Patent Description:
There are a wide variety of different types of mobile work machine such as agricultural vehicles and construction vehicles. Some vehicles include harvesters, such as forage harvesters, sugar cane harvesters, combine harvesters, and other harvesters, that harvest grain or other crop. Such harvesters often unload into carts which may be pulled by tractors or semi-trailers as the harvesters are moving. Some construction vehicles include vehicles that remove asphalt or other similar materials. Such machines can include cold planers, asphalt mills, asphalt grinders, etc. Such construction vehicles often unload material into a receiving vehicle, such as a dump truck or other vehicle with a receiving vessel.

As one example, while harvesting in a field using a forage harvester, an operator attempts to control the forage harvester to maintain harvesting efficiency, during many different types of conditions. The soil conditions, crop conditions, and other things can all change. This may result in the operator changing control settings. This means that the operator needs to devote a relatively large amount of attention to controlling the forage harvester.

At the same time, a semi-truck or tractor-pulled cart is often in position relative to the forage harvester (e.g., behind the forage harvester or alongside the forage harvester) so that the forage harvester can fill the truck or cart while moving through the field. In some current systems, this requires the operator of the forage harvester to control the position of the unloading spout and flap so that the truck or cart is filled evenly, but not overfilled. Even a momentary misalignment between the spout and the truck or cart may result in hundreds of pounds of harvested material being dumped on the ground, or elsewhere, rather than in the truck or cart.

The receiving vehicle often has more freedom to move relative to the harvester than the harvester has to slow down or speed up due to crop unloading. Thus, the operators of the receiving vehicle currently attempt to adjust to the harvester so that the receiving vehicles are filled evenly, but not overfilled. However, it can be difficult for the operator of the receiving vehicle to adequately adjust the position of the receiving vehicle, relative to the harvester, to accomplish a desired fill strategy. Further, the operator of the harvester may unexpectedly stop the harvester (such as when the harvester head becomes clogged and needs to be cleared or for other reasons), so the operator of the receiving vehicle may not react quickly enough, and the receiving vehicle may thus be out of position relative to the harvester.

Other harvesters such as combine harvesters and sugar cane harvesters, can have similar difficulties. Also, construction vehicles can be difficult to operate while attempting to maintain alignment with a receiving vehicle.

<CIT> describes a forage harvester with a display element on the driver's cab. The display element is manually controlled by the operator of the forage harvester and indicates commands (speed and driving direction) to a driver of a transport vehicle. The display element can also be automatically controlled to indicate for example an immediate stop.

<CIT> describes a user interface for a combine harvester operator showing the position and state of an unloading conveyor.

<CIT> and <CIT> describe control systems for a crop unloader of a harvesting machine, also controlling the position of the transport vehicle. In <CIT> a display or loudspeaker can be used for providing drive (speed and steering) instructions to the transport vehicle driver. While smaller adjustments of the impingement location of the crop on the transport vehicle are performed (relatively fast) by spout control, larger adjustments are (slower) performed by controlling the speed and/or steering of the transport vehicle, in particular when the spout is about to reach one of its end positions.

The present discussion proceeds with respect to an agricultural harvester, but it will be appreciated that the present discussion is also applicable to construction machines or other material loading vehicles as well, such as those discussed elsewhere herein. As discussed above, it can be very difficult for an operator to maintain high efficiency in controlling a harvester, and also to optimally monitor the position of the receiving vehicle. This difficulty can even be exacerbated when the receiving vehicle is located behind the forage harvester, so that the forage harvester is executing a rear unloading operation, but the difficulty also exists in side-by-side unloading scenarios.

In order to address these issues, some automatic cart filling control systems have been developed to automate portions of the filling process. One such automatic fill control system uses a stereo camera on the spout of the harvester to capture an image of the receiving vehicle. An image processing system determines dimensions of the receiving vehicle and the distribution of the crop deposited inside the receiving vehicle. The system also detects crop height within the receiving vehicle, in order to automatically aim the spout toward empty spots and control the flap position to achieve a more even fill, while reducing spillage. Such systems can fill the receiving vehicle according to a fill strategy (such as front-to-back, back-to-front, etc.) that is set by the operator or that is set in other ways.

However, even with such automatic fill control systems, there can be occasions where the system does not fill in a uniform manner using the desired fill strategy. For instance, there may be times when the spout cannot be controlled so that it reaches the area of the receiving vessel where the system wishes to perform the fill operation. For instance, assume that the automatic fill control system wishes to command the spout to begin filling at the rear of a receiving vehicle according to a back-to-front fill strategy. It may be that the receiving vehicle is positioned in a spot, relative to the harvester, such that the spout cannot be commanded to fill the extreme rear of the receiving vehicle. This means that the cart cannot be filled correctly or fully by the automatic fill control system.

Even when the operator of the harvester knows that the harvester should move forward or backward relative to the receiving vehicle, this may not always address the problem. For instance, the harvester may be starved for horsepower or it may be fully loaded so that it cannot adjust speed to meet the demands of positioning the spout as commanded by the automatic fill control system. Similarly, the operator of the harvester may be preoccupied in watching the harvesting head for clogs so that attempting to reposition the harvester relative to the receiving vehicle can be quite difficult.

In addition, some current harvesters are provided with a machine synchronization control system. The harvester may be a combine harvester so that the spout is not movable relative to the frame during normal unloading operations. Instead, the relative position of the receiving vehicle and the combine harvester is changed in order to fill the receiving vehicle as desired. Thus, in a front-to-back fill strategy, for instance, the relative position of the receiving vehicle, relative to the combine harvester, is changed so that the spout is first filling the receiving vehicle at the front end, and then gradually fills the receiving vehicle moving rearward. In such an example, the combine harvester and receiving vehicle may have machine synchronization systems which communicate with one another. When the relative position of the two vehicles is to change, the machine synchronization system on the combine harvester can send a message to the machine synchronization system on the towing vehicle to nudge the towing vehicle slightly forward or rearward relative to the combine harvester, as desired. By way of example, the machine synchronization system on the combine harvester may receive a signal from the fill control system on the combine harvester indicating that the position in the receiving vehicle that is currently being filled is approaching its desired fill level. In that case, the machine synchronization system on the combine harvester can send a "nudge" signal to the machine synchronization system on the towing vehicle. The "nudge", once received by the machine synchronization system on the towing vehicle, causes the towing vehicle to momentarily speed up or slow down, thus nudging the position of the receiving vehicle forward to rearward, respectively, relative to the combine harvester.

However, this type of machine synchronization system is normally implemented on a subset of towing vehicles or other receiving vehicles that are used for harvesting operations. Older vehicles, for instance, may not be fitted with such a system.

Thus, the operator of the receiving vehicle may attempt to manually change the position of the receiving vehicle relative to the harvester in order to execute a desired fill strategy. This requires the operator of the receiving vehicle to know the fill strategy that the operator of the harvester would like to perform. Similarly, since the operator of the receiving vehicle often cannot see his or her cart fill height, the operator of the receiving vehicle must estimate when the fill level is adequate in order to change the position of the receiving vehicle relative to the harvester. This results in frequent missteps in which the operator of the receiving vehicle changes the position of the receiving vehicle relative to the harvester prematurely, so that the trailer is not sufficiently full, or too late, which can result in the trailer being overfilled and can result in spillage.

