base portion138to the chute140. According to certain embodiments, the auger150can be positioned at a location that is generally parallel to, and possibly aligned with, a central longitudinal axis154of the conveyance housing136and/or the interior passageway148.

According to certain embodiments, the conveyance housing136can comprise an upper housing156athat is pivotally coupled to a lower housing156bof the conveyance housing136at a fold joint158. Further, the lower housing156bcan be positioned between the base portion138and the fold joint158. According to such an embodiment, one or more fold linkages160and a fold actuator162, such as, for example, a hydraulic or pneumatic actuated cylinder, can be utilized to selectively displace the upper housing156arelative to the lower housing156bbetween an unfold position (FIGS.2and3A) and a folded position (FIG.3B). According to such an embodiment, the auger150, or other conveyance means, can have a first portion164apositioned in the upper housing156aand a second portion164bpositioned in the lower housing156b. The first and second portions164a,164bcan be operably coupled or connected when the auger150is at the unfolded position such that rotational displacement of the lower portion164bvia the PTO can be transferred to facilitate rotational displacement of the upper portion164a, or vice versa. Similarly, the first and second portions164a,164bcan be decoupled or disconnected when the upper housing156ais displaced from the folded position to the unfolded position.

Harvested material114can be transported along the interior passageway148of the conveyance housing136to the chute140, wherein the harvested material114can be outputted or discharged through a chute outlet166. The chute outlet166can generally be an opening at an end of the chute140that is in fluid communication with the interior passageway148. According to certain embodiments, the chute outlet166can be arranged about a chute axis168. Additionally, as discussed below, according to certain embodiments, the chute140can be pivotally coupled to upper housing156a, and, additionally or alternatively, can be configured to be rotatably displaced about the central longitudinal axis154of the conveyance housing136and/or the interior passageway148.

The location, including direction and angle, at which harvested material114is outputted or discharged from the chute140can be adjusted in a variety of manners. For example, according to certain embodiments, at least the conveyance housing136is selectively rotatably displaceable about a first rotational axis170, and relative to at least the ground surface128. Additionally, or alternatively, at least a portion of the base portion138can be rotatably displaced with the rotational displacement of the conveyance housing136. WhileFIG.2illustrates the first rotational axis170extending through the base portion138, the first rotational axis170can be located at a variety of other locations. Additionally, such rotational displacement of at least the conveyance housing136, and thus the conveyance means or auger150positioned therein, can be facilitated by use of a housing actuator172, such as, for example, one or more of an electric motor, hydraulic cylinder, or pneumatic cylinder, as well as combinations thereof, among other types of actuators.

As indicated inFIG.2, such rotational displacement of the conveyance housing136can adjust a first angle (“a1”) that generally corresponds, for example, to at least an angle of the central longitudinal axis154of the conveyance housing136and/or the interior passageway148relative to the ground surface128. Thus, as indicated by at least a comparison of the vertical location of the chute140inFIGS.2and3A, as the chute140is coupled to, or around, an end of the conveyance housing136, such rotational displacement of the conveyance housing136about the first rotational axis170can adjust a vertical height (as generally indicated by the “y” direction inFIG.2) of at least the chute140. According to such an embodiment, such rotational displacement of at least the conveyance housing136can increase or decrease a distance of vertical separation between the location at which harvested material114is being released from the chute outlet166and the below storage compartment110a-d, which can influence the location at which harvested material is deposited, piled, and/or spread within the storage compartment110a-d.

Additionally, the rotational displacement of the conveyance housing136can also adjust a horizontal position (as generally indicated by the “x” direction inFIG.2) of the chute140. For example, the rotational displacement of the conveyance housing136can move the chute140, and thus the chute outlet166, to a location at which the chute140and/or chute outlet166are at their furthest distance in the horizontal direction away from the grain cart100and/or the inner area132of the grain cart100, which can be referred to as the fully extended position of the conveyance assembly134. Such differences in the horizontal position of the chute140is indicated, for example, by a comparison of the location of the chute140inFIGS.2and3A. Thus, such rotational displacement of the conveyance housing136can be utilized to adjust the distance between the chute outlet166and a central axis174(FIG.1) of the storage compartments110a-d. In the illustrated example, the central axis174of the storage compartments110can extend at a generally central location through each of the storage compartments110a-dand/or a length of the trailer104in a direction that can be generally parallel to the forward direction119of travel. The distance at which the chute outlet166is, or is not, separated from the central axis174of the storage compartments110a-dcan impact the location at which harvested material114is deposited into, and/or spread within, the storage compartments110a-d.