The present discussion thus proceeds with respect to a system in which an automatic fill control system on the harvester includes a camera and image processing system that can be used to identify the fill level at a current landing position in the receiving vehicle. When the fill level reaches a desired fill level so that the position of the receiving vehicle should change, relative to the position of the harvester, then an indicator is generated by the automatic fill control system on the harvester and that indicator is sent to a remote mobile device (which may be carried by the operator of the receiving vehicle or mounted in the operator compartment of the receiving vehicle). The mobile device generates a display or other operator perceptible output that indicates how the position of the receiving vehicle should change relative to the position of the harvester.

For instance, in one example, the mobile device can generate an output showing an arrow or other direction indicator that indicates how the position of the receiving vehicle should change relative to the position of the harvester. In another example, the camera on the harvester captures streaming video of the harvested material entering the receiving vehicle. That streaming video is sent to the mobile device so that it can be displayed on the mobile device. The indicators, which indicate how the position of the receiving vehicle should change relative to the position of the harvester, can also be sent and overlaid on top of, or otherwise integrated into, the streaming video. These are examples only and other examples of indicators showing how the relative position of the receiving vehicle and the harvester should change and that can be sent to the remote mobile device are described below.

<FIG> is a pictorial illustration showing one example of a self-propelled forage harvester <NUM> (a material loading vehicle) filling a tractor-pulled grain cart (or receiving vehicle) <NUM>. Cart <NUM> thus defines an interior that forms a receiving vessel <NUM> for receiving harvested material through a receiving area <NUM>. In the example shown in <FIG>, a towing vehicle (e.g., a tractor) <NUM>, that is pulling grain cart <NUM>, is positioned directly behind forage harvester <NUM> and has a mobile device <NUM> which may be a smart phone, tablet computer, etc. either mounted in the operator compartment of tractor <NUM>, or carried by the operator of tractor <NUM>. Also, in the example illustrated in <FIG>, forage harvester <NUM> has a camera <NUM> mounted on the spout <NUM> through which the harvested material <NUM> is traveling. The spout <NUM> can be pivotally or rotationally mounted to a frame <NUM> of harvester <NUM>. Camera <NUM> can be a stereo-camera or a mono-camera that captures an image (e.g., a still image or video) of the receiving area <NUM> of cart <NUM>. In the example shown in <FIG>, the receiving area <NUM> is defined by an upper edge of the walls of cart <NUM>.

When harvester <NUM> has an automatic fill control system that includes image processing, as discussed above, the automatic fill control system can gauge the height of harvested material in cart <NUM>, and the location of that material. The system thus automatically controls the position of spout <NUM> and flap <NUM> to direct the trajectory of material <NUM> into the receiving area <NUM> of cart <NUM> to obtain an even fill throughout the entire length and width of cart <NUM>, while not overfilling cart <NUM>. By automatically, it is meant, for example, that the operation is performed without further human involvement except, perhaps, to initiate or authorize the operation.

For example, when executing a back-to-front automatic fill strategy the automatic fill control system may attempt to move the spout and flap so the material begins landing at a first landing point in the back of vessel <NUM>. Then, once a desired fill level is reached in the back of vessel <NUM>, the automatic fill control system moves the spout and flap so the material begins landing just forward of the first landing point in vessel <NUM>.

There can be problems with this approach. The trailer <NUM> may be so far behind harvester <NUM> that the spout <NUM> and flap <NUM> cannot be positioned properly so the harvested material cannot reach the back of trailer <NUM>. Further, the operator of towing vehicle <NUM> may not be able to see the level of material in trailer <NUM> and may therefore be unable to accurately reposition trailer <NUM> relative to harvester <NUM>. Thus, it may be difficult to fill trailer <NUM> efficiently. Also, the operator of harvester <NUM> may need to stop harvester <NUM> to clear the head of harvester <NUM> or for some other reason. However, this may be unknown to the operator of towing vehicle <NUM>. When harvester <NUM> stops, vehicle <NUM> may move forward too far so that material is either placed too far back in trailer <NUM> or completely clears the back of trailer <NUM> and lands on the ground.

<FIG> is a pictorial illustration showing another example of a self-propelled forage harvester <NUM>, this time loading a semi-trailer (or receiving vessel on a receiving vehicle) <NUM> in a configuration in which a semi-tractor (that also has a mobile device <NUM>) is pulling semi-trailer <NUM> alongside forage harvester <NUM>. Therefore, the spout <NUM> and flap <NUM> are positioned to unload the harvested material <NUM> to fill trailer <NUM> according to a predefined side-by-side fill strategy. Again, <FIG> shows that camera <NUM> can capture an image (which can include a still image or video) of semi-trailer <NUM>. In the example illustrated in <FIG>, the field of view of camera <NUM> is directed toward the receiving area <NUM> of trailer <NUM> so that image processing can be performed to identify a landing point for the harvested material in trailer <NUM>.

In other examples, where machine <NUM> is a combine harvester, it may be that the spout <NUM> is not moved relative to the frame during normal unloading operations. Instead, the relative position of the receiving vehicle <NUM>, <NUM> and the combine harvester is changed in order to fill the receiving vessel <NUM> as desired. Thus, if a front-to-back fill strategy is to be employed, then the relative position of the receiving vessel, relative to the combine harvester, is changed so that the spout is first filling the receiving vessel at the front end, and then gradually fills the receiving vessel moving rearward. In such an example, the towing vehicle may not have any type of machine synchronization systems, as discussed above. Thus, it can be difficult for the harvester and the towing vehicle to communicate with one another. The operator of the towing vehicle often estimates when the relative position of the two vehicles is to change, in order to fill the receiving vehicle as desired. Sometimes the operators use horns or radios to try to communicate with one another but this can be ambiguous and confusing, especially when more than one harvester is operating in a field.

Referring again to the examples discussed above with respect to <FIG> and <FIG>, the present discussion proceeds with respect to an example in which a mobile device <NUM> (such as a smartphone, a tablet computer, etc.) is accessible by the operator of the receiving vehicle (e.g., the driver of the towing vehicle or semi-tractor). The mobile device <NUM> may be mounted within the operator compartment of the receiving vehicle, carried by the operator, or otherwise accessible by the operator. A fill control system on harvester <NUM> sends the mobile device an indication that the position of the receiving vehicle, relative to the harvester, should change, and a direction of how the relative position should change. The mobile device <NUM> then surfaces an indicator to the operator of the receiving vehicle or towing vehicle indicating how to reposition the receiving vehicle relative to the harvester, as described in greater detail below.

<FIG> is a pictorial illustration showing one example of an operator interface display <NUM> that can be displayed on a display mechanism <NUM>, for the operator in an operator compartment of forage harvester <NUM>. The display (or portion of it) can also be sent to the mobile device <NUM> for use by the operator of the receiving vehicle or towing vehicle (tractor <NUM> or the semi-tractor). The operator interface display <NUM> in <FIG> shows a view of images (or video) captured by camera <NUM>. The image(s) show material <NUM> entering trailer <NUM>. An image processing system on harvester <NUM> illustratively identifies the perimeter of the opening <NUM> in trailer <NUM> and also processes the image of the material <NUM> in trailer <NUM> to determine the fill height relative to opening <NUM>. The perimeter defining opening <NUM> can be visually enhanced by overlaying a visual overlay over the opening <NUM> so that the operator can easily identify the opening <NUM>, as it is being recognized by the image processing system.

In some cases the operator sees that, while the material <NUM> is generally filling trailer <NUM> evenly, there may be voids in the trailer <NUM>, such as a void <NUM> at the forward end of trailer <NUM>. In that case, it may be that the operator wishes to fill void <NUM> with more material before continuing to fill the remainder of trailer <NUM>. Similarly, there may be other reasons that the operator wishes to reposition the spout <NUM> relative to the receiving vessel <NUM>. Thus, as is discussed in greater detail below, a fill control system allows the operator to use a touch gesture (or other command input, such as a point and click input) selecting the area of trailer <NUM> on display <NUM> that corresponds to the void <NUM>. The fill control system also allows the operator to provide an input through interface <NUM>, marking a location (such as the location of void <NUM>) where material <NUM> is to be directed. However, it may also be that the receiving vessel <NUM> is in a position relative to harvester <NUM> such that spout <NUM> cannot be moved to fill the area of the void <NUM>. For instance, with reference to <FIG>, it may be that receiving vessel <NUM> is so far forward relative to spout <NUM> that spout <NUM>, even when moved to its extreme forward position, cannot be properly positioned to fill void <NUM>. In that case, the operator of the receiving vessel can be notified that he or she needs to reposition the receiving vessel <NUM> relative to the harvester <NUM>.

For example, where the display screen on mechanism <NUM> is a touch sensitive display screen, then the operator of harvester <NUM> may simply touch the screen in the area of void <NUM>. The touch gesture is detected by the fill control system and the fill control system automatically generates control signals to send an indicator to the mobile device <NUM> on the receiving vehicle indicating that the position of the receiving vehicle relative to the harvester needs to change.

Generating the control signals to send an indicator to the mobile device <NUM> can be done in different ways. For instance, once the operator touches or otherwise selects (such as with a point and click device) an area of display <NUM>, the control system identifies the pixel or pixel sets that were selected (e.g., touched or otherwise selected) and, from those pixels, identifies a corresponding physical area or landing point within trailer <NUM>. The control system can then calculate the position that the receiving vessel <NUM> needs to be in order to direct material <NUM> to that particular landing point in trailer <NUM>. The control system can then generate an indicator that is output to the mobile device so an application on the mobile device <NUM> can generate an output for the operator of the receiving vehicle indicating that the receiving vehicle needs to move forward, backward, inward, or outward relative to harvester <NUM>, or to stop. The indicator may be an arrow on the mobile device display showing the direction of position adjustment that is to be made, streaming video showing the fill level of the receiving vessel <NUM>, or other audio, visual, or haptic indicators, some of which are discussed below.

It should also be noted that, in one example, forage harvester <NUM> may have an automatic fill control system (or active fill control system) which fills trailer <NUM> according to a fill strategy (such as a back-to-front fill strategy, front-to-back fill strategy, etc.). In that case, a current location indicator (such as indicator <NUM>) may be displayed to show the current location where material <NUM> is being loaded into trailer <NUM> through spout <NUM> and the direction that spout <NUM> is, or should be, moving relative to trailer <NUM> as the filling operation continues. It can be seen in <FIG>, for instance, that indicator <NUM> is an arrow pointing in the front-to-back direction. The location of arrow <NUM> on the representation of trailer <NUM> indicates the current fill position, while the direction of the arrow <NUM> indicates the direction that spout <NUM> will be moved relative to trailer <NUM> in executing the selected front-to-back fill strategy. Therefore, in one example, the streaming video and indicator <NUM> can be sent to mobile device <NUM> so the operator of the receiving vehicle can easily see the fill level in the trailer <NUM>, and the direction that trailer <NUM> needs to move relative to the harvester in order to execute an efficient filling operation. While the indicator <NUM> in <FIG> points in the direction that spout <NUM> is to move relative to trailer <NUM>, the indicator can also be reversed when shown on mobile device <NUM> to show the direction that the trailer <NUM> (and hence receiving vehicle <NUM>) is to move relative to harvester <NUM>. These are just some examples of how the operator interface display <NUM> can be generated, and other examples are also contemplated herein.

<FIG> is another example of an operator interface display <NUM> which can be generated for the operator of harvester <NUM> and/or sent to mobile device <NUM>. Some items are similar to those shown in <FIG> and they are similarly numbered. Display <NUM> is a representation of a top-down view of trailer <NUM>. The top-down view is accompanied by a graph <NUM> that illustrates the fill level of the different portions of trailer <NUM>. By way of example, image processing can divide the area of the trailer <NUM> into bins or discrete volumes (some of which are illustrated by the dashed lines in <FIG> shows that the bins <NUM>, <NUM>, <NUM>, and <NUM> correspond to volumes defined by cross sections of the trailer <NUM>. Each of the bins has a corresponding bar in graph <NUM>, indicating the fill level of that bin in trailer <NUM>. The bar graphs corresponding to bins <NUM> and <NUM> are at zero showing that there is no material <NUM> at those locations in trailer <NUM>. The bar graphs corresponding to bins <NUM> and <NUM> show increasing levels of material <NUM> in those bins. The location of the bins may be displayed on display <NUM>, or they may be hidden. Information indicative of the display <NUM>, or parts of it, can be sent to mobile device <NUM> so the operator of the receiving vehicle can see the fill level of various portions of the receiving vessel and/or see an indicator showing which direction the receiving vehicle should move relative to the harvester <NUM> in order to execute a desired fill strategy.

In the example shown in <FIG>, the operator may see that the location of trailer <NUM> corresponding to bins <NUM> and <NUM> is empty. In that case, the operator may provide a reposition command input (such as tapping or touching the display <NUM> in the area of bin <NUM> or <NUM>) to indicate that the operator desires to have the spout <NUM> repositioned to a location which fills the volume corresponding to the selected bin in trailer <NUM>. For instance, assume that the operator taps the display <NUM> in the area of bin <NUM>. In that case, the control system automatically sends an indicator to mobile device <NUM> indicating the commanded change of position. The indicator can be an arrow, the streaming video with the arrow overlayed on or otherwise integrated into it, a pictorial representation with the arrow overlayed or otherwise integrated, or another audible, visual, and/or haptic indicator. This information can be sent to mobile device <NUM> so the operator of the receiving vehicle can adjust the position of the receiving vessel <NUM> relative to spout <NUM> to fill in the area of bins <NUM> and <NUM>. In one example, once the operator enters a command (such as by tapping the location of a bin on the display <NUM> or by tapping indicator <NUM>) the control system translates that pixel location into a physical bin location on trailer <NUM> and generates the information that is provided to mobile device <NUM> indicating the commanded adjustment of the position of the receiving vehicle relative to the harvester.

<FIG> is a block diagram showing one example of a material loading system (an agricultural system) <NUM> that includes mobile material loading machine which comprises agricultural harvester <NUM> in more detail. Agricultural harvester <NUM>, in the example shown in <FIG>, includes one or more processors or servers <NUM>, communication system <NUM>, data store <NUM>, sensors <NUM>, fill control system <NUM>, remote application interaction system <NUM>, operator interface mechanisms <NUM>, controllable subsystems <NUM>, and other harvester functionality <NUM>. Sensors <NUM> can include automatic fill control sensors <NUM> that are used by fill control system <NUM>. Sensors <NUM> can include camera <NUM> (which may be a mono-camera, stereo-camera or another type of camera) and other sensors <NUM>. The other sensors can include such things as Doppler sensors, RADAR sensors, other image sensors or any of a wide variety of other types of sensors. Sensors <NUM> can also include spout position sensor <NUM> and flap position sensor <NUM>. Spout position sensor <NUM> illustratively senses the position of spout <NUM> relative to the frame of harvester <NUM>. Sensor <NUM> can do this by sensing the position of an actuator that drives movement of spout <NUM> relative to the frame of harvester <NUM>, or sensor <NUM> can be a rotary position sensor, a linear sensor, a potentiometer, a Hall Effect sensor, or any other of a wide variety of sensors that can sense the position of spout <NUM> relative to the frame of harvester <NUM>. Similarly, flap position sensor <NUM> can be a sensor that senses the position of the flap <NUM>. Thus, sensor <NUM> can be a rotary position sensor, a linear sensor, a potentiometer, a Hall Effect sensor, a sensor that senses a position of an actuator that drives movement of flap <NUM>, or any of a wide variety of other sensors.