The conveyance housing136can also be rotatably and/or linearly displaced in a variety of other directions. For example, according to certain embodiments, the upper and lower housings156a,156bcan be also telescopically arranged. According to such an embodiment, the linear position of one of the first and second housings156a,156bcan be adjusted (as generally indicated by “l” inFIG.2) relative to the other housing156a,156b. Such a telescopic arrangement can also be utilized to adjust the vertical height of the chute140and/or chute outlet166, as well as adjust the horizontal position of the chute140and/or chute outlet166relative to the central longitudinal axis174of the storage compartments110a-d. Such other adjustments of the conveyance housing136can occur in a variety of manners, including, for example, via use of a housing position actuator176, such as an electric motor, hydraulic cylinder, or pneumatic cylinder, as well as combinations thereof, among other actuators.

Additionally, or alternatively, the chute140can be rotatably displaced relative to the conveyance housing136. For example, in the embodiment shown inFIG.2, the chute140can be rotatably displaced about a second rotational axis178via a chute actuator180and/or an associated rotor linkage system. A variety of different type of actuators can be utilized for the chute actuator180, such as, for example, one or more of an electric motor, hydraulic cylinder, or pneumatic cylinder, as well as combinations thereof, among other types of actuators. As seen inFIG.2, such rotational displacement of the chute140, and thus the chute outlet166, can adjust a second angle (“as”) between the chute axis168and the central longitudinal axis154of the conveyance housing136and/or the interior passageway148. Moreover, adjustment of the chute140about the second rotational axis178can adjust the degree or angle at which harvested material is downwardly and/or outwardly discharged from the chute outlet166and into a storage compartment110a-d. Thus, such rotational displacement of the chute140about the second rotational axis178can also influence the distribution, piling, and/or spreading of harvested material114in a storage compartment110a-d.

Additionally, according to certain embodiments, the chute140can also be rotatably displaced in another direction, including, for example, in a direction that can be generally orthogonal to the second rotational axis178. For example, according to certain embodiments, the chute140can also be rotatably displaced relative to central longitudinal axis154of the conveyance housing136and/or the interior passageway148. The displacement of the chute140in a variety of other rotational and/or linear directions are also contemplated.

The position, orientation, and/or locations of the various components of the conveyance assembly134can be detected in a variety of manners, including, for example, via one or more position sensors182(FIG.4), including, but not limited to, inclinometers, proximity sensors, optical sensors, and/or pressure sensors, among others. For example, whether the conveyance assembly134, as well as portions thereof, such as, for example, the auger, is at, or is approaching, the fully extended position can be detected by one or more position sensors182, including, for example, comprise at least a pressure sensor. Additionally, angular orientations of components of the conveyance assembly134, including, for example, the conveyance housing136, spout, and/or chute140can be determined utilizing one or more position sensors182, such as, for example, rotary position sensors and angular position sensors. Further, linear positions of the components of the conveyance assembly134, including, for example, with respect to telescopically arranged upper and lower housings156a,156b, can also be determined via use of one or more position sensors182, such as, for example, near position sensors, among others.

The grain cart100can also include one or more sensors184that can be positioned to capture information, including, but not limited to, one or more images (collectively referred to herein as “image”), such as, for example, video and still images, of harvested material114that is being, or has been, deposited in a storage compartment(s)110a-d. While exemplary embodiments discussed herein may refer to captured information in the form of images, the type, format, and/or information provided by the captured information obtained via use of the sensor184can vary for different types of sensors and/or sensing technologies. As discussed below, information obtained from such images, as well as other forms of captured information, can be utilized in connection with adjustments in the settings, positions, or orientations of the grain cart100and/or the conveyance assembly134in connection with seeking to attain a pre-determined fill profile for the harvested material114within the storage compartment110a-d. A variety of different types of devices can be utilized for the sensor184, such as, for example, optical cameras and/or depth cameras or sensors, including, but not limited to, visible light cameras, near-visible light cameras, infrared cameras, optical cameras, stereo depth cameras, stereo sensors, mono cameras, time of flight sensors, RGBD (red, green, blue, depth) cameras, three-dimensional sensors, three-dimensional cameras, structural light sensors, light detection ranging sensors, thermal imaging cameras, ultrasonic sensors, radar, radar-based cameras, hyperspectral cameras, and light imaging detection and radiation (LIDAR) sensors, as well as combinations thereof, among others.

The sensors184can be positioned at one or more locations about the grain cart100that can capture images harvested material114within at least a portion of one or more of the storage compartments110a-d. For example, according to certain embodiments, at least one sensor184can be coupled to the conveyance housing136, including at or around a bottom surface186of the conveyance housing136at a location that is in relatively close proximity to the chute140. Additionally, or alternatively, a sensor184can be coupled to the chute140and/or an upper portion of a sidewall130, roof, or cover of the grain cart100, among other locations.