Sensors <NUM> can also include machine synchronization sensors <NUM>. Sensors <NUM> can include relative position sensors <NUM> that sense the relative position of the harvester <NUM>, relative to the receiving vehicle. Such sensors can include RADAR sensors, Doppler sensors, image or other optical sensors, or a wide variety of other relative position sensors. The relative position sensors <NUM> can also include position sensors (such as a GPS receiver, or another GNSS sensor) that senses the position of harvester <NUM>. This can be used, in conjunction with another position sensor signal from a position sensor on the receiving vehicle, to determine the position of the two vehicles relative to one another. The machine synchronization sensors <NUM> can include other sensors <NUM>, and sensors <NUM> can include a wide variety of other sensors <NUM> as well.

Fill control system <NUM> illustratively controls operations of various parts of harvester <NUM> (and possibly the towing vehicle <NUM>) to fill the receiving vehicle <NUM>, <NUM>, as desired. Fill control system <NUM> can include automatic fill control system <NUM> (which, itself, can include fill strategy selector <NUM>, fill strategy implementation processor <NUM> and other items <NUM>), manual fill control system <NUM> (which, itself can include manual position adjustment detector <NUM> and other items <NUM>), and/or machine synchronization fill control system <NUM>. Fill control system <NUM> can also include fill control signal generator <NUM> and other items <NUM>.

Remote application interaction system <NUM> can include connection controller <NUM>, communication controller <NUM>, fill control interaction system <NUM>, remote application output generator <NUM>, and other items <NUM>. Operator interface mechanisms <NUM> can include interactive display mechanism <NUM> and a variety of other operator interface mechanisms <NUM>. Controllable subsystems <NUM> can include propulsion subsystem <NUM>, steering subsystem <NUM>, one or more spout actuators <NUM>, one or more flap actuators <NUM> and other items <NUM>. <FIG> also shows that operator <NUM> can interact through operator interface mechanism <NUM> to control and manipulate agricultural harvester <NUM>. Further, <FIG> shows that harvester <NUM> is connected over network <NUM> to receiving vehicle <NUM>, <NUM>, towing vehicle <NUM> and/or it can be connected to other systems <NUM>. Before describing the overall operation of agricultural harvester <NUM> in more detail, a brief description of some of the items in agricultural harvester <NUM>, and their operation, will first be provided.

Communication system <NUM> can facilitate communication among the items of harvester <NUM> and with other items over network <NUM>. Network <NUM> can be a wide area network, a local area network, a near field communication network, a Bluetooth communication network, a cellular communication network, or any of a variety of other networks or combinations of networks. Therefore, communication system <NUM> can use a controller area network (CAN) bus or other controllers to facilitate communication of the items on harvester <NUM> with other items. Communication system <NUM> can also be different kinds of communication systems, depending on the particular network or networks <NUM> over which communication is to be made.

Operator interface mechanisms <NUM> can be a wide variety of different types of mechanisms. Interactive display mechanism <NUM> can be a display mechanism, such as that shown in <FIG> and <FIG>, or mechanism <NUM> can be a display mechanism on a mobile device, such as a tablet computer, a smartphone, etc., that is carried by the operator <NUM> and/or mounted in the operator compartment of harvester <NUM>. Thus, interactive display mechanism <NUM> can be a touch sensitive display mechanism, a display mechanism that receives inputs through a point and click device, or other kinds of display mechanisms.

Other operator interface mechanisms <NUM> can include a steering wheel, levers, buttons, pedals, a microphone and speaker (where speech recognition and speech synthesis are provided), joysticks, or other mechanical, audio, visual, or haptic mechanisms that can be used to provide outputs to operator <NUM> or to receive inputs from operator <NUM>.

Controllable subsystems <NUM> can be controlled by various different items on harvester <NUM>. Propulsion subsystem <NUM> can be an engine that drives ground-engaging elements (such as wheels or tracks) through a transmission, hydraulic motors that are used to drive ground-engaging elements, electric motors, direct drive motors, or other propulsion systems that are used to drive ground-engaging elements to propel harvester <NUM> in the forward and rearward directions. Propulsion subsystem <NUM> can illustratively be controlled with a throttle to increase or decrease the speed of travel of harvester <NUM>.

Steering subsystem <NUM> can be used to control the heading of harvester <NUM>. One or more spout actuators <NUM> are illustratively configured to drive rotation or movement of spout <NUM> relative to the frame of harvester <NUM>. Actuators <NUM> can be hydraulic actuators, electric actuators, pneumatic actuators, or any of a wide variety of other actuators. Similarly, one or more flap actuators <NUM> are used to drive the position of flap <NUM> relative to spout <NUM>. The flap actuators <NUM> can also be hydraulic actuators, electric actuators, pneumatic actuators, or any of a wide variety of other actuators.

Fill control system <NUM> can use automatic fill control system <NUM> to perform automated fill control to automatically execute a fill strategy in filling one of the receiving vehicles <NUM>, <NUM>. Therefore, fill strategy selector <NUM> can detect a user input selecting a fill strategy, or another input selecting a fill strategy, and access data store <NUM> for a stored fill algorithm that can be executed to perform the selected fill strategy. For instance, where the selected fill strategy is a back-to-front strategy, the algorithm will direct filling of the receiving vehicle beginning at the back of the receiving vehicle and moving to the front of the receiving vehicle. Other fill strategies can be selected as well. Fill strategy implementation processor <NUM> receives inputs from the automatic fill control sensors <NUM>, spout position sensor <NUM> and flap position sensor <NUM> and generates an output to fill control signal generator <NUM> based upon the inputs from the sensors, to execute the desired automatic fill control strategy. Fill control signal generator <NUM> can generate control signals to control any of the controllable subsystems <NUM> (or other items) to execute the fill strategy being implemented by fill strategy implementation processor <NUM>.

As discussed above, it may be that even though control signals are generated by automatic fill control system <NUM> in implementing an automatic fill strategy, those signals cannot command spout actuators <NUM> and/or flap actuators <NUM> to position spout <NUM> and flap <NUM> to deliver harvested material to the desired landing position. Assume, for instance, that fill strategy implementation processor <NUM> is beginning a back-to-front fill strategy. However, assume that receiving vehicle <NUM> is positioned too far back (relative to harvester <NUM>) so that, even at its extreme reward position, spout actuator <NUM> cannot position spout <NUM> to deliver harvested material to the very rear of receiving vehicle <NUM>. In order to deliver harvested material to that landing point, the receiving vehicle must adjust its position relative to harvester <NUM> in the forward direction. That is, the receiving vehicle <NUM> must move forward relative to harvester <NUM>. When the spout actuators <NUM> and flap actuators <NUM> cannot be controlled to deliver material to the receiving vehicle without an adjustment to the position of the receiving vehicle relative to the harvester, then fill strategy implementation processor <NUM> generates a signal indicative of this and provides it to remote application interaction system <NUM>. Remote application interaction system <NUM>, in turn, generates an output to mobile device <NUM> so that mobile device <NUM> can surface the requested adjustment in relative position to the operator of the receiving vehicle.

Manual fill control system <NUM> can use manual position adjustment detector <NUM> to detect a manual input from operator <NUM> (e.g., through interactive display mechanism <NUM>) to identify a landing point in the receiving vehicle <NUM>, <NUM> where the operator <NUM> desires the filling operation to be performed. Manual fill control system <NUM> can then generate outputs to fill control signal generator <NUM> which generates control signals to control the controllable subsystems <NUM> so that filling commences at the manually identified landing point in the receiving vehicle <NUM>, <NUM>.

Machine synchronization fill control system <NUM> can receive operator inputs or other inputs, as well as sensor inputs from sensors <NUM> to generate outputs to fill control signal generator <NUM> in order to synchronize the positions of agricultural harvester <NUM> and receiving vehicle <NUM>, <NUM> so that a desired filling operation is performed. For instance, machine synchronization control system <NUM> can receive sensor inputs identifying that the current position that is being filled in receiving vehicle <NUM>, <NUM>, is at a desired fill level so that the receiving vehicle should move forward or rearward relative to agricultural harvester <NUM>. Machine synchronization fill control system <NUM> then generates an output to fill control signal generator <NUM> indicating this. Fill control signal generator <NUM> can generate an output either to controllable subsystems <NUM>, or communication system <NUM>, or both, based on the inputs from machine synchronization fill control system <NUM>. For instance, where the output from system <NUM> indicates that the receiving vehicle <NUM>, <NUM> should move forward relative to agricultural harvester <NUM>, then fill control signal generator <NUM> can control communication system <NUM> to communicate with a corresponding machine synchronization fill control system <NUM> on towing vehicle <NUM> indicating that towing vehicle <NUM> should "nudge" forward relative to the harvester <NUM> by momentarily increasing its ground speed and then returning to its current ground speed. However, it may be that receiving vehicle <NUM>, <NUM> or towing vehicle <NUM> do not have a machine synchronization fill control system. In that case, the "nudge" outputs generated by system <NUM> can be output to remote application interaction system <NUM> which can, itself, communicate with mobile device <NUM> to alert the operator of towing vehicle <NUM> that vehicle <NUM> needs to change its position relative to harvester <NUM>.

Remote application interaction system <NUM> can receive inputs through interactive display mechanism <NUM> or other operator interface mechanisms <NUM> from operator <NUM> indicative of a command that will be sent to the operator of the towing vehicle <NUM> to change the position of the receiving vehicle relative to harvester <NUM>. For instance, it may be that the operator <NUM> wishes for the receiving vehicle <NUM>, <NUM> to move forward relative to harvester <NUM> or to move rearward relative to harvester <NUM> so that filling can continue at a different location within the receiving vehicle <NUM>, <NUM>. It may also be that operator <NUM> wishes the receiving vehicle to move outward relative to the harvester <NUM> (e.g., further away from the harvester <NUM>) or to move inward relative to harvester <NUM> (e.g., closer to harvester <NUM>). Similarly, it may be that operator <NUM> is about to stop harvester <NUM> and operator <NUM> provides an input indicative of that. In these cases, manual position adjustment detector <NUM> detects these inputs from operator <NUM>. Where the manual input is an input that is to adjust the position of spout <NUM> relative to harvester <NUM>, then fill control signal generator <NUM> generates an output to control spout actuators <NUM> and/or flap actuators <NUM> to move the spout <NUM> and/or flap <NUM> to the desired positions. However, where the manual input is an input to communicate to mobile device <NUM> that operator <NUM> wishes to change the position of receiving vehicle <NUM>, <NUM> relative to harvester <NUM>, then the manual position adjustment detector <NUM> detects that manual input and provides an output to remote application interaction system <NUM>. Remote application interaction system <NUM> can receive an indication of the operator input, and generate an output that is communicated to a remote application on mobile device <NUM>.

Examples of mobile device <NUM> are described below. Suffice it to say, for now, that the application on mobile device <NUM> can receive the output from remote application interaction system <NUM> and generate a display or a different output on an operator interface mechanism on mobile device <NUM> to communicate to the operator of towing vehicle <NUM> (or a semi-tractor towing trailer <NUM>) that operator <NUM> of harvester <NUM> wishes to adjust the relative position between harvester <NUM> and receiving vehicle <NUM>, <NUM>. In one example, the mobile device <NUM> also generates an output showing the operator of towing vehicle <NUM> (or the operator of a semi-tractor towing trailer <NUM>) the direction and/or magnitude of the adjustment to the relative position.

Similarly, remote application interaction system <NUM> can receive a "nudge" output from machine synchronization fill control system <NUM> indicating that system <NUM> wishes to "nudge" the receiving vehicle <NUM>, <NUM> to change the position of receiving vehicle <NUM>, <NUM> relative to harvester <NUM>. Again, as when an operator input is received from operator <NUM>, remote application interaction system <NUM> generates an output that is communicated to mobile device <NUM> so that the operator of towing vehicle <NUM> (or a semi-tractor pulling trailer <NUM>) can identify the adjustment in relative position, the direction of the adjustment and/or the magnitude of the adjustment desired by operator <NUM> or machine synchronization fill control system <NUM>.

Therefore, connection controller <NUM> establishes a connection with the mobile device <NUM>. This can be done in a number of different ways. Some of the different ways are described below with respect to <FIG>. Communication controller <NUM> generates control signals to control communication system <NUM> to communicate with mobile device <NUM> based on the outputs from other items in remote application interaction system <NUM>. Fill control interaction system <NUM> interacts with fill control system <NUM> to receive the manual inputs (from operator <NUM>) through the manual position adjustment detector <NUM> in manual fill control system <NUM>.

Based on the outputs received at fill control interaction system <NUM> from automatic fill control system <NUM>, manual fill control system <NUM> and/or machine synchronization fill control system <NUM>, an output is provided from system <NUM> to remote application output generator <NUM>. Generator <NUM> generates an output to an application on mobile device <NUM> indicating the relative position adjustment that is either manually input by operator <NUM> or automatically generated by automatic fill control system <NUM> or machine synchronization fill control system <NUM>. As discussed elsewhere, the output to the application on mobile device <NUM> can be an output indicating that a change in relative position between the two vehicles is desired, the direction of the change, and/or the magnitude of the change. In addition, the change may be a change in motion. For example, the output to the mobile device <NUM> may be indicating that harvester <NUM> is about to stop. Communication controller <NUM> then controls communication system <NUM> to send the output generated by remote application output generator <NUM> to the remote application on mobile device <NUM>. That remote application can then surface the information to the operator of the towing vehicle so that the operator of the towing vehicle can make the desired adjustment in the position of the receiving vehicle <NUM>, <NUM> relative to harvester <NUM>.