Additionally, according to certain embodiments, the conveyance assembly134can include one or more flow sensors188(FIG.4). According to certain embodiments, the flow sensor(s)188can be positioned to determine flow or quantity of harvested material that is passing from the inner area132and into the base portion138. Additionally, or alternatively, a flow sensor188could be positioned to detect an amount of harvested material114being displaced by the auger150, or passing through the chute outlet166. Further, according to certain embodiments, information obtained from images provided by the sensor184can be examined to determine flow rates.

FIG.4illustrates a block diagram of an exemplary automated grain cart unloading system200. The system200can include a grain cart controller202having one or more processors204that can follow instructions, including control instructions, contained on one or more memory devices206, including, for example, a non-transitory machine-readable medium. Further, the grain cart controller202can be part of the grain cart100or the towing machine102, among other machines or components of the automated grain cart unloading system200.

According to certain embodiments in which the sensor(s)184is/are an optical camera, the controller202, including the processor204, can evaluate captured information from the images obtained by the sensors184in a variety of manners. For example, according to certain embodiments, the controller202can evaluate the unloading, distribution/piling, and/or spreading of harvested material114in a storage compartment110a-don a pixel level, or based on a collection or area(s) of pixels, among other bases for evaluation. Such an evaluation can be based, for example, at least in part on either or both a color and level of light present, or not present, in an area(s) or pixels in the captured information.

The controller202can also be configured to identify information regarding the unloading, distribution and/or spreading of harvested material by the grain cart100and into the storage compartment(s)110a-dbased on a size, shape, and/or position of the information captured in the images from the sensor184. Information can also be derived from images captured by the sensor184based on an indication of movement, such as based on a change in position of one or more collections or piles of harvested material114in a storage compartment110a-d. For example, the controller202can be configured to identify a collection of harvested material114in the storage compartment110a-dbased on the size, shape, or position of the harvested material114compared to other features of the storage compartment110a-d. Additionally, or alternatively, the controller202can be configured to identify changes in deposited harvested material114by evaluation or comparison of information provided by different images or information obtained from the sensor184. Additionally, the controller202can utilize captured information from images obtained by different sensors184to determine characteristics regarding the unloading, distribution, and spreading of the harvested material114. According to certain embodiments, the controller202can also utilize information attained via the training of a neural network220of an artificial intelligence (AI) engine222to identify the presence and location of harvested material114and collections of harvested material114in the storage compartments110a-d.

The controller202can also be adapted to utilize at least information provided by at least the sensor184to predict or estimate a direction at which the harvested material114will flow or accumulate when unloaded into the storage compartment110a-d. For example, based on the location and/or orientation of at least the chute140or chute outlet166relative to the storage compartment, the rate at which harvested material114is being unloaded from the grain cart100, the speed and/or direction of travel of the grain cart100, configuration of the storage compartment110a-d, and/or the shape or position of one or more collections/piles of harvested material114in the storage compartment110a-d, among other information, to determine, including estimate or predict, a location at which harvested material114being unloaded from the grain cart100will settle or otherwise be deposited in the storage compartment110a-d. Using such information, the controller202can, for example, thus proactively make adjustments in the operation of the grain cart100in a manner that can further assist with distributing the harvested material114in the storage compartment110a-din a manner that can at least attempt to conform to a predetermined fill profile.

Accordingly, as discussed below, the controller202, including the processor204, can execute instructions contained in the memory device206, as well as in connection with inputted information, to automatically adjust at least the operational settings, positions, travel, and/or orientations of the towing machine102, grain cart100, and/or the conveyance assembly134, among other components and devices of the system200, at least in connection with the unloading of harvested material114from the grain cart100to the trailer104. Further, the controller202, including the processor204, can utilize a variety of different types of inputted information in connection with making such operational adjustments, including, but not limited to, information provided regarding a speed of travel, as may be indicated by a speed sensor226of the grain cart100and/or trailer104, as well as information derived from one or more images provided by the sensor184, among other inputted information, as discussed below.

Examples of such operational settings adjustable via one or more signals or commands from the controller202, including from the processor204, include, but are not limited to, adjusting a direction and/or speed of travel of the towing machine102and/or grain cart100, activation and deactivation of the auger150, a speed (e.g., revolutions per minute (rpm)) of the auger150or other conveyor means, an amount or flow rate of harvested material114being unloaded by the grain cart100, and a linear position and/or angular orientation of either or both the conveyance housing136, the chute140, and/or chute outlet166, among other operations or settings. Such adjustments can be made in at least an attempt to improve the quality of the distribution of harvested material114being deposited and/or within the storage compartments110a-dof the trailer104, including in connection with attaining a pre-determined fill profile. As discussed herein, such adjustments therefore include, but are not limited to, activation of one or more actuators of an actuator system224(FIG.4) of the grain cart100, including one or more of the housing actuator172, chute actuator180, gate actuator228, and/or housing position actuator176, among other actuators.

The grain cart100can further include a communications device208that can communicate information to, as well as receive information from, other components of the system200, including the towing machine102, a central system220, and/or one or more auxiliary units222, among other machines, devices, and databases. The communications device208can be embodied as hardware, firmware, software, virtualized hardware, emulated architecture, and/or a combination thereof. According to certain embodiments, the communications device208can comprise a transceiver. The communications device208can, according to certain embodiments, exchange communications with a other components of the grain cart100and/or the system200in a variety of manners, such as, for example, via a network, including, for example, via internet, cellular, and/or Wi-Fi networks, as well as via Bluetooth, among other manners or communication or use of other communication protocols.

The controller202, including the processor204, can also be utilized to generate commands for the operation of a propulsion system118and/or a steering system224. WhileFIG.4illustrates the propulsion system118and steering system224as being part of the towing machine102, according to other embodiments, the propulsion system118and steering system224can instead be part of a self-propelled, including autonomous, grain cart100. Further, to the extent a towing machine102is utilized, the controller202of the grain cart100can be used to control and/or adjust, operations of the propulsion system118and/or a steering system224, including adjust the speed and/or direction of travel of the towing machine102and grain cart100.

Additionally, or alternatively, according to certain embodiments, the towing machine102can have a controller226, including at least one processor228and memory device230, as well as a communications device232that is similar to the corresponding controller202, processor(s)204, memory device206, and communications device208of the grain cart100. According to such embodiments, the controller226of the towing machine102can be utilized in addition to, or in lieu of, the controller202of the grain cart100. Thus, while at least certain examples discussed herein are discussed in terms of use of the controller202of the grain cart100, according to other embodiments, such features or operations can instead be performed by, or utilize, the controller226of the towing machine102.

The propulsion system118can include the prime mover120, a speed sensor234, and a transmission sensor236. As previously indicated, the prime mover120can generate power or force used for propulsion of the towing machine102and/or grain cart100. The speed sensor234can be configured to detect, or provide information used to determine, a speed or rate of travel at which the work towing machine102, grain cart100, and/or one or more engagement bodies126,144is/are currently traveling. Additionally, or alternatively, the speed sensor234can provide information indicating, or used to determine, whether the current speed of travel or movement has, or has not, exceeded a predetermined threshold, or, alternatively, has dropped below a predetermined speed threshold. The transmission sensor236, such as, for example, a transmission position sensor or transmission range sensor, can be utilized to detect the currently engaged gear of a transmission that is utilized in the transmission of a force generated or provided by the prime mover120for driving movement of the engagement bodies126,144. Additionally, information provided by the transmission sensor236can be utilized to detect if the towing machine102and/or grain cart100is/are traveling in a forward or rearward direction of travel.

The trailer104, or, alternatively, a self-propelled grain cart100, can include one or more steering systems224, including, for example, a front steering system and/or a rear steering system. The controller202,226, or a dedicated steering controller, can provide commands for controlling the steering system(s) of the trailer104or the self-propelled grain cart100. Such signals can be utilized to operate one or more electric motors and/or actuators, or control the flow of a steering fluid, that are utilized to control the turning and/or orientation of the associated engagement bodies126,144and/or an associated front or rear axle of trailer104and/or grain cart100. Such a steering system224can be utilized to at least control the extent the grain cart100is separated from the trailer104, or the distance, if any, between the chute outlet166and the central axis174of the storage compartments110a-d, at least during the unloading of harvested material114from the grain cart100.

The automated grain cart unloading system200can also include, or be communicatively coupled to, an input/output (I/O) device238that can be utilized to at least activate the grain cart100to perform an automatic unloading operation of the harvested material114. For example, according to certain embodiments, the I/O device238can be a button, switch, or touchscreen located in the operator cab124, or positioned at an operator accessible location along the grain cart100. Additionally, or alternatively, the I/O device238can be a computing device that can be separable from the towing machine102or grain cart100, including, for example, a mobile phone, smartphone, tablet, or personal computing device, that can wirelessly communicate an activation signal or command to a communications device208,232of the grain cart100and/or towing machine102.

Captured information used to identify or determine characteristics regarding the fill profile of harvested material114deposited within the storage compartment110a-dcan also be attained using sensors184in addition to, or in lieu of, an optical sensor(s) that may be attached to the grain cart100. For example, according to certain embodiments, the automated grain cart unloading system200can include one or more auxiliary units222having one or more sensors184′ that can be similar to the sensor184discussed above with respect to the grain cart100. Further, the auxiliary unit222can also include a communication device240that is configured to communicate the images, or associated information derived from the images, obtained by the sensor184′ of the auxiliary unit222to other communication devices208,232. The images attained by sensor184′ of the auxiliary unit(s)222, or associated information derived therefrom, can be examined or analyzed and used in manner similar to the information attained from a sensor184of the grain cart100.