<FIG> is a block diagram of one example of a receiving/towing vehicle <NUM>. It will be appreciated that receiving/towing vehicle <NUM> can be tractor <NUM>, the semi-tractor pulling trailer <NUM>, or another vehicle that can be operated by an operator local to that vehicle. Receiving/towing vehicle <NUM> illustratively includes one or more operator interface mechanisms <NUM>, mobile device <NUM> (which may be carried by an operator of vehicle <NUM>, mounted within an operator compartment of vehicle <NUM>, etc.), and other receiving/towing vehicle functionality <NUM>. In the example shown in <FIG>, mobile device <NUM> illustratively includes one or more processors <NUM>, data store or other memory <NUM>, user interface mechanisms <NUM>, one or more sensors <NUM>, communication system <NUM>, application running system <NUM>, and other mobile device functionality <NUM>. Application running system <NUM> can run a fill control application <NUM> and it can include other application running functionality <NUM>.

Application <NUM> can be downloaded by mobile device <NUM>, or it can be installed on mobile device <NUM> in other ways. In the example shown in <FIG>, fill control application <NUM> illustratively includes command processing system <NUM> (which, itself, includes change in motion identifier <NUM> and other items <NUM>), relative position generator <NUM>, output generator <NUM>, and other items <NUM>. Output generator <NUM> can include image output system <NUM>, interface control signal generator <NUM>, other audio/visual/haptic output generator <NUM>, and other items <NUM>. Image output system <NUM> can include video output generator <NUM>, static image output generator <NUM>, pictorial illustration output generator <NUM>, direction indication generator <NUM>, stop indication generator <NUM>, and other items <NUM>. Before describing the overall operation of receiving/towing vehicle <NUM> in more detail, a brief description of some of the items shown in <FIG> will first be provided.

Operator interface mechanisms <NUM> can include a steering wheel, pedals, joysticks, other visual, audio, haptic, or other interface mechanisms. User interface mechanisms <NUM> can illustratively include a display screen, a keypad, buttons, icons, a touch sensitive display screen, audio output mechanisms, a haptic output mechanism, or other interface mechanisms. Sensors <NUM> on mobile device <NUM> can include position sensors (such as a GPS receiver), accelerometers, inertial measurement units, or other sensors. Communication system <NUM> can include a cellular communication system, a near field communication system, a Bluetooth communication system, WIFI, local or wide area network communication systems, or other communication systems or combinations of systems.

Command processing system <NUM> receives an adjustment command from agricultural harvester <NUM> indicating a desired adjustment in the position of receiving/towing vehicle <NUM> relative to harvester <NUM>. Change in motion identifier <NUM> illustratively identifies a desired change in motion of receiving/towing vehicle <NUM> indicated by the received adjustment command. For instance, the change in motion may be to temporarily increase in speed in order to move receiving/towing vehicle <NUM> forward relative to harvester <NUM>. The change in motion may be to temporarily reduce speed so that receiving/towing vehicle <NUM> moves rearward relative to harvester <NUM>. The change in motion may be to move away from (e.g., outward relative) to harvester <NUM>, or to move closer (e.g., inward relative to), harvester <NUM>. The change in motion may also be to stop.

In one example, relative position generator <NUM> determines the relative position of receiving/towing vehicle <NUM> (based upon the position of mobile device <NUM>) and harvester <NUM>. In such an example, relative position controller <NUM> can use RADAR or other sensors to detect the position of harvester <NUM> relative to receiving/towing vehicle <NUM>. In another example, relative position generator <NUM> can receive the position output by a GPS sensor <NUM> as well as position information indicating the position of harvester <NUM> (which may be received with the adjustment command). Based upon the two position signals, relative position generator <NUM> can generate an output indicative of the position of vehicle <NUM> relative to harvester <NUM>. Based upon the commanded adjustment to the motion of vehicle <NUM> (e.g., to stop or to adjust the relative position of the two vehicles <NUM> and <NUM>) identified by command processing system <NUM>, and possibly based upon the relative position output by relative position generator <NUM>, output generator <NUM> generates an output on user interface mechanisms <NUM> to indicate to the operator of receiving/towing vehicle <NUM> the contents of the requested adjustment. The output may indicate the direction of the requested adjustment, the magnitude of the requested adjustment, or other information. In addition, the output may be to display the streaming video information or static image information captured by camera <NUM> or another camera on agricultural harvester <NUM>. Thus, image output system <NUM> can generate an image that may be displayed on a display screen in user interface mechanisms <NUM>.

Video output generator <NUM> may receive the streaming video from camera <NUM>, along with the adjustment command and generate an output that shows the streaming video with an adjustment indicator overlaid on or superimposed on or otherwise integrated into the streaming video. Static image output generator <NUM> can generate a static image captured by an image detector or camera on harvester <NUM> and provide an output so the static image is displayed along with the adjustment indicator that may be superimposed or otherwise incorporated into the static image. Pictorial illustration output generator <NUM> generates a pictorial illustration such as a pictorial illustration of harvester <NUM> and towing/receiving vehicle <NUM>. Direction indication generator <NUM> generates a direction indicator that indicates the direction of the commanded adjustment in relative position between harvester <NUM> and vehicle <NUM>. The direction indicator may be overlaid on or otherwise incorporated into the display of the streaming video output by video output generator <NUM>. The direction indicator may be overlaid or otherwise incorporated into the static image output by static image output generator <NUM>, or the direction indicator may be overlaid or otherwise incorporated into the pictorial illustration output generator <NUM>. Again, the direction indicator can be an arrow, it can be a sequence of display elements that blink or visually advance in the direction of the desired adjustment, or it can be a wide variety of other visual direction indicators.

Stop indication generator <NUM> illustratively generates a stop indicator that may be output by itself, or superimposed on or otherwise incorporated into the streaming video output by video output generator <NUM>. The stop indicator may also be overlaid on or otherwise incorporated into the static image output by static image output generator <NUM>, or the stop indicator may be overlaid on or otherwise incorporated into the pictorial illustration output by pictorial illustration output generator <NUM>. The stop indicator may be a visual stop sign, or another indicator that indicates that operator <NUM> wishes that receiving/towing vehicle <NUM> come to a stop.

Other audio/visual/haptic output generator <NUM> can generate other audio outputs, visual outputs and/or haptic outputs to indicate to the operator of receiving/towing vehicle <NUM> the content of the commanded adjustment to the motion of receiving/towing vehicle <NUM>, such as to stop or to adjust the relative position between vehicle <NUM> and harvester <NUM>.

Interface control signal generator <NUM> illustratively receives inputs from image output system <NUM> and/or generator <NUM> and generates control signals to control user interface mechanisms <NUM> accordingly. For instance, signal generator <NUM> can generate control signals to control the display screen of mobile device <NUM> to show the output indicators generated by image output system <NUM> and/or output generator <NUM>. Signal generator <NUM> can control speakers or other audio output mechanisms, haptic output mechanisms, or other user interface mechanisms <NUM> as well.

<FIG> show examples of user interface displays that can be generated on a display user interface mechanism on mobile device <NUM>. Some items are similar in <FIG> and they are similarly numbered. Also, while the discussion of <FIG> is with respect to the adjustment command coming from operator <NUM>, the adjustment command could just as easily have come from other items on harvester <NUM>. <FIG> shows a top-down pictorial illustration of a harvester <NUM>, towing vehicle <NUM>, and receiving vehicle <NUM> in the form of a towed trailer. Harvester <NUM> and receiving vehicle <NUM> are in a side-by-side configuration. Harvester <NUM> is illustratively shown as moving in the direction indicated by arrow <NUM>. <FIG> also shows an adjustment indicator <NUM>. Adjustment indicator <NUM> is in the form of an arrow which indicates the direction of the desired adjustment to the relative position between harvester <NUM> and receiving vehicle <NUM>, based upon the adjustment command received by command processing system <NUM> in mobile device <NUM>. In the example shown in <FIG>, the arrow points upwardly on the user interface display indicating that the operator <NUM> of harvester <NUM> has provided an adjustment command indicating that operator <NUM> wishes for the position of receiving vehicle <NUM> to move forward relative to harvester <NUM>.