A variety different types of devices or structures can be utilized for the auxiliary unit222. For example, referencingFIG.5, according to certain embodiments, one or more auxiliary units222can comprise a drone242having the sensor184′. Similar to the above-discussed operation of the conveyance assembly134, the drone242can also be operated so as to be moved to a position(s) at a location(s) and/or orientation(s) that can capture information regarding the fill pattern of the harvested material114that has been, and/or is being, deposited into in a storage compartment(s)110a-dby the operation of the grain cart100.

Additionally, or alternatively, one or more of the auxiliary unit222can be relatively static. For example, according to certain embodiments, the auxiliary unit222can be, or can be coupled to, a structure, including, for example, a building or post244, among other generally static structures. According to such an embodiment, the trailer104can be positioned at a location that can enable the sensor184′ to obtain images of the harvested material114that has been, and/or is being, deposited into the storage compartment(s)110a-dof the trailer104.

Additionally, or alternatively, as seen in at leastFIGS.5and6A, one or more of the auxiliary units222can be mounted to, or otherwise be part of, the trailer104. Thus, for example, one or more auxiliary units222can be positioned on, or in, one or more sidewalls108and/or partition walls112of the trailer104. As seen inFIG.5, according to certain embodiments, an auxiliary unit222can be coupled to an upper portion of one or more sidewalls108of the trailer104above the storage compartments110a-b, whileFIG.6Aillustrates one or more sensors184positioned on an inner side of the sidewalls108and/or partition wall112, among other locations within the storage compartments110a-b.

According to certain embodiments, the automated grain cart unloading system200can include a central system220having a controller244, at least one processor246, a memory device248, and a communication device250that can be similar to the corresponding devices discussed above. Additionally, the central system220can be configured to provide a machine-learning neural network220of an AI engine222that can assist in the identification and/or prediction of characteristics pertaining to the distribution and spreading of harvested material114from images or information obtained by the sensors184,184′. Moreover, evaluation of information captured by the sensor184,184′ by the controller202,226can, according to certain embodiments, be based at least in part on information stored or programmed in the controller202,226, including the memory device206,248, that was derived by an AI engine222of the central system220or other portion of the automated grain cart unloading system200. Such an AI engine222can include, for example, models or algorithms developed by a training or machine learning of the neural network220of the AI engine222, including via use of historical information that may be maintained in one or more databases252of the central system220.

According to certain embodiments, once the information derived by the AI engine222is programmed or otherwise stored as part of the memory device206, or other component of the automated grain cart unloading system200, subsequently derived information, updates to information, algorithms, or models by the AI engine222, including developed in association with machine learning by the neural network220, may, or may not, be communicated to the other portions of the system200, such as, for example, via a software update.

FIG.7illustrates a simplified flow diagram of an exemplary method700for operating the illustrated automated grain cart unloading system200. The method700is described below in the context of being carried out by the illustrated exemplary automated grain cart unloading system200. However, it should be appreciated that method700may likewise be carried out by any of the other described implementations, as well as variations thereof. Further, the method700corresponds to, or is otherwise associated with, performance of the blocks described below in the illustrative sequence ofFIG.7. It should be appreciated, however, that the method700can be performed in one or more sequences different from the illustrative sequence. Additionally, while certain aspects to the method700may be described below with respect to the controller202of the grain cart100, such features can additionally, or alternatively, be performed by other controllers of the system200, including, but not limited to the controller226,244of the towing machine102or central system220, among other controllers.

At block702the operator can utilize the I/O device238to initiate activation of the automated grain cart unloading system200. For example, by engaging the I/O device238, a signal from the I/O device238can be received by the controller202,244indicating an activation of the operation for automatic unloading of harvested material from the grain cart100. At block704, a profile of the trailer104, and moreover, of one or more storage compartments110a-dof the trailer104, can be obtained. For example, according to certain embodiments, the profile of the storage compartment110a-dbased on one or more measurements, such as, for example, via information provided to, or derive by, the controller202,244from one or more images obtained by the sensor184. Additionally, or alternatively, as indicated by input block703, the controller202,244can receive, via use of the communications device208, trailer identification information, such as, for example, information relating to the sizes, measurements, and/or geometries of the storage compartment(s)110a-d, among other trailer104or storage compartment110a-dinformation. For example, such information can include a vertical height, length, or width of the storage compartment(s)110a-d. Such profile information can also provide, or be used to determine, the location of the central axis174of the storage compartment(s)110a-d.

Additionally, such information provided at block703and/or determined at block704can identify, or be used to identify, the quantity of harvested material114that can be unloaded into the trailer102such that the trailer102is able to comply with weight requirements, including, but not limited to, weight requirements relating to travel along certain roads. Such information can also be based, at least in part, on current humidities and/or the moisture content of the harvested material114. Knowledge of such weight requirements can assist the controller202,244at block706in determining a predetermined fill profile for the harvested grain114. The fill profile can include an indication of the quantity of the particular type of harvested material114that can be deposited into each storage compartment110a-d, the rate at which harvested material114is to be unloaded into the storage compartment110a-d, and/or the vertical height threshold for the pile or collection of harvested material114in the storage compartment110a-dso as to prevent spillage, among other information. The fill profile can, according to certain embodiments, also be based on attaining a particular distribution profile of the harvested material114in the storage compartment110a-d. For example, according to certain embodiments, the fill profile can be based on attaining a generally uniform distribution of harvested material114within the storage compartment(s)110a-d. Additionally, or alternatively, the fill profile may be based in part on the harvested material114being distributed in the storage compartment(s)110a-dso as to at least attempt to attain a particular weight distribution among at least the unloaded harvested material114, alone or in combination with the weight distribution of the trailer104.

Additionally, according to certain embodiments, information or determinations regarding the predetermined fill profile can be utilized by the controller202,244to determine other aspects for the unloading of the harvested material114, including, for example, the position of the gate142(e.g., the extent the gate142is to opened), the speed at which the auger150is to be rotated, and/or the travel speed of the towing machine102and/or grain cart while unloading the harvested material, among other information. Thus, for example, at block708, the controller202,244can generate one or more signals to actuate one or more actuators172,176,180,228of the actuator system224to position and/or orient at least the chute outlet166at a select position/orientation. For example, according to certain embodiments, at block708, the actuator system224can be actuated such that the chute outlet166is position to be generally aligned with the central axis174of the storage compartment110a-d. Which actuators172,176,180,228are to be activated, and the extent or manner of activation, can be based on a variety of input information, as indicated by input block709. For example, such input information can include one or more of a current position, and/or a selected position for, the conveyance housing136, auger150, chute140, and/or chute outlet166, among other components of the grain cart100.

A block710, a determination can be made by the controller202,244as to whether the grain cart100and/or chute outlet166is at, or is approaching, a start position. Moreover, during an unloading operation at which harvested material114is unloaded, or transferred, from the grain cart100to the trailer104, the trailer104is usually stationary. Thus, the grain cart100can, using the force provided by the prime mover120of the towing machine102or self-propelled grain cart100, approach the trailer104so as to be positioned at a location at which the grain cart100can begin to travel alongside the trailer104so as to unload the harvested material114to the trailer104, which can also be referred to as a start position. According to certain embodiments, upon reaching the start position, the sensors184,184′ can be activated. Further, according to certain embodiments, upon activation, the sensors184,184′ can be operated continuously, at certain time thresholds, and/or upon occurrence of one or more predetermined threshold events.

Accordingly, a block710, a determination can be made as to whether the grain cart100is at, or is approaching, the start position. Whether the grain cart100is, or is not, at a start position, can be determined in a variety of manners, including, for example, via information provided by the sensor184,184′ to the controller202,244. For example, the sensor184can provide one or more images that capture location indicia on a portion of the trailer104that the controller202,244can use to determine the position of the grain cart100relative to the trailer104, including distance between the grain cart100and the trailer104or start position, and/or the angular orientation of the grain cart100relative to the trailer104and/or start position. Such information can also indicate whether the chute140or chute opening166is positioned above a storage compartment110a-f, which, according to certain embodiments, may be part of the determination of whether the grain cart is at the start position.

If the controller202,244determines at block710that the grain cart100is not at the start position, then at block712the controller202,244can generate a command for the prime mover120and/or steering system224to be operated in a manner that can move at least the grain cart100to the start position. Such a command can thus include the speed and/or direction at which the towing machine102and/or grain cart100is to be displaced so as to reach the start position.

Once at, or in anticipation of arriving at, the start position, the controller202,244can generate one or more signals corresponding to at least an initial speed at which the prime mover120is to propel, and/or the steering system224is to direct, the towing machine102and/or grain cart100. For example, according to certain embodiments in which the grain cart100is approaching the start position, the controller202,244can issue a signal for the prime mover120to be operated in a manner that, upon arrival of the towing machine102and/or grain art 100 at the start position, reduces the speed of travel of at least the grain cart100. Further, according to certain embodiments, the speed at which the controller202,244is to indicate that the prime mover120is to be operated upon arrival of the grain cart102and/or towing machine104at the start position can be a speed that is below a predetermined threshold speed so as to enable the PTO to become engaged with the conveyance means, such as, for example, the auger150, as indicated by block716. Additionally, as indicated by input block715, the controller202,244can include instructions and/or receive input as to the speed at which the auger150is to be rotationally displaced.