<FIG> is similar to <FIG> except that an adjustment indicator <NUM> is an arrow pointing in the opposite direction of arrow <NUM>. This indicates that operator <NUM> wishes to adjust the position of receiving vehicle <NUM> rearwardly relative to the position of harvester <NUM>.

<FIG> is similar to <FIG> except that a direction indicator <NUM> indicates that operator <NUM> is commanding a relative position adjustment so that receiving vehicle <NUM> moves outward (or away) relative to the position of harvester <NUM>.

<FIG> is similar to <FIG> except that an adjustment indicator <NUM> shows that operator <NUM> has commanded an adjustment in the relative position of receiving vehicle <NUM> and harvester <NUM> so that receiving vehicle <NUM> comes closer to harvester <NUM>.

<FIG> is similar to <FIG>, except that adjustment indicator <NUM> indicates that operator <NUM> has provided an adjustment command commanding that the receiving vehicle <NUM> stop.

<FIG> are similar to <FIG> and similar items are similarly numbered. <FIG> show harvester <NUM> filling receiving vehicle <NUM> in a following configuration. <FIG> shows that an adjustment indicator <NUM> indicates that operator <NUM> has provided an adjustment command indicating that operator <NUM> wishes the receiving vehicle <NUM> to move forward relative to the position of harvester <NUM>. <FIG> is similar to <FIG> except that the adjustment indicator <NUM> shows that operator <NUM> wishes for receiving vehicle <NUM> to move rearward relative to the position of harvester <NUM>. <FIG> is similar to <FIG> except that adjustment indicator <NUM> indicates that operator <NUM> wishes the receiving vehicle <NUM> to move to the right relative to the position of harvester <NUM> and <FIG> shows that operator <NUM> wishes for the receiving vehicle <NUM> to move to the left relative to the position of harvester <NUM>. <FIG> shows that the adjustment indicator <NUM> indicates that operator <NUM> wishes for the receiving vehicle <NUM> to stop.

<FIG> is a flow diagram illustrating one example of the operation of harvester <NUM> in receiving an input indicative of a desired adjustment to the motion of vehicle <NUM>, such as to stop or such as an adjustment to the relative position between harvester <NUM> and towing/receiving vehicle <NUM>, and generating an output to the application <NUM> on mobile device <NUM>. It is first assumed that harvester <NUM> is operating, or is about to begin operation, as indicated by block <NUM> in the flow diagram of <FIG>. In one example, it is also assumed that harvester <NUM> has remote application interaction system <NUM> as indicated by block <NUM>. Harvester <NUM> may be configured with fill control system <NUM>, as indicated by block <NUM> and/or machine synchronization fill control system <NUM>, as indicated by block <NUM>. Harvester <NUM> can be operating or configured in other ways as well, as indicated by block <NUM>.

At some point, connection controller <NUM> in remote application interaction system <NUM> establishes a communication link with mobile device <NUM> on receiving/towing vehicle <NUM>. Establishing the communication link is indicated by block <NUM>. The mobile device <NUM> may be carried by the operator of receiving/towing vehicle <NUM>, as indicated by block <NUM>, or mounted in receiving/towing vehicle <NUM>, as indicated by block <NUM>.

Connection controller <NUM> can establish a communication link with the application <NUM> in mobile device <NUM> in a variety of different ways. For instance, connection controller <NUM> can detect the location of mobile device <NUM> and the location of harvester <NUM> and establish a communication link with mobile device <NUM> once it is within a given range of harvester <NUM>. Similarly, there may be multiple receiving/towing vehicles <NUM> in the same field. Therefore, connection controller <NUM> can identify the closest mobile device <NUM> and establish a connection with the closest mobile device (and hence the closest receiving/towing vehicle <NUM>). Comparing the locations to the various receiving/towing vehicles <NUM> and establishing a communication link (or pairing) with the closest is indicated by block <NUM> in the flow diagram of <FIG>.

In another example, connection controller <NUM> can compare the location, heading, and speed of harvester <NUM> with the location heading, and speed of receiving/towing vehicle <NUM> (or mobile device <NUM>) and establish a communication link with the receiving/towing vehicle <NUM> that has the closest location, heading, and speed to harvester <NUM>. Establishing a communication link with the mobile device <NUM> on the receiving/towing vehicle <NUM> that has the closets location, heading, and speed to harvester <NUM> is indicated by block <NUM> in the flow diagram of <FIG>.

Connection controller <NUM> can determine which vehicle (and hence which mobile device <NUM>) is within a pre-determined range of harvester <NUM> for a threshold time period. This may indicate that the receiving vehicle is following or in side-by-side relationship with harvester <NUM>. Detecting which vehicle or mobile device is within a pre-determined range of harvester <NUM> for a threshold time period is indicated by block <NUM>.

Connection controller <NUM> can receive an operator input from operator <NUM> indicating which particular mobile device to establish a connection with. For instance, all of the different mobile devices that are within Bluetooth or other near field communication range of harvester <NUM> may be displayed to operator <NUM> on an interactive display screen. Operator <NUM> can then select one of the mobile devices with which to establish a communication link, and connection controller <NUM> can then establish a connection with the selected mobile device. Establishing a communication link with a mobile device based upon an operator interaction is indicated by block <NUM> in the flow diagram of <FIG>.

In one example, image processing can be used in establishing communication. Image processing can be performed on the image captured by camera <NUM> to identify the particular receiving/towing vehicle <NUM> that is receiving harvested material from harvester <NUM>. The identity of the receiving/towing vehicle <NUM> may be correlated to a particular mobile device <NUM>, and, once the identity of vehicle <NUM> is known, connection controller <NUM> can establish a connection with that particular mobile device <NUM>. Establishing the communication link based upon visual identification of the receiving/towing vehicle <NUM> is indicated by block <NUM> in the flow diagram of <FIG>.

Again, it will be noted that the communication link can be a cellular link, a near field communication link, a Bluetooth link, a WIFI link, a radio link, or another type of communication link, as indicated by block <NUM>. The communication link can be established in other ways as well, as indicated by block <NUM>.

Fill control interaction system <NUM> then detects a command to change motion of the harvester <NUM> relative to the receiving/towing vehicle <NUM>, as indicated by block <NUM> in the flow diagram of <FIG>. The detected adjustment command can be generated automatically from automatic fill control system <NUM> or machine synchronization fill control system <NUM>, etc. Detecting an automatically generated adjustment command is indicated by block <NUM> in the flow diagram of <FIG>. The adjustment command can be detected based upon a manual input from operator <NUM> through manual position adjustment detector <NUM>. Detecting an adjustment input based upon a manual input command is indicated by block <NUM> in the flow diagram of <FIG>. The adjustment command can be detected in other ways as well, as indicated by block <NUM>.

The adjustment command can be processed to identify the type of adjustment that has been commanded, as indicated by block <NUM> in the flow diagram of <FIG>. For instance, the adjustment command may be to move forward relative to harvester <NUM> as indicated by block <NUM>, to move backward relative to harvester <NUM> as indicated by block <NUM>, to move inward (or closer) relative to harvester <NUM> as indicated by block <NUM>, to move outward (or away) relative to harvester <NUM> as indicated by block <NUM>, to stop, as indicated by block <NUM>, or to make another type of adjustment relative to harvester <NUM> such as move to the right, move to the left, etc.), as indicated by block <NUM>.