At block718, the controller202,244can generate a signal to activate the prime mover120in a manner that propels at least the grain cart100in the forward direction119of travel. The signal generated at block718can be at least partially based on inputted information regarding wheel speed, prime mover120load, the transmission gear of the transmission that is to be engaged, and/or the distance at which the grain cart100is to be displaced, among other information, as generally indicated by input block715. Additionally, at block720, with the auger150actuated, the controller202,244can automatically issue a signal to activate the gate actuator228so as displace the gate142to at least a partially open position. The extent to which the gate142is moved to the open position can be based on a variety of different criteria, including, for example, the anticipated flow rate of grain and the speed at which the grain cart100will travel so as to attain the fill profile as determined at block706, among other information. With the gate142at an at least partially open position and the auger150rotating, the grain cart100can begin unloading harvested material114into a storage compartment110a-bat block722.

The operation of the activated automated grain cart unloading system200as harvested material114is being unloaded from the grain cart100can be monitored, such as, for example, by the controller202,244, at block724. Such monitoring can include, for example, the extent the chute140or chute opening166is, or is not, aligned with the central longitudinal axis174of the storage compartments110a-b, the quantity and/or rate at which harvested material114is being unloaded from the grain cart100, the extent the grain cart100is moving towards or away from the adjacent trailer104, and the speed of travel of the grain cart100and/or towing machine102, among other information. Additionally, the controller202,244can perform such monitoring using a variety of inputted information, including, for example, via use of information provided by, for derived from, the sensor184,184′, flow sensor188, auger sensor152, speed sensor(s)226,234, and/or position sensor182.

Using at least information provided by the images captured by the sensor184,184′, at block726the controller202,244can identify and/or predict the locations at which the unloaded harvested material114is settling/piling or being distributed in the storage compartment110a-b. Moreover, at block726the controller202,244can determine, using at least information captured the sensor184,184′, whether the harvested material114is being distributed within the storage compartment110a-bin a manner that complies, or will comply, with the fill profile determined at block706, as previously discussed. For example, as illustrated inFIG.6B, using information obtained from the sensor184,184′, the controller202,244, can determine that the harvested material114being unloaded into a second storage compartment110bis accumulating or forming a pile along a deposit center line175that is offset from the central axis174of the storage compartment110a-bby a first offset distance (“o1”). Additionally, in this example, controller202,244can also determine from information provided by the sensor184,184′ that the harvested material114shown in the first storage compartment110ahas accumulated to form a pile having a vertical height177that corresponds to the maximum height of the predetermined fill level profile as identified in block706. However, using the same or other images obtained by the sensor184,184′ the controller202,244can also determine that the harvested material114being accumulated in the second storage compartment110bhas, or is forming, a pile have a vertical height179that exceeds the vertical height177of the fill profile by a second offset distance (“o2”).

Additionally, the controller202,244can determine at block728whether at least certain weight related aspects of the fill profile identified at block706are, or are not, being attained by the harvested material114that has been, or is being, deposited into the storage compartment(s)11a-d. Moreover, at block728, the controller202,244can determine whether the amount and/or the rate at which harvested material114is being unloaded into the storage compartment110a-bis, or will, satisfy identified weight requirements for the harvested material114and/or trailer104, as discussed above with respect to at least block706.

The foregoing are merely examples of potential issues in the unloading of harvested material114that may be identified by the controller202,244via use of the captured information from the sensor184,184′. Moreover, the controller202,244can use at least information provided by, or derived from, the images attained by the operation of the sensors148,148′ to identify a variety of other issues with respect to the location and shape harvested material114is being deposited or is settling/piling in the storage compartment110a-b.

Thus, from the information provided by at least block726, the controller202,244can, at block728, determine whether to adjust, and the extent of adjustment, of one or more settings, positions and/or orientations of one or more components of the system200. For example, at block726, the controller202,244can determine whether to adjust a setting, position, and/or orientation of the conveyance assembly134, gate142, and/or conveyance means (e.g., auger150), as well as determine whether to adjust the speed and/or direction of travel of the grain cart100or towing machine102, among other adjustments associated with the unloading of the harvested material114. If the controller202,244determines at block728that adjustments are not to be made, then the controller202,244can determine at block730whether the unloading operation has concluded.

A determination by the controller202,244at block730as to whether the unloading operation has concluded can include determining whether the unloading of harvested material114into a particular storage compartment110a-b, or all of the storage compartments110a-b, is complete. For example, while a determination can be that unloading into a particular storage compartment110a-bis complete, the controller202,244can also determine that another storage compartment110a-bis not full. If another storage compartment110a-bis not full, then at block730the controller202,244can issue one or more commands for the propulsion system118that be used to move at least the grain cart100to a location at which harvested material114can be unloaded to the not-yet full storage compartment110a-d. Such commands can include indications of the maximum acceleration or deceleration, speed, distance to travel, and distance tolerances for movement or travel of the towing machine102and/or grain cart100to a position at which the grain cart100can unload harvested material114into the not-yet full storage compartment110a-d.