Remote application output generator <NUM> generates an output indicative of the type of commanded adjustment and communication controller <NUM> controls communication system <NUM> to communicate that output to command processing system <NUM> in fill control application <NUM> on mobile device <NUM>. Communicating the commanded change in motion to the application on the receiving/towing vehicle <NUM> is indicated by block <NUM> in the flow diagram of <FIG>.

It will be noted that the adjustment command can be communicated to the application <NUM> along with an image (such as a static image, a recently captured image, streaming video, etc.) captured by camera <NUM> or other image capture device on harvester <NUM>. Sending the adjustment command along with an image is indicated by block <NUM> in the flow diagram of <FIG>. In addition, the adjustment command can be sent along with a position or an identity of harvester <NUM>. Sending a position or identity of harvester <NUM> can be sent along with the adjustment command, as indicated by block <NUM>. The commanded change in motion can be communicated to the application <NUM> in other ways and include other information as well, as indicated by block <NUM>.

In one example, communication controller <NUM> can also generate an output on operator interface mechanisms <NUM> for operator <NUM>, confirming that the commanded adjustment has been communicated to the mobile device <NUM> on receiving/towing vehicle <NUM>, as indicated by block <NUM> in the flow diagram of <FIG>. The communication controller <NUM> can also detect an acknowledgement from mobile device <NUM>, as indicated by block <NUM>. Communication controller <NUM> can generate other outputs as well, as indicated by block <NUM>.

<FIG> is a flow diagram illustrating one example of the operation of mobile device <NUM> in receiving an adjustment command and generating an output for the operator of receiving/towing vehicle <NUM>, indicative of the adjustment command. It is first assumed that the receiving/towing vehicle <NUM> has a mobile device <NUM> with the fill control application <NUM>, as indicated by block <NUM> in the flow diagram of <FIG>. It is also assumed that the mobile device <NUM> is connected over a communication link with harvester <NUM>, as indicated by block <NUM>.

At some point, command processing system <NUM> receives an adjustment command or a commanded change in motion, as indicated by block <NUM>. Command processing system <NUM> can generate an acknowledgement back to harvester <NUM>, as indicated by block <NUM>. In one example, the adjustment command or commanded change in motion is received along with an image, as discussed above, as indicated by block <NUM> in the flow diagram of <FIG>. Also, the command processing system <NUM> may identify that the adjustment command is received along with the position and/or identity of harvester <NUM>, as indicated by block <NUM>. The commanded change in motion or adjustment command can be received in other ways or with other information as well, as indicated by block <NUM>.

Command processing system <NUM> then processes the command to identify the commanded change in motion. Processing the command is indicated by block <NUM>. Again, the commanded adjustment may be to move forward or backward relative to harvester <NUM>, to move closer to or further away from harvester <NUM>, right or left, or to stop.

Output generator <NUM> then generates an output indicative of the commanded change in motion, as indicated by block <NUM>, and interface control signal generator <NUM> generates control signals to control an operator interface mechanism <NUM> to provide the output to the operator of receiving/towing vehicle <NUM>. Controlling the user interface mechanism <NUM> to provide the output is indicated by block <NUM> in the flow diagram of <FIG>.

In one example, the interface control signal generator <NUM> generates control signals to control the user interface mechanisms <NUM> on mobile device <NUM>, as indicated by block <NUM> in the flow diagram of <FIG>. In another example, interface control signal generator <NUM> communicates with another display or operator interface mechanism in the operator compartment of receiving/towing vehicle <NUM>, that is separate from mobile device <NUM>, and controls that user interface mechanism to provide the output, as indicated by block <NUM> in the flow diagram of <FIG>. The output can be a visual/audio/haptic output as indicated by block <NUM>. The output can be a streaming video output with a command indicator overlaid or otherwise incorporated into the streaming video, as indicated by block <NUM>. The output can be a static image display with the command indicator overlaid or otherwise incorporated into the static image, as indicated by block <NUM>. The output can be a pictorial or graphic illustration with the command indicator overlaid or otherwise incorporated into the pictorial or graphic illustration, as indicated by block <NUM>.

The output can be displayed based upon the relative position of harvester <NUM> and receiving/towing vehicle <NUM> as well. For instance, the distance between the receiving/towing vehicle <NUM> and harvester <NUM> displayed on a display device may be greater or lesser based upon the actual position of the two vehicles relative to one another. Generating the output on a user interface mechanism based on a calculation of the absolute or relative positions of the vehicles is indicated by block <NUM> in the flow diagram of <FIG>. An operator interface mechanism can be controlled to provide the output in other ways as well, as indicated by block <NUM>.

It will be appreciated that the receiving/towing vehicle <NUM> may have greater freedom to change its position relative to harvester <NUM> than harvester <NUM> has to change its position relative to vehicle <NUM>. For example, because harvester <NUM> is power starved, or due to the harvesting conditions a change in the speed of harvester <NUM> may not be advisable. Thus, the present description describes a system that displays or otherwise brings to the attention of the operator of towing/receiving vehicle <NUM> an indicator indicating that a change in motion (e.g., stop or change in relative position) is desired. The change in relative position can be commanded automatically by an automatic fill control system or a machine synchronization control system, or it can be based on a manual input from the operator <NUM> of harvester <NUM>. The commanded adjustment can be received by a mobile application running on a mobile device <NUM> in the receiving/towing vehicle <NUM> and can thus be surfaced for the operator of the receiving/towing vehicle <NUM> in a wide variety of different ways.

The present discussion has mentioned processors and servers. In one embodiment, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of the other components or items in those systems.

Claim 1:
A material loading system, comprising a material loading vehicle (<NUM>) and a material receiving vehicle (<NUM>) configured to receive material from the material loading vehicle, the material loading system further comprising:
a mobile device (<NUM>) with a fill control application (<NUM>) configured to run on the mobile device (<NUM>), the mobile device (<NUM>) including a mobile device communication system configured to communicate with a material loading vehicle communication system on the material loading vehicle, the fill control application (<NUM>) including:
a command processing system (<NUM>) that receives a motion adjustment command from the material loading vehicle (<NUM>), the motion adjustment command comprising a relative position adjustment command requesting a change in a position of the receiving vehicle relative to the material loading vehicle, the command processing system being configured to identify a requested motion adjustment to the motion of the receiving vehicle (<NUM>), based on the motion adjustment command; and
an output generator (<NUM>) configured to generate a representation of a visual adjustment indicator indicative of the requested motion adjustment to the motion of the receiving vehicle (<NUM>), the output generator (<NUM>) configured to generate the representation of the adjustment indicator as a visual adjustment indicator that indicates a direction of the requested adjustment to the position of the receiving vehicle relative to the material loading vehicle; wherein the output generator comprises an image output generator configured to generate the visual adjustment indicator as an image of the receiving vehicle and a direction indicator indicating a direction of adjustment based on the requested adjustment to the position of the receiving vehicle relative to the material loading vehicle;
an interface control signal generator (<NUM>) configured to generate interface control signals based on the representation of the adjustment indicator; and
a visual user interface mechanism (<NUM>) coupled to the output generator (<NUM>) and configured to generate an operator perceptible output based on the interface control signals on a display screen configured to display the visual adjustment indicator.