Conversely, if a determination is made at block730that the unloading operation is finished or complete (e.g., no other harvested material114is be unloaded into any storage compartment(s)110a-b), then the unloading operation can be deactivated at block732. Such deactivation can include activating the gate actuator228to displace the gate142to the close position, decoupling the conveyance means from the PTO, and/or propelling the grain cart100to a pre-designated location away from the trailer104. Additionally, upon, or prior to, completion of the unloading operation, information regarding the settings of various components of the automated grain cart unloading system200, including regarding the speed of travel of the grain cart100, position of the gate142, speed of the auger150, and/or positions of the conveyance assembly134, among other information, can be stored in the memory device206,248and/or communicated to the central system220for possible future use or reference. Additionally, according to certain embodiments, images obtained by the sensor(s)184,184′ and/or information derived therefrom can be communicated to the database252for use with machine learning by the neural network220of the AI engine222. Otherwise, if the unloading operation is to continue, then at least blocks722,724,726, and728can be to be repeated until the unloading operation has concluded.

If, however, at block728the controller202,244determines at least some adjustments are to be made in the unloading operation, the controller202,244can determine which adjustments are, or are not, to be made, as well as the particular details of such adjustments. Such a determination by the controller202,244can further include determining how an adjustment to one aspect of the operation or settings of the unloading operation can impact at least another operation, and whether that other operation is thus also to be adjusted. For example, when adjusting the speed at which the auger150is rotated, the controller202,244can also determine whether a corresponding change is, or is not, to be made to either or both the position of the gate142and the speed of travel of at least the grain cart100such that weight related thresholds of the fill profile from block796are satisfied or maintained. If an adjustment(s) is/are to be made, the controller202,244can issue one or more commands so as to facilitate those adjustments occurring.

Thus, for example, at block734, the controller202,244may determine to, or not to, activate one or more components of the actuator system224to adjust a position of the conveyance assembly134, including adjusting an angular and/or linear orientation of one or more of the chute, chute outlet, and/or convenience housing, among other components of the conveyance assembly134. Such adjustments can be attained in a variety of manners. For example, with respect to certain embodiments, such linear adjustments can be associated with a change in position of the grain cart100, including, for example, a linear change associated with, or in a direction that, the grain cart100is traveling, including, for example, being pushed or pulled by the towing machine102. However, according to other embodiments, such linear adjustments can be in a direction that is different than a direction at the grain cart100is traveling. Additionally, at block734, the controller202,244can determine whether to adjust the speed at which the convenience means is being operated. For example, the controller202,244can determine whether to increase or reduce the speed at which the auger150is being rotated so as to adjust the rate at which harvested material114is being outputted from the chute outlet166. Again, such adjustment in the speed of rotation of the auger150can, for example, impact at least the quantity, and thus weight, of the harvested material114that is being deposited into the storage compartment110a-band/or trailer104.

Additionally, or alternatively, the controller202,244can at block736determine to adjust a location or position, speed and/or direction of travel of the towing machine102and/or grain cart100. For example, according to certain embodiments, the controller202,244can determine to issue one or more signals utilized for the propulsion system118, and moreover, the prime mover120, to move, if not already moving, the towing machine102and/or grain cart for a current position, or increase or reduce a speed of the towing machine102and/or grain cart100.

The controller202,244can also issue a command to change the gear being utilized by the transmission system in the movement of the towing machine102and/or grain cart100. For example, the controller202,244can issue a command that facilitates the transmission being shifted to a gear that changes a speed or a direction of travel including, for example, changes the towing machine102and/or grain cart100from traveling in a forward direction to traveling in a reverse direction, and vice versa. The controller202,244can also indicate the duration of time and/or speed at which the towing machine102and/or grain cart100is to travel in one direction before resuming with travel in another, opposite direction. Alternatively, the controller202,244can continue to monitor information provided by the sensor184,184′ in connection with determining when the towing machine102and/or grain cart100is/are to change from traveling in one direction to traveling in another direction. The controller202,244can also issue one or more commands at block736for the steering system224to adjust the angular direction at which the towing machine102and/or grain cart100is moving relative to at least the trailer104and/or the central axis174of the storage compartments110a-d.

Additionally, or alternatively, at block738the controller202,244can determine whether to adjust the position of the gate142. Again, such an adjustment can correspond to the gate142being displaced to the open position, or at a location between the fully open and close positions. According to the illustrated embodiment, if the gate142position is to be changed, the controller202,244can generate a signal that activates the gate actuator228so as to displace the position of the gate142.

The above-mentioned exemplary adjustments from blocks734,736, and738can occur while the grain cart100continues to unload harvested material114into the trailer104at block722. Thus the process of unloading harvested material114and making adjustments, if any, to the unloading operation can continue until a determination is made by the controller202,244at block728that no adjustments are warranted, and/or a determination at block730that the unloading operation is finished, in which event the unloading operation can be deactivated at block732, as discussed above.